New: KLT Tracking #587
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New: KLT Tracking #587
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@nizar-sallem there is a merge conflict here, can you have a look? Otherwise I'm fine with merging :). |
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Weird, I will clear that out. |
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Hopefully done |
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| keypoints_status_.reset (new pcl::PointIndices); | ||
| keypoints_status_->indices = std::vector<int> (keypoints_->size (), 0); |
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I think this will make a temporary object and then copy the data.
We can simply keypoints_status_->indices.resize (keypoints_->size (), 0).
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You are right, I will amend it. |
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Done |
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I skimmed through the rest, looks great. I think we can merge this. @jspricke? P.S. actually there is some commented code in |
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Yup it is for double checking the affine transformation so I may just remove it for now and if I need it I can retrieve it later. Let us do just that. |
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Add a pyramidal KLT tracking and an application openni_klt that detects Tomasi keypoints from RGB-D sensor and tracks them.
Detection is done 1 per 30 acquired cloud so detected points are tracked for 29 frames and the new keypoints are given to the tracker.
It will serve as a comparison basis for the upcoming RGB-D version.