TrackKLTOptions Struct

Pyramidal Lucas-Kanade / KLT tracker options. More...

Declaration

struct simaai::neat::TrackKLTOptions { ... }

Included Headers

#include <VisualFrontend.h>

Public Member Functions Index

std::string	summary () const
	Human-readable, non-throwing summary for logs, diagnostics, and Python repr. More...

Public Member Attributes Index

int	width = 0
	Input image width in pixels. More...
int	height = 0
	Input image height in pixels. More...
int	batch_size = 1
	Number of packed image/point sets in one dispatch. Public tensor shape uses this as N. More...
int	num_points = 0
	Number of input points tracked per batch item. More...
int	win_half = 10
	Half-window radius for LK tracking. Must fit the EV74 graph envelope. More...
int	max_iters = 30
	Maximum LK solver iterations per pyramid level. Must be positive. More...
int	max_level = 3
	Maximum pyramid level. Must fit the EV74 graph envelope. More...
int	detect_new_features = 0
	When non-zero, publish detected replacement/new features as a third output. More...
int	fast_threshold = 30
	FAST threshold used only by the detect-new-features path. More...
int	max_features = 500
	Maximum detected replacement/new features per batch item. More...
int	grid_x = 8
	Horizontal grid cells for detect-new-features distribution. More...
int	grid_y = 6
	Vertical grid cells for detect-new-features distribution. More...
int	min_px_dist = 10
	Minimum pixel distance for detect-new-features. Must be non-negative. More...
int	debug = 0
	EV graph debug level. Current native visual graphs accept values in [0,2]. More...
int	num_buffers = 0
	Optional processcvu queue/buffer override. 0 keeps the plugin/runtime default. More...
std::string	element_name
	Optional GStreamer/processcvu element name. Empty means Neat generates a stable name. More...
std::string	prev_image_name = "prev_image"
	Previous grayscale image tensor name. More...
std::string	cur_image_name = "cur_image"
	Current grayscale image tensor name. More...
std::string	input_points_name = "input_points"
	Input point tensor name. More...
std::string	output_points_name = "output_points"
	Output tracked-point tensor name. More...
std::string	output_status_name = "output_status"
	Output point-status tensor name. More...
std::string	output_features_name = "output_features"
	Optional published feature-list tensor name when detect_new_features != 0. More...
bool	publish_error = false
	Append mean absolute photometric residuals at the returned coordinates. More...
std::string	output_error_name = "output_error"
	Residual output name. Unevaluated residuals are positive infinity. More...
float	error_threshold = -1.0f
	Maximum mean absolute UInt8 intensity residual [0,255]; -1 disables filtering. More...
float	min_eig_threshold = 0.0f
	Minimum texture eigenvalue divided by window area and 255 squared; 0 disables. More...
bool	require_convergence = false
	Require convergence of the final full-resolution solve, not every coarse level. More...

Description

Pyramidal Lucas-Kanade / KLT tracker options.

Public ABI:

• inputs:
  • prev_image_name, UInt8 [batch_size,height,width]
  • cur_image_name, UInt8 [batch_size,height,width]
  • input_points_name, Int32 [batch_size,num_points,2]
• outputs when detect_new_features == 0:
  • output_points_name, Float32 [batch_size,num_points,2]
  • output_status_name, Int32 [batch_size,num_points,1]
• outputs when detect_new_features == 1 additionally include:
  • output_features_name, Int32 [batch_size,1 + max_features*3]

When publish_error is true, append Float32 [batch_size,num_points,1] residuals after the existing outputs. Disabled detection does not allocate a hidden feature output. Status reports solver/geometry validity by default; enable explicit quality thresholds to reject weak or inconsistent matches.

Definition at line 145 of file VisualFrontend.h.

Public Member Functions

summary()

std::string simaai::neat::TrackKLTOptions::summary ()

Human-readable, non-throwing summary for logs, diagnostics, and Python repr.

Definition at line 202 of file VisualFrontend.h.

Public Member Attributes

batch_size

int simaai::neat::TrackKLTOptions::batch_size = 1

Number of packed image/point sets in one dispatch. Public tensor shape uses this as N.

Definition at line 151 of file VisualFrontend.h.

cur_image_name

std::string simaai::neat::TrackKLTOptions::cur_image_name = "cur_image"

Current grayscale image tensor name.

Definition at line 181 of file VisualFrontend.h.

debug

int simaai::neat::TrackKLTOptions::debug = 0

EV graph debug level. Current native visual graphs accept values in [0,2].

