msceqf::Track Struct Reference

(Cache friendly) Track struct. Define a feature (labeled via a feature id) detected/tracked at different points in time. More...

#include <track.hpp>

Public Types
using	Times = std::vector<fp>
	vector of timestamps

Public Member Functions
bool	empty () const noexcept
	Check if there valid coordinates in uvs_.
size_t	size () const noexcept
	Return the amount of features (size of uvs_).
void	removeInvalid (std::vector< bool > &invalid)
	Remove invalid features coordinates, normalized feature coordinates and ids given a vector of boolean flags indicating invalid features.
void	removeTail (const fp &timestamp, const bool &remove_equal=true)
	Remove the tail of the track. this method removes coordinates and timestamps that are older or equal than the given timestamp.

Public Attributes
FeaturesCoordinates	uvs_
	(u, v) coordinates of the same feature at different time steps
FeaturesCoordinates	normalized_uvs_
	Normalized (u, v) coordinates of the same feature at different time steps.
Times	timestamps_
	Timestamps of the camera measurement containing the feature.

Friends
bool	operator< (const Track &lhs, const Track &rhs)
	Comparison operator with other tracks for sorting based on track length.

Detailed Description

(Cache friendly) Track struct. Define a feature (labeled via a feature id) detected/tracked at different points in time.

Note

Note that feature cordinates are of cv::Point2f type for compatibility with OpenCV.

Member Function Documentation

empty()

bool msceqf::Track::empty ( ) const

inlinenoexcept

Check if there valid coordinates in uvs_.

Returns

true if coordinates are found, false otherwise

removeInvalid()

void msceqf::Track::removeInvalid ( std::vector< bool > & invalid )

inline

Remove invalid features coordinates, normalized feature coordinates and ids given a vector of boolean flags indicating invalid features.

Parameters

invalid

Vector of boolean flags indicating invalid features

removeTail()

void msceqf::Track::removeTail ( const fp & timestamp, const bool & remove_equal = true )

inline

Remove the tail of the track. this method removes coordinates and timestamps that are older or equal than the given timestamp.

Parameters

timestamp	Timestamp
remove_equal	Flag to indicate whether to include in the removal also the coordinates and timestamps at the given timestamp

size()

size_t msceqf::Track::size ( ) const

inlinenoexcept

Return the amount of features (size of uvs_).

Returns

Amount of features

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

• include/vision/track.hpp