Method track_stereo_image

src/PLPSLAM/tracking_module.cc:252–282

(default) Stereo FW: + line tracker if activated

    // (default) Stereo
    // FW: + line tracker if activated
    Mat44_t tracking_module::track_stereo_image(const cv::Mat &left_img_rect, const cv::Mat &right_img_rect, const double timestamp, const cv::Mat &mask)
    {
        const auto start = std::chrono::system_clock::now();

        // color conversion
        img_gray_ = left_img_rect;
        cv::Mat right_img_gray = right_img_rect;
        util::convert_to_grayscale(img_gray_, camera_->color_order_);
        util::convert_to_grayscale(right_img_gray, camera_->color_order_);

        if (!map_db_->_b_use_line_tracking)
        {
            // FW: (default)  create current frame object
            curr_frm_ = data::frame(img_gray_, right_img_gray, timestamp, extractor_left_, extractor_right_, bow_vocab_, camera_, cfg_->true_depth_thr_, mask);
        }
        else
        {
            // FW: track stereo frames with LSD/LBD, pass the line_extractor to frame.h
            curr_frm_ = data::frame(img_gray_, right_img_gray, timestamp, extractor_left_, extractor_right_, bow_vocab_,
                                    _line_extractor, _line_extractor_right,
                                    camera_, cfg_->true_depth_thr_, mask);
        }

        left_img_rect.copyTo(curr_frm_._img_rgb);
        track();

        const auto end = std::chrono::system_clock::now();
        elapsed_ms_ = std::chrono::duration_cast<std::chrono::milliseconds>(end - start).count();

        return curr_frm_.cam_pose_cw_;
    }

    // Stereo + planar segmentation
    // FW: + line tracker if activated