FeatureTracker node. Performs feature tracking and reidentification using motion estimation between 2 consecutive frames. More...

#include <FeatureTracker.hpp>

Inheritance diagram for dai::node::FeatureTracker:

[legend]

Public Member Functions
	FeatureTracker (const std::shared_ptr< PipelineImpl > &par, int64_t nodeId)

	FeatureTracker (const std::shared_ptr< PipelineImpl > &par, int64_t nodeId, std::unique_ptr< Properties > props)

bool	getWaitForConfigInput () const

void	setHardwareResources (int numShaves, int numMemorySlices)

void	setWaitForConfigInput (bool wait)

Public Member Functions inherited from dai::NodeCRTP< Node, FeatureTracker, FeatureTrackerProperties >
std::unique_ptr< Node >	clone () const override

const char *	getName () const override

Public Member Functions inherited from dai::Node
virtual std::unique_ptr< Node >	clone () const =0
	Deep copy the node. More...

AssetManager &	getAssetManager ()
	Get node AssetManager as a reference. More...

const AssetManager &	getAssetManager () const
	Get node AssetManager as a const reference. More...

std::vector< Input * >	getInputRefs ()
	Retrieves reference to node inputs. More...

std::vector< const Input * >	getInputRefs () const
	Retrieves reference to node inputs. More...

std::vector< Input >	getInputs ()
	Retrieves all nodes inputs. More...

virtual const char *	getName () const =0
	Retrieves nodes name. More...

std::vector< Output * >	getOutputRefs ()
	Retrieves reference to node outputs. More...

std::vector< const Output * >	getOutputRefs () const
	Retrieves reference to node outputs. More...

std::vector< Output >	getOutputs ()
	Retrieves all nodes outputs. More...

Pipeline	getParentPipeline ()

const Pipeline	getParentPipeline () const

	Node (const std::shared_ptr< PipelineImpl > &p, Id nodeId, std::unique_ptr< Properties > props)
	Constructs Node. More...

virtual	~Node ()=default

Public Attributes
FeatureTrackerConfig	initialConfig

Input	inputConfig {*this, "inputConfig", Input::Type::SReceiver, false, 4, {{DatatypeEnum::FeatureTrackerConfig, false}}}

Input	inputImage {*this, "inputImage", Input::Type::SReceiver, false, 4, true, {{DatatypeEnum::ImgFrame, false}}}

Output	outputFeatures {*this, "outputFeatures", Output::Type::MSender, {{DatatypeEnum::TrackedFeatures, false}}}

Output	passthroughInputImage {*this, "passthroughInputImage", Output::Type::MSender, {{DatatypeEnum::ImgFrame, false}}}

Public Attributes inherited from dai::NodeCRTP< Node, FeatureTracker, FeatureTrackerProperties >
Properties &	properties
	Underlying properties. More...

Public Attributes inherited from dai::Node
const Id	id
	Id of node. More...

Properties &	properties

Static Public Attributes
constexpr static const char *	NAME = "FeatureTracker"

Protected Member Functions
Properties &	getProperties ()

Protected Member Functions inherited from dai::Node
virtual tl::optional< OpenVINO::Version >	getRequiredOpenVINOVersion ()

void	setInputMapRefs (InputMap *inMapRef)

void	setInputMapRefs (std::initializer_list< InputMap * > l)

void	setInputRefs (Input *inRef)

void	setInputRefs (std::initializer_list< Input * > l)

void	setOutputMapRefs (OutputMap *outMapRef)

void	setOutputMapRefs (std::initializer_list< OutputMap * > l)

void	setOutputRefs (Output *outRef)

void	setOutputRefs (std::initializer_list< Output * > l)

Private Attributes
std::shared_ptr< RawFeatureTrackerConfig >	rawConfig

Additional Inherited Members
Public Types inherited from dai::NodeCRTP< Node, FeatureTracker, FeatureTrackerProperties >
using	Properties = FeatureTrackerProperties

Public Types inherited from dai::Node
using	Id = std::int64_t
	Node identificator. Unique for every node on a single Pipeline. More...

