Contains some nice helper functions for features. More...

#include <FeatureHelper.h>

Static Public Member Functions
static void	compute_disparity (std::shared_ptr< ov_core::FeatureDatabase > db, double &disp_mean, double &disp_var, int &total_feats, double newest_time=-1, double oldest_time=-1)
	This functions will compute the disparity over all features we have. More...

static void	compute_disparity (std::shared_ptr< ov_core::FeatureDatabase > db, double time0, double time1, double &disp_mean, double &disp_var, int &total_feats)
	This functions will compute the disparity between common features in the two frames. More...

Private Member Functions
	FeatureHelper ()

Detailed Description

Contains some nice helper functions for features.

These functions should only depend on feature and the feature database.

Definition at line 41 of file FeatureHelper.h.

Constructor & Destructor Documentation

◆ FeatureHelper()

ov_core::FeatureHelper::FeatureHelper ( )

inlineprivate

Definition at line 185 of file FeatureHelper.h.

Member Function Documentation

◆ compute_disparity() [1/2]

static void ov_core::FeatureHelper::compute_disparity	(	std::shared_ptr< ov_core::FeatureDatabase >	db,
		double &	disp_mean,
		double &	disp_var,
		int &	total_feats,
		double	newest_time = `-1`,
		double	oldest_time = `-1`
	)

inlinestatic

This functions will compute the disparity over all features we have.

NOTE: this is on the RAW coordinates of the feature not the normalized ones. NOTE: This computes the disparity over all cameras!

Parameters

db	Feature database pointer
disp_mean	Average raw disparity
disp_var	Variance of the disparities
total_feats	Total number of common features
newest_time	Only compute disparity for ones older (-1 to disable)
oldest_time	Only compute disparity for ones newer (-1 to disable)

Definition at line 123 of file FeatureHelper.h.

◆ compute_disparity() [2/2]

static void ov_core::FeatureHelper::compute_disparity	(	std::shared_ptr< ov_core::FeatureDatabase >	db,
		double	time0,
		double	time1,
		double &	disp_mean,
		double &	disp_var,
		int &	total_feats
	)

inlinestatic

This functions will compute the disparity between common features in the two frames.

First we find all features in the first frame. Then we loop through each and find the uv of it in the next requested frame. Features are skipped if no tracked feature is found (it was lost). NOTE: this is on the RAW coordinates of the feature not the normalized ones. NOTE: This computes the disparity over all cameras!

Parameters

db	Feature database pointer
time0	First camera frame timestamp
time1	Second camera frame timestamp
disp_mean	Average raw disparity
disp_var	Variance of the disparities
total_feats	Total number of common features

Definition at line 60 of file FeatureHelper.h.

The documentation for this class was generated from the following file:

FeatureHelper.h