Definition at line 173 of file VisualFrontend.h.

detect_new_features

int simaai::neat::TrackKLTOptions::detect_new_features = 0

When non-zero, publish detected replacement/new features as a third output.

Definition at line 161 of file VisualFrontend.h.

element_name

std::string simaai::neat::TrackKLTOptions::element_name

Optional GStreamer/processcvu element name. Empty means Neat generates a stable name.

Definition at line 177 of file VisualFrontend.h.

error_threshold

float simaai::neat::TrackKLTOptions::error_threshold = -1.0f

Maximum mean absolute UInt8 intensity residual [0,255]; -1 disables filtering.

Definition at line 195 of file VisualFrontend.h.

fast_threshold

int simaai::neat::TrackKLTOptions::fast_threshold = 30

FAST threshold used only by the detect-new-features path.

Definition at line 163 of file VisualFrontend.h.

grid_x

int simaai::neat::TrackKLTOptions::grid_x = 8

Horizontal grid cells for detect-new-features distribution.

Definition at line 167 of file VisualFrontend.h.

grid_y

int simaai::neat::TrackKLTOptions::grid_y = 6

Vertical grid cells for detect-new-features distribution.

Definition at line 169 of file VisualFrontend.h.

height

int simaai::neat::TrackKLTOptions::height = 0

Input image height in pixels.

Definition at line 149 of file VisualFrontend.h.

input_points_name

std::string simaai::neat::TrackKLTOptions::input_points_name = "input_points"

Input point tensor name.

Definition at line 183 of file VisualFrontend.h.

max_features

int simaai::neat::TrackKLTOptions::max_features = 500

Maximum detected replacement/new features per batch item.

Definition at line 165 of file VisualFrontend.h.

max_iters

int simaai::neat::TrackKLTOptions::max_iters = 30

Maximum LK solver iterations per pyramid level. Must be positive.

Definition at line 157 of file VisualFrontend.h.

max_level

int simaai::neat::TrackKLTOptions::max_level = 3

Maximum pyramid level. Must fit the EV74 graph envelope.

Definition at line 159 of file VisualFrontend.h.

min_eig_threshold

float simaai::neat::TrackKLTOptions::min_eig_threshold = 0.0f

Minimum texture eigenvalue divided by window area and 255 squared; 0 disables.

Definition at line 197 of file VisualFrontend.h.

min_px_dist

int simaai::neat::TrackKLTOptions::min_px_dist = 10

Minimum pixel distance for detect-new-features. Must be non-negative.

Definition at line 171 of file VisualFrontend.h.

num_buffers

int simaai::neat::TrackKLTOptions::num_buffers = 0

Optional processcvu queue/buffer override. 0 keeps the plugin/runtime default.

Definition at line 175 of file VisualFrontend.h.

num_points

int simaai::neat::TrackKLTOptions::num_points = 0

Number of input points tracked per batch item.

Definition at line 153 of file VisualFrontend.h.

output_error_name

std::string simaai::neat::TrackKLTOptions::output_error_name = "output_error"

Residual output name. Unevaluated residuals are positive infinity.

Definition at line 193 of file VisualFrontend.h.

output_features_name

std::string simaai::neat::TrackKLTOptions::output_features_name = "output_features"

Optional published feature-list tensor name when detect_new_features != 0.

Definition at line 189 of file VisualFrontend.h.

output_points_name

std::string simaai::neat::TrackKLTOptions::output_points_name = "output_points"

Output tracked-point tensor name.

Definition at line 185 of file VisualFrontend.h.

output_status_name

std::string simaai::neat::TrackKLTOptions::output_status_name = "output_status"

Output point-status tensor name.

Definition at line 187 of file VisualFrontend.h.

prev_image_name

std::string simaai::neat::TrackKLTOptions::prev_image_name = "prev_image"

Previous grayscale image tensor name.

Definition at line 179 of file VisualFrontend.h.

publish_error

bool simaai::neat::TrackKLTOptions::publish_error = false

Append mean absolute photometric residuals at the returned coordinates.

Definition at line 191 of file VisualFrontend.h.

require_convergence

bool simaai::neat::TrackKLTOptions::require_convergence = false

Require convergence of the final full-resolution solve, not every coarse level.

Definition at line 199 of file VisualFrontend.h.

width

int simaai::neat::TrackKLTOptions::width = 0

Input image width in pixels.

Definition at line 147 of file VisualFrontend.h.

win_half

int simaai::neat::TrackKLTOptions::win_half = 10

Half-window radius for LK tracking. Must fit the EV74 graph envelope.

Definition at line 155 of file VisualFrontend.h.

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

• VisualFrontend.h

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