Holds configuration parameters for a feature detector.
Definition at line 84 of file FeatureDetector.h.
Data Fields | |
| dwFeature2DDetectorType | type |
Detecting algorithm defined by dwFeature2DDetectorType More... | |
| uint32_t | imageWidth |
| Width of the images that the Detector runs on. More... | |
| uint32_t | imageHeight |
| Height of the images that the Detector runs on. More... | |
| uint32_t | maxFeatureCount |
| Upper bound on number of features handled. More... | |
| float32_t | harrisK |
| Weigting K of the harris corner score defined as det(M) - K * trace(M) * trace(M), where M is the structural matrix 0.04 - 0.06 is used typically If set to zero the default value (5e-2) will be used. More... | |
| uint32_t | cellSize |
| Cell size in pixel to split the image into cells. More... | |
| uint32_t | gradientSize |
| for DW_PROCESSOR_TYPE_PVA_0 or DW_PROCESSOR_TYPE_PVA_1 only Gradient window size. More... | |
| uint32_t | blockSize |
| for DW_PROCESSOR_TYPE_PVA_0 or DW_PROCESSOR_TYPE_PVA_1 only Block window size used to compute the Harris Corner score. More... | |
| float32_t | scoreThreshold |
| Threshold to filter out low frequency points. More... | |
| float32_t | detailThreshold |
| for DW_FEATURE2D_DETECTOR_TYPE_STD only features in the cell that have scores higher than this value will be considered as high frequency point and will always be outputed. More... | |
| uint32_t | numEvenDistributionPerCell |
| for DW_FEATURE2D_DETECTOR_TYPE_STD only Number of features to be appended after high frequency points, they have second highest scores but are less than detectorDetailThreshold. More... | |
| uint32_t | detectionLevel |
| for DW_FEATURE2D_DETECTOR_TYPE_EX only STD detector always detects on level 0 pyramid image. More... | |
| uint32_t | harrisRadius |
| for DW_FEATURE2D_DETECTOR_TYPE_EX only STD detector use fixed harrisRadius = 1. More... | |
| uint32_t | NMSRadius |
| for DW_FEATURE2D_DETECTOR_TYPE_EX and DW_FEATURE2D_DETECTOR_TYPE_FAST9 STD detector use fixed NMSRadius = 3. More... | |
| dwFeature2DSelectionMaskType | maskType |
| for DW_FEATURE2D_DETECTOR_TYPE_EX only STD detector always output UNIFORM distribution. More... | |
| float32_t | gaussianMaskCenterX |
| for DW_FEATURE2D_DETECTOR_TYPE_EX only Ignored when not using DW_FEATURE2D_SELECTION_MASK_TYPE_GAUSSIAN More... | |
| float32_t | gaussianMaskCenterY |
| for DW_FEATURE2D_DETECTOR_TYPE_EX only Ignored when not using DW_FEATURE2D_SELECTION_MASK_TYPE_GAUSSIAN More... | |
| float32_t | gaussianMaskStDevX |
| for DW_FEATURE2D_DETECTOR_TYPE_EX only Ignored when not using DW_FEATURE2D_SELECTION_MASK_TYPE_GAUSSIAN More... | |
| float32_t | gaussianMaskStDevY |
| for DW_FEATURE2D_DETECTOR_TYPE_EX only Ignored when not using DW_FEATURE2D_SELECTION_MASK_TYPE_GAUSSIAN More... | |
| bool | useHalf |
| for DW_FEATURE2D_DETECTOR_TYPE_EX only use half-precision floating point to calculate harris corner score More... | |
| bool | isMaskAdjustmentEnabled |
| for DW_FEATURE2D_DETECTOR_TYPE_EX only Switch to use mask adjusment More... | |
| bool | useNewToOldMapFromPreTracked |
Determines whether the detector uses dwFeatureArray::newToOldMap directly from input preTrackedFeatures in dwFeature2DDetector_detectFromImage and dwFeature2DDetector_detectFromPyramid. More... | |
| bool | autoGenerateFeatureID |
| Determines whether the detector generates unique feature ids for new detections automatically. More... | |
| dwProcessorType | processorType |
| for DW_FEATURE2D_DETECTOR_TYPE_STD only set to DW_PROCESSOR_TYPE_PVA_0 or DW_PROCESSOR_TYPE_PVA_1 to call PVA harris detector. More... | |
| bool dwFeature2DDetectorConfig::autoGenerateFeatureID |
Determines whether the detector generates unique feature ids for new detections automatically.
