Constructor.
| 68 | |
| 69 | // Constructor. |
| 70 | Frontend::Frontend(size_t numCameras) |
| 71 | : isInitialized_(false), |
| 72 | numCameras_(numCameras), |
| 73 | briskDetectionOctaves_(0), |
| 74 | briskDetectionThreshold_(50.0), |
| 75 | briskDetectionAbsoluteThreshold_(800.0), |
| 76 | briskDetectionMaximumKeypoints_(450), |
| 77 | briskDescriptionRotationInvariance_(true), |
| 78 | briskDescriptionScaleInvariance_(false), |
| 79 | briskMatchingThreshold_(60.0), |
| 80 | matcher_(std::unique_ptr<okvis::DenseMatcher>(new okvis::DenseMatcher(4))), |
| 81 | keyframeInsertionOverlapThreshold_(0.6), |
| 82 | keyframeInsertionMatchingRatioThreshold_(0.2) { |
| 83 | // create mutexes for feature detectors and descriptor extractors |
| 84 | for (size_t i = 0; i < numCameras_; ++i) { |
| 85 | featureDetectorMutexes_.push_back(std::unique_ptr<std::mutex>(new std::mutex())); |
| 86 | } |
| 87 | initialiseBriskFeatureDetectors(); |
| 88 | } |
| 89 | |
| 90 | // Detection and descriptor extraction on a per image basis. |
| 91 | bool Frontend::detectAndDescribe(size_t cameraIndex, |
nothing calls this directly
no outgoing calls
no test coverage detected