Class FeatureTrackerConfig

• Defined in File FeatureTrackerConfig.hpp

Inheritance Relationships

Base Type

• public dai::Buffer (Class Buffer)

Class Documentation

class FeatureTrackerConfig : public dai::Buffer

FeatureTrackerConfig message. Carries config for feature tracking algorithm

Public Types

using CornerDetector = RawFeatureTrackerConfig::CornerDetector

using MotionEstimator = RawFeatureTrackerConfig::MotionEstimator

using FeatureMaintainer = RawFeatureTrackerConfig::FeatureMaintainer

Public Functions

FeatureTrackerConfig()

Construct FeatureTrackerConfig message.

explicit FeatureTrackerConfig(std::shared_ptr<RawFeatureTrackerConfig> ptr)

virtual ~FeatureTrackerConfig() = default

FeatureTrackerConfig &setCornerDetector(dai::FeatureTrackerConfig::CornerDetector::Type cornerDetector)

Set corner detector algorithm type.

Parameters:

cornerDetector – Corner detector type, HARRIS or SHI_THOMASI

FeatureTrackerConfig &setCornerDetector(dai::FeatureTrackerConfig::CornerDetector config)

Set corner detector full configuration.

Parameters:

config – Corner detector configuration

FeatureTrackerConfig &setOpticalFlow()

Set optical flow as motion estimation algorithm type.

FeatureTrackerConfig &setOpticalFlow(dai::FeatureTrackerConfig::MotionEstimator::OpticalFlow config)

Set optical flow full configuration.

Parameters:

config – Optical flow configuration

FeatureTrackerConfig &setHwMotionEstimation()

Set hardware accelerated motion estimation using block matching. Faster than optical flow (software implementation) but might not be as accurate.

FeatureTrackerConfig &setNumTargetFeatures(std::int32_t numTargetFeatures)

Set number of target features to detect.

Parameters:

numTargetFeatures – Number of features

FeatureTrackerConfig &setMotionEstimator(bool enable)

Enable or disable motion estimator.

Parameters:

enable –

FeatureTrackerConfig &setMotionEstimator(dai::FeatureTrackerConfig::MotionEstimator config)

Set motion estimator full configuration.

Parameters:

config – Motion estimator configuration

FeatureTrackerConfig &setFeatureMaintainer(bool enable)

Enable or disable feature maintainer.

Parameters:

enable –

FeatureTrackerConfig &setFeatureMaintainer(dai::FeatureTrackerConfig::FeatureMaintainer config)

Set feature maintainer full configuration.

Parameters:

config – feature maintainer configuration

FeatureTrackerConfig &set(dai::RawFeatureTrackerConfig config)

Set explicit configuration.

Parameters:

config – Explicit configuration

dai::RawFeatureTrackerConfig get() const

Retrieve configuration data for FeatureTracker.

Returns:

config for feature tracking algorithm