crl::multisense::system::FeatureDetectorConfig Class Reference

Example code showing usage of the onboard feature detector. More...

#include <MultiSenseTypes.hh>

Public Member Functions
uint32_t	numberOfFeatures () const
	Query the maximum number of features applied to the camera feature detector. More...
bool	grouping () const
	Query the status of the feature detector feature grouping. More...
bool	motion () const
	Query the status of the feature detector motion detection. More...
void	setNumberOfFeatures (const uint32_t &numberOfFeatures)
	Set the maximum number of features applied to the camera feature detector. More...
void	setGrouping (const bool &g)
	Set the feature grouping capability the feature detector. More...
void	setMotion (const uint32_t &m)
	Set the feature motion detection capability of the feature detector Functions to enable motion detection on Octave 3. More...
	FeatureDetectorConfig ()
	Default constructor. More...

Private Attributes
uint32_t	m_numberOfFeatures
	numberOfFeatures The maximum features to be searched for in one image. More...
bool	m_grouping
	grouping Enable/Disable the grouping feature in feaure detection. More...
uint32_t	m_motion
	motion Enable / disable motion detection in the feature detector. More...

Detailed Description

Example code showing usage of the onboard feature detector.

Can also reference FeatureDetectorUtility.cc

Example code to set a device's feature detection parameters:

//
// Instantiate a channel connecting to a sensor at the factory default
// IP address
crl::multisense::Channel* channel;
channel = crl::multisense::Channel::Create("10.66.171.21");
 
channel->setMtu(7200);
 
FeatureDetectorConfig fcfg;
 
status = channelP->getFeatureDetectorConfig(fcfg);
if (Status_Ok != status) {
      std::cerr << "Failed to get feature detector config: " << Channel::statusString(status) << std::endl;
        goto clean_out;
}
 
if (quarter_res)
    fcfg.setNumberOfFeatures(1500);
else
    fcfg.setNumberOfFeatures(5000);
 
fcfg.setGrouping(true);
fcfg.setMotion(1);
 
status = channelP->setFeatureDetectorConfig(fcfg);
if (Status_Ok != status) {
  std::cerr << "Failed to set feature detector config\n";
    goto clean_out;
}
 
//
// Add Image Callback
channelP->addIsolatedCallback(imageCallback, Source_Luma_Left|Source_Luma_Right, &userData);
//
// Add Feature Callback
channelP->addIsolatedCallback(featureDetectorCallback, &userData);
 
//
// Start streaming
status = channelP->startStreams((operatingMode.supportedDataSources & Source_Luma_Left)  |
                                (operatingMode.supportedDataSources & Source_Luma_Right) |
                                (operatingMode.supportedDataSources & Source_Feature_Left)|
                                (operatingMode.supportedDataSources & Source_Feature_Right));
if (Status_Ok != status) {
    std::cerr << "Failed to start streams: " << Channel::statusString(status) << std::endl;
    goto clean_out;
} *
//
// Destroy the channel instance
crl::multisense::Channel::Destroy(channel);

Definition at line 3959 of file MultiSenseTypes.hh.

Constructor & Destructor Documentation

FeatureDetectorConfig()

crl::multisense::system::FeatureDetectorConfig::FeatureDetectorConfig ( )

inline

Default constructor.

Definition at line 4065 of file MultiSenseTypes.hh.

Member Function Documentation

grouping()

bool crl::multisense::system::FeatureDetectorConfig::grouping ( ) const

inline

Query the status of the feature detector feature grouping.

Returns

Return the current feature grouping status

Definition at line 4011 of file MultiSenseTypes.hh.

motion()

bool crl::multisense::system::FeatureDetectorConfig::motion ( ) const

inline

Query the status of the feature detector motion detection.

Returns

Return the current feature detector motion detection status

Definition at line 4018 of file MultiSenseTypes.hh.

numberOfFeatures()

uint32_t crl::multisense::system::FeatureDetectorConfig::numberOfFeatures ( ) const

inline

Query the maximum number of features applied to the camera feature detector.

Returns

Return the current maximum number of features

Definition at line 4004 of file MultiSenseTypes.hh.

setGrouping()

void crl::multisense::system::FeatureDetectorConfig::setGrouping ( const bool &  g )

inline

Set the feature grouping capability the feature detector.

Parameters

g	The feature grouping to apply to this camera

Definition at line 4049 of file MultiSenseTypes.hh.

setMotion()

void crl::multisense::system::FeatureDetectorConfig::setMotion ( const uint32_t &  m )

inline

Set the feature motion detection capability of the feature detector Functions to enable motion detection on Octave 3.

Parameters

m	The feature detector motion detector.

Definition at line 4060 of file MultiSenseTypes.hh.

setNumberOfFeatures()

void crl::multisense::system::FeatureDetectorConfig::setNumberOfFeatures ( const uint32_t &  numberOfFeatures )

inline

Set the maximum number of features applied to the camera feature detector.

Current recommended settings. Full Resolution: 5000 Features @5FPS Quarter Resolution: 1500 Features @15FPS

Parameters

numberOfFeatures

The maximum number of features.

Definition at line 4029 of file MultiSenseTypes.hh.

Member Data Documentation

m_grouping

bool crl::multisense::system::FeatureDetectorConfig::m_grouping

private

grouping Enable/Disable the grouping feature in feaure detection.

Grouping adds scale invariance to ORB features, by detecting the same feature in multiple octaves, and grouping the feature. Grouping reduces redundant features and eliminates the need to keep track of features referencing the same corner. When grouping is enabled, the user should expect less features than descriptors, which should result in computationally easier feature matching, between consecutive frames. Although grouping does come at a slightly reduced framerate, it is recommended and verified at the recommended settings.

Definition at line 3986 of file MultiSenseTypes.hh.

m_motion

uint32_t crl::multisense::system::FeatureDetectorConfig::m_motion

private

motion Enable / disable motion detection in the feature detector.

When enabled, you can check the averageXMotion, averageYMotion and motionStatus of the feaure_detector::header. averageXMotion and averageYMotion == 65535 corresponds to a failed motion detection for that feature frame.

Definition at line 3996 of file MultiSenseTypes.hh.

m_numberOfFeatures

uint32_t crl::multisense::system::FeatureDetectorConfig::m_numberOfFeatures

private

numberOfFeatures The maximum features to be searched for in one image.

Current recommended settings. Full Resolution: 5000 Features @5FPS Quarter Resolution: 1500 Features @15FPS

Definition at line 3971 of file MultiSenseTypes.hh.

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The documentation for this class was generated from the following file:

• /home/malvarado/crl/LibMultiSense/source/LibMultiSense/include/MultiSense/MultiSenseTypes.hh