Add LinesTracker, improve ImageProcessor and fix PointsTracker

prashanthr05 commented 2 years ago

This PR introduces multiple changes,

Forces clang-format in files in src/Perception/src/PinHoleCamera.cpp and src/Perception/tests/Features/ArucoDetectorExample.cpp
Fixes bug in PointsTracker class and improves the PointsTrackerTest (See https://github.com/dic-iit/kindyn-vio/issues/10#issuecomment-888268130 for results).
Adds LinesTracker class and LinesTrackerTest and relevant modifications to the composing class ImageProcessor. (See https://github.com/dic-iit/kindyn-vio/issues/11#issuecomment-889095082 for results). The LinesTracker class uses OpenCV's FastLineDetector for detecting lines and KLT tracker for tracking.

cc @traversaro @S-Dafarra let me know if it's ok to merge into master directly or if you would be interested in a quick review?

Closes #11.

traversaro commented 2 years ago

cc @traversaro @S-Dafarra let me know if it's ok to merge into master directly or if you would be interested in a quick review?

Feel free to merge directly for me. I can look at the PRs even after it has been merged.

S-Dafarra commented 2 years ago

cc @traversaro @S-Dafarra let me know if it's ok to merge into master directly or if you would be interested in a quick review?

I think it is up to you. Which kind of review would you prefer? :grin:

prashanthr05 commented 2 years ago

cc @traversaro @S-Dafarra let me know if it's ok to merge into master directly or if you would be interested in a quick review?

I think it is up to you. Which kind of review would you prefer?

A very high-level review on readability of the code would be sufficient, at this stage. Really a quick skim. Mainly to inform you about the approach taken.

prashanthr05 commented 2 years ago

Ubuntu CI failure due to GTSAM, unrelated to the changes in this PR. macOS CI passed. I proceed with merging.

ami-iit / kindyn-vio

Add LinesTracker, improve ImageProcessor and fix PointsTracker #23