Subpixel refinement of a reference feature patch with the current image. More...

Functions
bool	align1D (const cv::Mat &cur_img, const Vector2f &dir, uint8_t ref_patch_with_border, uint8_t ref_patch, const int n_iter, Vector2d &cur_px_estimate, double &h_inv)
bool	align2D (const cv::Mat &cur_img, uint8_t ref_patch_with_border, uint8_t ref_patch, const int n_iter, Vector2d &cur_px_estimate, bool no_simd=false)
bool	align2D_SSE2 (const cv::Mat &cur_img, uint8_t ref_patch_with_border, uint8_t ref_patch, const int n_iter, Vector2d &cur_px_estimate)
bool	align2D_NEON (const cv::Mat &cur_img, uint8_t ref_patch_with_border, uint8_t ref_patch, const int n_iter, Vector2d &cur_px_estimate)

Detailed Description

Subpixel refinement of a reference feature patch with the current image.

Implements the inverse-compositional approach (see "Lucas-Kanade 20 Years on" paper by Baker.

Function Documentation

bool svo::feature_alignment::align1D	(	const cv::Mat &	cur_img,
		const Vector2f &	dir,
		uint8_t *	ref_patch_with_border,
		uint8_t *	ref_patch,
		const int	n_iter,
		Vector2d &	cur_px_estimate,
		double &	h_inv
	)

bool svo::feature_alignment::align2D	(	const cv::Mat &	cur_img,
		uint8_t *	ref_patch_with_border,
		uint8_t *	ref_patch,
		const int	n_iter,
		Vector2d &	cur_px_estimate,
		bool	no_simd = `false`
	)

bool svo::feature_alignment::align2D_NEON	(	const cv::Mat &	cur_img,
		uint8_t *	ref_patch_with_border,
		uint8_t *	ref_patch,
		const int	n_iter,
		Vector2d &	cur_px_estimate
	)

bool svo::feature_alignment::align2D_SSE2	(	const cv::Mat &	cur_img,
		uint8_t *	ref_patch_with_border,
		uint8_t *	ref_patch,
		const int	n_iter,
		Vector2d &	cur_px_estimate
	)