This is the standard out put file from CASVision3D() which contains klt tracked ftrs with depth values. Current version has the following format.

 1rank|2image_u |3 v |4klt_status|5depth_status|6X|7Y|8Z|9Z2|10disparity

eg:

0 262.000000 66.000000 0 1 0.903813 -0.594272 2.315962 2.315962 12.757812
1 194.000000 102.000000 0 1 0.641762 -0.622588 5.657390 5.657390 5.222656

This series stores the observed ftr list.

format:

x | y | z | ftr_no

Variants:

feature_list.txt - Generated from drive_uvdslam(), contains zeros for any ftrs beyond the currently observed but not integrated into slam

feature_list2.txt - generated from drive_uvdslam_sd(). Contains ftrs only in slam

feature_list3.txt - mapper3D_ftr_writer(path,n_of_images).