#include <RawFeatureTrackerConfig.hpp>

Public Member Functions
	DEPTHAI_SERIALIZE (OpticalFlow, pyramidLevels, searchWindowWidth, searchWindowHeight, epsilon, maxIterations)

Public Attributes
float	epsilon = 0.01f

std::int32_t	maxIterations = 9

std::int32_t	pyramidLevels = AUTO

std::int32_t	searchWindowHeight = 5

std::int32_t	searchWindowWidth = 5

Detailed Description

Optical flow configuration structure.

Definition at line 145 of file RawFeatureTrackerConfig.hpp.

Member Function Documentation

◆ DEPTHAI_SERIALIZE()

dai::RawFeatureTrackerConfig::MotionEstimator::OpticalFlow::DEPTHAI_SERIALIZE	(	OpticalFlow	,
		pyramidLevels	,
		searchWindowWidth	,
		searchWindowHeight	,
		epsilon	,
		maxIterations
	)

Member Data Documentation

◆ epsilon

float dai::RawFeatureTrackerConfig::MotionEstimator::OpticalFlow::epsilon = 0.01f

Feature tracking termination criteria. Optical flow will refine the feature position on each pyramid level until the displacement between two refinements is smaller than this value. Decreasing this number increases runtime.

Definition at line 174 of file RawFeatureTrackerConfig.hpp.

◆ maxIterations

std::int32_t dai::RawFeatureTrackerConfig::MotionEstimator::OpticalFlow::maxIterations = 9

Feature tracking termination criteria. Optical flow will refine the feature position maximum this many times on each pyramid level. If the Epsilon criteria described in the previous chapter is not met after this number of iterations, the algorithm will continue with the current calculated value. Increasing this number increases runtime.

Definition at line 182 of file RawFeatureTrackerConfig.hpp.

◆ pyramidLevels

std::int32_t dai::RawFeatureTrackerConfig::MotionEstimator::OpticalFlow::pyramidLevels = AUTO

Number of pyramid levels, only for optical flow. AUTO means it's decided based on input resolution: 3 if image width <= 640, else 4. Valid values are either 3/4 for VGA, 4 for 720p and above.

Definition at line 151 of file RawFeatureTrackerConfig.hpp.

◆ searchWindowHeight

std::int32_t dai::RawFeatureTrackerConfig::MotionEstimator::OpticalFlow::searchWindowHeight = 5

Image patch height used to track features. Must be an odd number, maximum 9. N means the algorithm will be able to track motion at most (N-1)/2 pixels in a direction per pyramid level. Increasing this number increases runtime

Definition at line 166 of file RawFeatureTrackerConfig.hpp.

◆ searchWindowWidth

std::int32_t dai::RawFeatureTrackerConfig::MotionEstimator::OpticalFlow::searchWindowWidth = 5

Image patch width used to track features. Must be an odd number, maximum 9. N means the algorithm will be able to track motion at most (N-1)/2 pixels in a direction per pyramid level. Increasing this number increases runtime

Definition at line 159 of file RawFeatureTrackerConfig.hpp.

The documentation for this struct was generated from the following file:

RawFeatureTrackerConfig.hpp

Public Member Functions

Public Attributes