Class TrackableKeyFrameSearch

Class Documentation

class TrackableKeyFrameSearch

Given a KeyFrame, tries to find other KeyFrames from a KeyFrameGraph which can be tracked from this frame (in order to insert new constraints into the graph).

Public Functions

TrackableKeyFrameSearch(const std::shared_ptr<KeyFrameGraph> &graph)

Constructor.

~TrackableKeyFrameSearch()
std::unordered_set<KeyFrame::SharedPtr> findCandidates(const KeyFrame::SharedPtr &keyframe, KeyFrame::SharedPtr &fabMapResult_out, bool includeFABMAP = true, bool closenessTH = 1.0)

Finds candidates for trackable frames. Returns the most likely candidates first.

KeyFrame::SharedPtr findRePositionCandidate(const KeyFrame::SharedPtr &frame, float maxScore = 1)
float getRefFrameScore(float distanceSquared, float usage)

Public Members

MsRateAverage trackPermaRef