If set to true, each new detected features will be assigned with a unique feature id. If set to false, dwFeatureArray::ids will be kept. Default is true.
Definition at line 223 of file FeatureDetector.h.
| uint32_t dwFeature2DDetectorConfig::blockSize |
for DW_PROCESSOR_TYPE_PVA_0 or DW_PROCESSOR_TYPE_PVA_1 only Block window size used to compute the Harris Corner score.
Must be 3, 5 or 7.
Definition at line 118 of file FeatureDetector.h.
| uint32_t dwFeature2DDetectorConfig::cellSize |
Cell size in pixel to split the image into cells.
Must be an integer multiplicaiton of 4
Definition at line 109 of file FeatureDetector.h.
| float32_t dwFeature2DDetectorConfig::detailThreshold |
for DW_FEATURE2D_DETECTOR_TYPE_STD only features in the cell that have scores higher than this value will be considered as high frequency point and will always be outputed.
If set it <= detectorScoreThreshold, all features detected are high frequency and the next numEvenDistributionPerCell will be invalid
Definition at line 131 of file FeatureDetector.h.
| uint32_t dwFeature2DDetectorConfig::detectionLevel |
for DW_FEATURE2D_DETECTOR_TYPE_EX only STD detector always detects on level 0 pyramid image.
Level at which features are detected Default to one (half of original image resolution)
Definition at line 151 of file FeatureDetector.h.
| float32_t dwFeature2DDetectorConfig::gaussianMaskCenterX |
for DW_FEATURE2D_DETECTOR_TYPE_EX only Ignored when not using DW_FEATURE2D_SELECTION_MASK_TYPE_GAUSSIAN
The center X of the Gaussian mask, range: [0.0f, 1.0f]
Definition at line 180 of file FeatureDetector.h.
| float32_t dwFeature2DDetectorConfig::gaussianMaskCenterY |
for DW_FEATURE2D_DETECTOR_TYPE_EX only Ignored when not using DW_FEATURE2D_SELECTION_MASK_TYPE_GAUSSIAN
The center Y of the Gaussian mask, range: [0.0f, 1.0f]
Definition at line 186 of file FeatureDetector.h.
| float32_t dwFeature2DDetectorConfig::gaussianMaskStDevX |
for DW_FEATURE2D_DETECTOR_TYPE_EX only Ignored when not using DW_FEATURE2D_SELECTION_MASK_TYPE_GAUSSIAN
The standard deviation in X of the Gaussian mask 1.0 means the standard deviation equals to the width of the image
Definition at line 193 of file FeatureDetector.h.
| float32_t dwFeature2DDetectorConfig::gaussianMaskStDevY |
for DW_FEATURE2D_DETECTOR_TYPE_EX only Ignored when not using DW_FEATURE2D_SELECTION_MASK_TYPE_GAUSSIAN
The standard deviation in Y of the Gaussian mask 1.0 means the standard deviation equals to the height of the image
Definition at line 200 of file FeatureDetector.h.
| uint32_t dwFeature2DDetectorConfig::gradientSize |
for DW_PROCESSOR_TYPE_PVA_0 or DW_PROCESSOR_TYPE_PVA_1 only Gradient window size.
Must be 3, 5 or 7.
Definition at line 113 of file FeatureDetector.h.
| float32_t dwFeature2DDetectorConfig::harrisK |
Weigting K of the harris corner score defined as det(M) - K * trace(M) * trace(M), where M is the structural matrix 0.04 - 0.06 is used typically If set to zero the default value (5e-2) will be used.
Definition at line 106 of file FeatureDetector.h.
| uint32_t dwFeature2DDetectorConfig::harrisRadius |
for DW_FEATURE2D_DETECTOR_TYPE_EX only STD detector use fixed harrisRadius = 1.
