Struct FeatureTrackerConfig::FeatureMaintainer

Nested Relationships

This struct is a nested type of Class FeatureTrackerConfig.

Struct Documentation

struct FeatureMaintainer

FeatureMaintainer configuration structure.

Public Functions

DEPTHAI_SERIALIZE(FeatureMaintainer, enable, minimumDistanceBetweenFeatures, lostFeatureErrorThreshold, trackedFeatureThreshold)

Public Members

bool enable = true

Enable feature maintaining or not.

float minimumDistanceBetweenFeatures = 50

Used to filter out detected feature points that are too close. Requires sorting enabled in detector. Unit of measurement is squared euclidean distance in pixels.

float lostFeatureErrorThreshold = 50000

Optical flow measures the tracking error for every feature. If the point can’t be tracked or it’s out of the image it will set this error to a maximum value. This threshold defines the level where the tracking accuracy is considered too bad to keep the point.

float trackedFeatureThreshold = 200000

Once a feature was detected and we started tracking it, we need to update its Harris score on each image. This is needed because a feature point can disappear, or it can become too weak to be tracked. This threshold defines the point where such a feature must be dropped. As the goal of the algorithm is to provide longer tracks, we try to add strong points and track them until they are absolutely untrackable. This is why, this value is usually smaller than the detection threshold.