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Can the ROS visp_tracker be used in hybrid mode

visp_tracker

asked 2016-04-28 00:16:32 -0500

BernhardHengst
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The current visp_tracker seems to only use edges. Can it be switched to use both edges and key-points?

It seems the underlying tracker is geared for mbt+klt, but I don't know how to change it from just mbt to hybrid (mbt+klt) tracking type.

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answered 2016-05-21 02:21:21 -0500

Fabien Spindler
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The tracker_type param could be set to:

mbt: meaning tracking with edges only
klt: tracking with keypoints only
mbt+klt: hybrid tracking using edges + keypoints

<node pkg="visp_tracker" type="tracker" name="tracker_mbt">
    <param name="camera_prefix" value="/wide_left/camera" />
    <param name="tracker_type" value="mbt+klt" />
</node>

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Thanks Fabien. I managed to get this to work shortly after I posted the question, but neglected to comment. I found that tracking with both edges and key points, the tracker seemed to get lost more easily in a cluttered environment.

BernhardHengst ( 2016-05-21 04:37:11 -0500 )edit

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Asked: 2016-04-28 00:16:32 -0500

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Last updated: May 21 '16

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