Protected Attributes inherited from dai::Node
AssetManager	assetManager

std::unordered_map< std::string, InputMap * >	inputMapRefs

std::unordered_map< std::string, Input * >	inputRefs

std::unordered_map< std::string, OutputMap * >	outputMapRefs

std::unordered_map< std::string, Output * >	outputRefs

std::weak_ptr< PipelineImpl >	parent

copyable_unique_ptr< Properties >	propertiesHolder

Detailed Description

FeatureTracker node. Performs feature tracking and reidentification using motion estimation between 2 consecutive frames.

Definition at line 20 of file FeatureTracker.hpp.

Constructor & Destructor Documentation

◆ FeatureTracker() [1/2]

dai::node::FeatureTracker::FeatureTracker	(	const std::shared_ptr< PipelineImpl > &	par,
		int64_t	nodeId
	)

Definition at line 8 of file FeatureTracker.cpp.

◆ FeatureTracker() [2/2]

dai::node::FeatureTracker::FeatureTracker	(	const std::shared_ptr< PipelineImpl > &	par,
		int64_t	nodeId,
		std::unique_ptr< Properties >	props
	)

Definition at line 10 of file FeatureTracker.cpp.

Member Function Documentation

◆ getProperties()

FeatureTracker::Properties & dai::node::FeatureTracker::getProperties ( )

protectedvirtual

Reimplemented from dai::Node.

Definition at line 18 of file FeatureTracker.cpp.

◆ getWaitForConfigInput()

bool dai::node::FeatureTracker::getWaitForConfigInput ( ) const

See also: setWaitForConfigInput

Returns: True if wait for inputConfig message, false otherwise

Definition at line 28 of file FeatureTracker.cpp.

◆ setHardwareResources()

void dai::node::FeatureTracker::setHardwareResources	(	int	numShaves,
		int	numMemorySlices
	)

Specify allocated hardware resources for feature tracking. 2 shaves/memory slices are required for optical flow, 1 for corner detection only.

Parameters

numShaves	Number of shaves. Maximum 2.
numMemorySlices	Number of memory slices. Maximum 2.

Definition at line 32 of file FeatureTracker.cpp.

◆ setWaitForConfigInput()

void dai::node::FeatureTracker::setWaitForConfigInput ( bool wait )

Specify whether or not wait until configuration message arrives to inputConfig Input.

Parameters

wait	True to wait for configuration message, false otherwise.

Definition at line 24 of file FeatureTracker.cpp.

Member Data Documentation

◆ initialConfig

FeatureTrackerConfig dai::node::FeatureTracker::initialConfig

Initial config to use for feature tracking.

Definition at line 37 of file FeatureTracker.hpp.

◆ inputConfig

Input dai::node::FeatureTracker::inputConfig {*this, "inputConfig", Input::Type::SReceiver, false, 4, {{DatatypeEnum::FeatureTrackerConfig, false}}}

Input FeatureTrackerConfig message with ability to modify parameters in runtime. Default queue is non-blocking with size 4.

Definition at line 43 of file FeatureTracker.hpp.

◆ inputImage

Input dai::node::FeatureTracker::inputImage {*this, "inputImage", Input::Type::SReceiver, false, 4, true, {{DatatypeEnum::ImgFrame, false}}}

Input message with frame data on which feature tracking is performed. Default queue is non-blocking with size 4.

Definition at line 48 of file FeatureTracker.hpp.

◆ NAME

constexpr static const char* dai::node::FeatureTracker::NAME = "FeatureTracker"

staticconstexpr

Definition at line 22 of file FeatureTracker.hpp.

◆ outputFeatures

Output dai::node::FeatureTracker::outputFeatures {*this, "outputFeatures", Output::Type::MSender, {{DatatypeEnum::TrackedFeatures, false}}}

Outputs TrackedFeatures message that carries tracked features results.

Definition at line 53 of file FeatureTracker.hpp.

◆ passthroughInputImage

Output dai::node::FeatureTracker::passthroughInputImage {*this, "passthroughInputImage", Output::Type::MSender, {{DatatypeEnum::ImgFrame, false}}}

Passthrough message on which the calculation was performed. Suitable for when input queue is set to non-blocking behavior.

Definition at line 59 of file FeatureTracker.hpp.

◆ rawConfig

std::shared_ptr<RawFeatureTrackerConfig> dai::node::FeatureTracker::rawConfig

private

Definition at line 28 of file FeatureTracker.hpp.

The documentation for this class was generated from the following files:

Public Member Functions

Public Attributes

Static Public Attributes

Protected Member Functions

Private Attributes

Additional Inherited Members