Holds configuration parameters for a feature tracker.
Definition at line 94 of file FeatureTracker.h.
Data Fields | |
| dwFeature2DTrackerAlgorithm | algorithm |
Tracking Algorithm defined by dwFeature2DTrackerAlgorithm. More... | |
| dwFeature2DDetectorType | detectorType |
| Type of detector that connects to the tracker, should be the same value as dwFeature2DDetectorConfig::type during detector initialization. More... | |
| uint32_t | maxFeatureCount |
| Upper bound on number of features handled. More... | |
| uint32_t | historyCapacity |
| Upper bound of history in feature history array. More... | |
| uint32_t | pyramidLevelCount |
| Levels of pyramid to track Valid only when algorithm = DW_FEATURE2D_TRACKER_ALGORITHM_EX or DW_FEATURE2D_TRACKER_ALGORITHM_EX_FAST. More... | |
| uint32_t | imageWidth |
| Width of the images that the tracker runs on. More... | |
| uint32_t | imageHeight |
| Height of the images that the tracker runs on. More... | |
| uint32_t | windowSizeLK |
| Window size used in the KLT tracker. More... | |
| bool | enableAdaptiveWindowSizeLK |
| Enable adaptive window size If enabled, the tracker will use windowSizeLK to track only at the first and the last pyramid levels, and use smaller window size at the rest pyramid levels. More... | |
| uint32_t | numIterTranslationOnly |
| Upper bound on number of 2-DOF translation-only KLT iterations per level. More... | |
| uint32_t | numIterScaling |
| Upper bound on number of 3-DOF translation+scaling KLT iterations per level. More... | |
| uint32_t | numLevelTranslationOnly |
| Number of levels in pyramid that will use translation-only KLT tracking, level [maxPyramidLevel - 1, maxPyramidLevel - numTranslationOnlyLevel] will use translation-only track level [maxPyramidLevel - numTranslationOnlyLevel - 1, 0] will use translation-scaling track if numTranslationOnlyLevel = 0, translation-scaling track will be applied to all levels in pyramid. More... | |
| bool | useHalf |
| Set it to true to use half float as intermediate results during tracking It saves register usage and will be faster than full 32-bit float, but will lose a bit of precision. More... | |
| uint32_t | enableSparseOutput |
| Enable sparse output if set to 1. More... | |
| float32_t | maxScaleChange |
| The maximum allowed scale change for the tracked points across consecutive frames. More... | |
| float32_t | nccKillThreshold |
| Features will be killed if the Cross Correlation Score is less than this threshold during tracking. More... | |
| float32_t | nccUpdateThreshold |
| Feature template will be updated if the Cross Correlation Score is less than this threshold during tracking. More... | |
| float32_t | largeMotionKillRatio |
| Features will be killed if the motion is larger than the template size times the large motion killing threshold during tracking. More... | |
| float32_t | displacementThreshold |
| If difference of translation prediction between 2 adjacent KLT iteration is less than this value, it is thought the result is converged and will abort tracking iteration. More... | |
| dwProcessorType | processorType |
| Processor type which determines on which processor the algorithm should be executed on. More... | |
| dwFeature2DTrackerAlgorithm dwFeature2DTrackerConfig::algorithm |
Tracking Algorithm defined by dwFeature2DTrackerAlgorithm.
Definition at line 97 of file FeatureTracker.h.
| dwFeature2DDetectorType dwFeature2DTrackerConfig::detectorType |
Type of detector that connects to the tracker, should be the same value as dwFeature2DDetectorConfig::type during detector initialization.
Definition at line 101 of file FeatureTracker.h.
| float32_t dwFeature2DTrackerConfig::displacementThreshold |
If difference of translation prediction between 2 adjacent KLT iteration is less than this value, it is thought the result is converged and will abort tracking iteration.
Default value = 0.1F, larger value causes faster convergence, but will lose the precision.
Definition at line 211 of file FeatureTracker.h.
| bool dwFeature2DTrackerConfig::enableAdaptiveWindowSizeLK |
Enable adaptive window size If enabled, the tracker will use windowSizeLK to track only at the first and the last pyramid levels, and use smaller window size at the rest pyramid levels.
Valid only when algorithm = DW_FEATURE2D_TRACKER_ALGORITHM_EX or DW_FEATURE2D_TRACKER_ALGORITHM_EX_FAST
Definition at line 138 of file FeatureTracker.h.
| uint32_t dwFeature2DTrackerConfig::enableSparseOutput |
Enable sparse output if set to 1.
If enabled, the output feature array will contain invalid features, which can be removed by explicitly calling dwFeature2DTracker_compact
Definition at line 177 of file FeatureTracker.h.
| uint32_t dwFeature2DTrackerConfig::historyCapacity |
Upper bound of history in feature history array.
Definition at line 107 of file FeatureTracker.h.
| uint32_t dwFeature2DTrackerConfig::imageHeight |
Height of the images that the tracker runs on.
