Method LineFeatureTracker

src/PLPSLAM/feature/line_extractor.cc:30–38

    namespace feature
    {
        LineFeatureTracker::LineFeatureTracker(camera::base *camera)
            : _camera(camera), _frame_cnt(0)
        {
            // this idea from PL-VINS, we only use the line extracted from original image resolution
            _num_levels = 1;
            _scale_factor = 2;

            initialize();
        }

        void LineFeatureTracker::readIntrinsicParameter(const cv::Mat &img)
        {