一、主函数 intmain(intargc,char**argv){//一、初始化ROS节点ros::init(argc,argv,"vins");ros::NodeHandlen;ROS_INFO("\033[1;32m---> Visual Feature Tracker Started.\033[0m");ros::console::set_logger_level(ROSCONSOLE_DEFAULT_NAME,ros::console::levels::Warn);readParameters(n);//从yaml...
(1)vins-mono解读: feature_tracker intmain(intargc,char**argv){ros::init(argc,argv,"feature_tracker");ros::NodeHandlen("~");ros::console::set_logger_level(ROSCONSOLE_DEFAULT_NAME,ros::console::levels::Info);readParameters(n);for(inti=0;i<NUM_OF_CAM;i++)trackerData[i].readIntrinsic...
//node节点标签,启动feature_tracker包中名为feature_tracker的节点//param参数标签,可以传给ros参数服务器,供该节点读取参数文件;//参数1名为config_file,其值是上面arg名字为config_path的值;//参数2名为vins_folder,其值是上面arg名字为vins_path的值;<node name="feature_tracker"pkg="feature_tracker"type=...
1.在代码中分析VINS---图解feature_tracker.cpp 该文件的主要函数为void FeatureTracker::readImage(const cv::Mat &_img, double _cur_time) 该文件的中文注释代码以放到我的github上,代码结合我下面画的图更容易理解,欢迎大家star!,本人也是vi-slam新手,分析不到位的地方,欢迎大家批评指正! 1. 第一帧图像进...
featureBuf 为estimator的一个public数据成员 , queue<pair<double,map<int,vector<pair<int,Eigen::Matrix<double,7,1>>>featureBuf; (需要注意,VINS-Mono里面feature_tracker和estimator是完全分开的,而这里feature_tracker包含在estimator里,唯一的差别在于减少了前端跟踪和后端之间的rostopic的发布和订阅) 而在...
using namespace cv::line_descriptor;但可能由于著作权等⼤⼈的原因，OpenCV3.4.6及以后版本已经将LSD线特征提取算法从代码中剔除了。因此我们可以选择使⽤旧版本的OpenCV，亦或者基于新版本OpenCV把原LSD库代码打包成库，加⼊我们的⼯程代码中即可直接调⽤。linefeature_tracker.h // #include <opencv2...
./sample_feature_tracker --video=[path/to/video.h264] --loop=[0|1] --maxFeatureCount=[even_number] --historyCapacity=[int_number] --pyramidLevel=[int_number] --detectMode=[0|1] --pvaDetector=[0|1] --pvaDetectorEngineNo=[0|1] ...
[Feature]: Show mastery points after skill level reaches 10 #479 drewhoener added enhancement triage labels Mar 21, 2024 drewhoener self-assigned this Mar 21, 2024 drewhoener changed the title [Feature]: [Ongoing] Feature Tracker Mar 21, 2024 drewhoener pinned this issue Mar 21, 2024 ...
<?xml version="1.0"?> <package> <name>klt_feature_tracker</name> <version>0.0.0</version> <description>The klt_feature_tracker package</description> <!-- One maintainer tag required, multiple allowed, one person per tag --> <!-- Example: --> <!-- <maintainer email="jane.doe@...
It great to see the Edge team respond to feature requests and bug reports, but it's not clear if or how they will be followed up. Is there an issue tracker which details what bugs are being worked on and what feature requests are added to the queue? Cheers ...