Struct GridDistributorParams

• Defined in File feature_detection.h

Struct Documentation

struct GridDistributorParams

Grid-based feature distributor.

Divides the image into (grid_cols × grid_rows) cells and calls the detector independently per cell, then enforces:

• max_per_cell features per cell.

• Global min_distance between any two selected features.

• A per-cell mask to avoid re-detecting already-tracked positions.

Usage:

GridDistributorParams p;
p.max_corners = 300;
GridFeatureDistributor dist(p);
auto pts = dist.detect(img, already_tracked_pts);

Adapted from: lightweight_vio (MIT License), extract_new_features() grid logic.

Public Members

int grid_rows = 4

int grid_cols = 6

int max_corners = 300

Total across the whole image.

float min_distance = 10.0f

float quality_level = 0.01f

int block_size = 3