Definition at line 119 of file FeatureTracker.h.
| uint32_t dwFeature2DTrackerConfig::imageWidth |
Width of the images that the tracker runs on.
Definition at line 116 of file FeatureTracker.h.
| float32_t dwFeature2DTrackerConfig::largeMotionKillRatio |
Features will be killed if the motion is larger than the template size times the large motion killing threshold during tracking.
Valid only when algorithm = DW_FEATURE2D_TRACKER_ALGORITHM_EX or DW_FEATURE2D_TRACKER_ALGORITHM_EX_FAST
Definition at line 204 of file FeatureTracker.h.
| uint32_t dwFeature2DTrackerConfig::maxFeatureCount |
Upper bound on number of features handled.
Definition at line 104 of file FeatureTracker.h.
| float32_t dwFeature2DTrackerConfig::maxScaleChange |
The maximum allowed scale change for the tracked points across consecutive frames.
Valid only when algorithm = DW_FEATURE2D_TRACKER_ALGORITHM_EX or DW_FEATURE2D_TRACKER_ALGORITHM_EX_FAST
Definition at line 183 of file FeatureTracker.h.
| float32_t dwFeature2DTrackerConfig::nccKillThreshold |
Features will be killed if the Cross Correlation Score is less than this threshold during tracking.
The value should be between -1.0 and 1.0. Valid only when algorithm = DW_FEATURE2D_TRACKER_ALGORITHM_EX or DW_FEATURE2D_TRACKER_ALGORITHM_EX_FAST
Definition at line 190 of file FeatureTracker.h.
| float32_t dwFeature2DTrackerConfig::nccUpdateThreshold |
Feature template will be updated if the Cross Correlation Score is less than this threshold during tracking.
The value should be between -1.0 and 1.0. The value should be no less than nccKillThreshold. Valid only when algorithm = DW_FEATURE2D_TRACKER_ALGORITHM_EX
Definition at line 197 of file FeatureTracker.h.
| uint32_t dwFeature2DTrackerConfig::numIterScaling |
Upper bound on number of 3-DOF translation+scaling KLT iterations per level.
Valid only when algorithm = DW_FEATURE2D_TRACKER_ALGORITHM_EX or DW_FEATURE2D_TRACKER_ALGORITHM_EX_FAST
Definition at line 150 of file FeatureTracker.h.
| uint32_t dwFeature2DTrackerConfig::numIterTranslationOnly |
Upper bound on number of 2-DOF translation-only KLT iterations per level.
If set to zero the default value will be used. More iterations helps improve tracking results but cost more time
Definition at line 144 of file FeatureTracker.h.
| uint32_t dwFeature2DTrackerConfig::numLevelTranslationOnly |
Number of levels in pyramid that will use translation-only KLT tracking, level [maxPyramidLevel - 1, maxPyramidLevel - numTranslationOnlyLevel] will use translation-only track level [maxPyramidLevel - numTranslationOnlyLevel - 1, 0] will use translation-scaling track if numTranslationOnlyLevel = 0, translation-scaling track will be applied to all levels in pyramid.
Valid only when algorithm = DW_FEATURE2D_TRACKER_ALGORITHM_EX or DW_FEATURE2D_TRACKER_ALGORITHM_EX_FAST
Definition at line 160 of file FeatureTracker.h.
| dwProcessorType dwFeature2DTrackerConfig::processorType |
Processor type which determines on which processor the algorithm should be executed on.
Supported options are: DW_PROCESSOR_TYPE_GPU, DW_PROCESSOR_TYPE_PVA_0, DW_PROCESSOR_TYPE_PVA_1.
Definition at line 218 of file FeatureTracker.h.
| uint32_t dwFeature2DTrackerConfig::pyramidLevelCount |
Levels of pyramid to track Valid only when algorithm = DW_FEATURE2D_TRACKER_ALGORITHM_EX or DW_FEATURE2D_TRACKER_ALGORITHM_EX_FAST.
Definition at line 113 of file FeatureTracker.h.
| bool dwFeature2DTrackerConfig::useHalf |
Set it to true to use half float as intermediate results during tracking It saves register usage and will be faster than full 32-bit float, but will lose a bit of precision.
Valid only when algorithm = DW_FEATURE2D_TRACKER_ALGORITHM_EX or DW_FEATURE2D_TRACKER_ALGORITHM_EX_FAST
Definition at line 170 of file FeatureTracker.h.
| uint32_t dwFeature2DTrackerConfig::windowSizeLK |
Window size used in the KLT tracker.
Supported sizes are ** DW_FEATURE2D_TRACKER_ALGORITHM_STD: 6, 8, 10, 12, 14. ** DW_FEATURE2D_TRACKER_ALGORITHM_EX: 10, 12. ** DW_FEATURE2D_TRACKER_ALGORITHM_EX_FAST: 10, 12.
If set to zero the default value will be used. Larger window size provides better tracking results but costs more time.
Definition at line 129 of file FeatureTracker.h.