#include <RawFeatureTrackerConfig.hpp>

Classes
struct	Thresholds

Public Types
enum	Type : std::int32_t { Type::HARRIS, Type::SHI_THOMASI }

Public Member Functions
	DEPTHAI_SERIALIZE (CornerDetector, type, cellGridDimension, numTargetFeatures, numMaxFeatures, thresholds, enableSobel, enableSorting)

Public Attributes
std::int32_t	cellGridDimension = 4

bool	enableSobel = true

bool	enableSorting = true

std::int32_t	numMaxFeatures = AUTO

std::int32_t	numTargetFeatures = 320

Thresholds	thresholds

Type	type = Type::HARRIS

Detailed Description

Corner detector configuration structure.

Definition at line 18 of file RawFeatureTrackerConfig.hpp.

Member Enumeration Documentation

◆ Type

enum dai::RawFeatureTrackerConfig::CornerDetector::Type : std::int32_t

strong

Enumerator
HARRIS	Harris corner detector.
SHI_THOMASI	Shi-Thomasi corner detector.

Definition at line 19 of file RawFeatureTrackerConfig.hpp.

Member Function Documentation

◆ DEPTHAI_SERIALIZE()

dai::RawFeatureTrackerConfig::CornerDetector::DEPTHAI_SERIALIZE	(	CornerDetector	,
		type	,
		cellGridDimension	,
		numTargetFeatures	,
		numMaxFeatures	,
		thresholds	,
		enableSobel	,
		enableSorting
	)

Member Data Documentation

◆ cellGridDimension

std::int32_t dai::RawFeatureTrackerConfig::CornerDetector::cellGridDimension = 4

Ensures distributed feature detection across the image. Image is divided into horizontal and vertical cells, each cell has a target feature count = numTargetFeatures / cellGridDimension. Each cell has its own feature threshold. A value of 4 means that the image is divided into 4x4 cells of equal width/height. Maximum 4, minimum 1.

Definition at line 42 of file RawFeatureTrackerConfig.hpp.

◆ enableSobel

bool dai::RawFeatureTrackerConfig::CornerDetector::enableSobel = true

Enable 3x3 Sobel operator to smoothen the image whose gradient is to be computed. If disabled, a simple 1D row/column differentiator is used for gradient.

Definition at line 60 of file RawFeatureTrackerConfig.hpp.