features.py 文件源码

def __init__(self, **kwargs):
        self.debug_mode = kwargs.get("debug_mode", False)
        self.nb_features = kwargs.get("nb_features", 500)
        self.nb_levels = kwargs.get("nb_levels", 4)

        # Detector and matcher
        self.detector = FAST(threshold=2)
        self.descriptor = ORB(nfeatures=self.nb_features,
                              nlevels=self.nb_levels)
        self.matcher = cv2.BFMatcher(cv2.NORM_HAMMING, crossCheck=True)
        self.ransac = None

        # Counters
        self.counter_frame_id = -1
        self.counter_track_id = -1

        # Feature tracks
        self.tracks_tracking = []
        self.tracks_lost = []
        self.tracks_buffer = {}
        self.max_buffer_size = 5000

        # Image, feature, unmatched features references
        self.img_ref = None
        self.fea_ref = None
        self.unmatched = []