Struct flydra_feature_detector::FlydraFeatureDetector

pub struct FlydraFeatureDetector { /* private fields */ }

Implementation of low-latency feature detector.

Maintains compatibility with old flydra camera node.

Most work is done in Self::process_new_frame.

Implementations

impl FlydraFeatureDetector

pub fn new( raw_cam_name: &RawCamName, w: u32, h: u32, cfg: ImPtDetectCfg, frame_offset: Option<u64>, transmit_feature_detect_settings_tx: Option<Sender<ImPtDetectCfg>>, acquisition_duration_allowed_imprecision_msec: Option<f64> ) -> Result<Self>

Create new FlydraFeatureDetector.

pub fn valid_region(&self) -> Shape

pub fn config(&self) -> ImPtDetectCfg

pub fn set_config(&mut self, cfg: ImPtDetectCfg) -> Result<()>

pub fn set_frame_offset(&mut self, value: u64)

pub fn do_take_current_image_as_background(&mut self) -> Result<()>

pub fn do_clear_background(&mut self, value: f32) -> Result<()>

pub fn process_new_frame( &mut self, frame: &DynamicFrame, ufmf_state: UfmfState, device_timestamp: Option<NonZeroU64>, block_id: Option<NonZeroU64>, braid_ts: Option<FlydraFloatTimestampLocal<Triggerbox>> ) -> Result<(FlydraRawUdpPacket, UfmfState)>

Detect features of interest and update background model.

The detected features are returned as a FlydraRawUdpPacket in the returned output tuple.

A ufmf file can be updated by setting the ufmf_state argument to a value other than UfmfState::Stopped.