Line Tracker

Line tracking using optical flow. This is an unofficial implementation of line optical flow, more details can be found in "EPLF-VINS: Real-Time Monocular Visual-Inertial SLAM With Efficient Point-Line Flow Features".

Optimize

The codes use ZNCC match to decide which line traces fail.

The previous lines are green, and the next lines are red (left without ZNCC, right with ZNCC).

Usage

1. Dependencies that need to be installed on your system:

• OpenCV4
• GLog
• Eigen3

sudo apt install libgoogle-glog-dev
sudo apt install libeigen3-dev

2. Build the codes

mkdir build && cd build
cmake ..
make

3. Run the demo

./build/test_line_tracker asset/prev.png asset/next.png