Class FeatureTracker

Inheritance Relationships

Base Type

Class Documentation

class FeatureTracker : public dai::NodeCRTP<Node, FeatureTracker, FeatureTrackerProperties>

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

Public 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)
void 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.

bool getWaitForConfigInput() const

See also

setWaitForConfigInput

Returns:

True if wait for inputConfig message, false otherwise

void 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.

Public Members

FeatureTrackerConfig initialConfig

Initial config to use for feature tracking.

Input 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.

Input 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.

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

Outputs TrackedFeatures message that carries tracked features results.

Output 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.

Public Static Attributes

static constexpr const char *NAME = "FeatureTracker"

Protected Functions

virtual Properties &getProperties()