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KeeJin
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May 12, 2025
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KeeJin
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Mostly looks good to me, if I understand correctly the main work here is:
- Clean up and consolidate the config and params to config/euroc
- Observer pattern for Feature Tracker
- Rerun impl for Feature Tracker
| std::vector<int> track_count, | ||
| std::vector<cv::Point2f> points_velocity) = 0; | ||
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| cv::Mat CreateTrackedFeatureImage(cv::Mat image, |
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These 2 methods seem like feature tracker utility helper functions, and they do not need anything from this observer class. Maybe they shouldnt be part of the observer class.
We could have a include/feature_tracker/utils.hpp and park these 2 helpers as free functions.
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Might want to add a doc/update README for details on usage with rerun
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Major Cleanup and restructuring of Feature Tracker.
We have a ROS1 interface, that is compatible with the rest of the repo (euroc.launch works)
And also a simple rerun version.