Resolve "Refactor Tracker::track()"
Splitted the track method into:
- track
- void trackFeaturePointsLK(int level);
- void refineViaColorPointLK(int level, float errorScale);
- void useBackgroundFilter(QList& trjToDel, BackgroundFilter *bgFilter);
- void refineViaNearDarkPoint();
Also added:
- void preCalculateImagePyramids(int level); Which doubles the performance (10 minutes on the regression test instead of 20)
All in all:
- Split Tracker::track for readability
- Added Doxygen comments
- Precalculate image pyramids
- Factored merging out of Tracker::insertFeaturePoints
Closes #18 (closed)