On Device Feature Point Tracking in 3D

ADP

Hello, I want to do an on-device feature tracking with my OAK-D Pro PoE. I already looked into the Feature-Tracker-Node, but for my use case, it is necessary to calculate the distance difference between the feature positions of consecutive frames, so I want to know if there already exists a Node for this. More fundamentally, I need to convert the [px] of the Point2f to a 3D-Position in [m], which I could not find a node for.

jakaskerl

Hi ADP
The spatial location calculator does that. You can align the frames on which you perfrom freature tracking to the depth map and input that into the calculator node. This should give you spatials, which are xyz coordinates.

Thanks,
Jaka

ADP

Thanks, that's the node I was looking for. I will try to implement the on-device distance calculation.