numMaxFeatures doesn't work

ADP

featureTrackerRight.initialConfig.CornerDetector.numMaxFeatures = 5

Does not seem to set a hard limit to the number of tracked features.

jakaskerl

Hi @ADP
Thanks for reporting. Could you send a MRE so the issue can be passed to the dev team?

Thanks,
Jaka

ADP

This shows the problem.

import depthai as dai

pipeline = dai.Pipeline()

monoRight = pipeline.create(dai.node.MonoCamera)

featureTrackerRight = pipeline.create(dai.node.FeatureTracker)

monoRight.out.link(featureTrackerRight.inputImage)

# featureTrackerRight.initialConfig.CornerDetector.numTargetFeatures = 5

featureTrackerRight.initialConfig.CornerDetector.numMaxFeatures = 5

script1 = pipeline.create(dai.node.Script)

script1.setScript("""

while True:

    node.warn(str(len(node.io['features'].get().trackedFeatures)))

""")

featureTrackerRight.outputFeatures.link(script1.inputs["features"])

with dai.Device(pipeline) as device:

device.setLogLevel(dai.LogLevel.DEBUG)

device.setLogOutputLevel(dai.LogLevel.DEBUG)



while True:

    pass

ADP

But i did not find a good way to fix the formating…

ADP

import depthai as dai
pipeline = dai.Pipeline()
monoRight = pipeline.create(dai.node.MonoCamera)
featureTrackerRight = pipeline.create(dai.node.FeatureTracker)
monoRight.out.link(featureTrackerRight.inputImage)
# featureTrackerRight.initialConfig.CornerDetector.numTargetFeatures = 5
featureTrackerRight.initialConfig.CornerDetector.numMaxFeatures = 5

script1 = pipeline.create(dai.node.Script)
script1.setScript("""
while True:
node.warn(str(len(node.io['features'].get().trackedFeatures)))
""")
featureTrackerRight.outputFeatures.link(script1.inputs["features"])

with dai.Device(pipeline) as device:
device.setLogLevel(dai.LogLevel.DEBUG)
device.setLogOutputLevel(dai.LogLevel.DEBUG)

while True:
pass

ADP

Some other feature Tracker Methods also seem not functional, i tried these so far.

featureTrackerRight.initialConfig.CornerDetector.numTargetFeatures
featureTrackerRight.initialConfig.FeatureMaintainer.minimumDistanceBetweenFeatures

jakaskerl

Hi @ADP
You are basically altering the properties of the classes themselves which won't work.

The values should all have their setters.

CornerDetector: featureTrackerRight.initialConfig.setNumTargetFeatures(50)
Keep in mind this:
luxonis/depthai-sharedblob/main/include/depthai-shared/datatype/RawFeatureTrackerConfig.hpp#L33-L48

As for the minimumDistanceBetweenFeatures, FeatureMaintainer itself has a setter for which you plug in the config:

@overload
    def setFeatureMaintainer(self, enable: bool) -> FeatureTrackerConfig: ...
@overload
    def setFeatureMaintainer(self, config: RawFeatureTrackerConfig.FeatureMaintainer) -> FeatureTrackerConfig: ...

Thanks,
Jaka

ADP

Thanks, sorry for my stupidity.