Radius of detector harris averaging window If set to zero the default value (1) will be used
Definition at line 159 of file FeatureDetector.h.
| uint32_t dwFeature2DDetectorConfig::imageHeight |
Height of the images that the Detector runs on.
When PVA fast9 detector is used, the height should be in range of [65, 2448]
Definition at line 95 of file FeatureDetector.h.
| uint32_t dwFeature2DDetectorConfig::imageWidth |
Width of the images that the Detector runs on.
When PVA fast9 detector is used, the width should be in range of [65, 3264]
Definition at line 91 of file FeatureDetector.h.
| bool dwFeature2DDetectorConfig::isMaskAdjustmentEnabled |
for DW_FEATURE2D_DETECTOR_TYPE_EX only Switch to use mask adjusment
Definition at line 208 of file FeatureDetector.h.
| dwFeature2DSelectionMaskType dwFeature2DDetectorConfig::maskType |
for DW_FEATURE2D_DETECTOR_TYPE_EX only STD detector always output UNIFORM distribution.
The type of feature selection mask
Definition at line 174 of file FeatureDetector.h.
| uint32_t dwFeature2DDetectorConfig::maxFeatureCount |
Upper bound on number of features handled.
When using EX detector, maxFeatureCount must be no less than the amount of cells, i.e., maxFeatureCount >= ceil(imageWidth / cellSize) * ceil(imageHeight / cellSize).
Definition at line 100 of file FeatureDetector.h.
| uint32_t dwFeature2DDetectorConfig::NMSRadius |
for DW_FEATURE2D_DETECTOR_TYPE_EX and DW_FEATURE2D_DETECTOR_TYPE_FAST9 STD detector use fixed NMSRadius = 3.
Radius of detector non-maximum suppression For EX detector, if it is set to zero the default value (1) will be used As for FAST9 detector, nonmax suppression will be enabled for non-zero value and will be disabled for zero
Definition at line 168 of file FeatureDetector.h.
| uint32_t dwFeature2DDetectorConfig::numEvenDistributionPerCell |
for DW_FEATURE2D_DETECTOR_TYPE_STD only Number of features to be appended after high frequency points, they have second highest scores but are less than detectorDetailThreshold.
During detection, the input image will be splitted into cellSize x cellSize small tiles, there'll be at most numEvenDistributionPerCell second-highest-score features in each cell.
Larger numEvenDistributionPerCell will output an evener distributed feature map Smaller numEvenDistributionPerCell will have more features in high frequence points (score >= detectorDetailThreshold) and a less evener distributed feature map. Invalid if = 0, in that case, only detectorDetailThreshold takes effect.
Definition at line 144 of file FeatureDetector.h.
| dwProcessorType dwFeature2DDetectorConfig::processorType |
for DW_FEATURE2D_DETECTOR_TYPE_STD only set to DW_PROCESSOR_TYPE_PVA_0 or DW_PROCESSOR_TYPE_PVA_1 to call PVA harris detector.
Definition at line 228 of file FeatureDetector.h.
| float32_t dwFeature2DDetectorConfig::scoreThreshold |
Threshold to filter out low frequency points.
All points whose scores are less than detectorScoreThreshold will be considered as a non-feature point. Lower value will output more features, higher value will only keep the high frequency points.
Definition at line 124 of file FeatureDetector.h.
| dwFeature2DDetectorType dwFeature2DDetectorConfig::type |
Detecting algorithm defined by dwFeature2DDetectorType
Definition at line 87 of file FeatureDetector.h.
| bool dwFeature2DDetectorConfig::useHalf |
for DW_FEATURE2D_DETECTOR_TYPE_EX only use half-precision floating point to calculate harris corner score
Definition at line 204 of file FeatureDetector.h.
| bool dwFeature2DDetectorConfig::useNewToOldMapFromPreTracked |
Determines whether the detector uses dwFeatureArray::newToOldMap directly from input preTrackedFeatures in dwFeature2DDetector_detectFromImage and dwFeature2DDetector_detectFromPyramid.
If set to true, the output outputDetections::newToOldMap represents the mapping of output detections to frame(N-1) tracking If set to false, the output outputDetections::newToOldMap represents the mapping of output detections to frame(N) tracking Default is true.
Definition at line 216 of file FeatureDetector.h.