dwFeatureDetectorPVANode.hpp

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#ifndef DW_FRAMEWORK_FEATURE_DETECTOR_PVA_NODE_H_
#define DW_FRAMEWORK_FEATURE_DETECTOR_PVA_NODE_H_
 
#include <dwframework/dwnodes/imageprocessing/dwfeaturedetectornode/dwFeatureDetectorNode.hpp>
namespace dw
{
namespace framework
{
 
class dwFeatureDetectorPVANode : public dwFeatureDetectorNodeBase
{
 
public:
    static constexpr char LOG_TAG[] = "dwFeatureDetectorPVANode";
 
    static constexpr auto describePasses()
    {
        return describePassCollection(
            describePass("SETUP"_sv, DW_PROCESSOR_TYPE_CPU),
            describePass("PREPARE_DATA"_sv, DW_PROCESSOR_TYPE_GPU),
            describePass("DETECT_NEW_FEATURE"_sv, DW_PROCESSOR_TYPE_PVA_0),
            describePass("POST_PROCESS"_sv, DW_PROCESSOR_TYPE_GPU),
            describePass("TEARDOWN"_sv, DW_PROCESSOR_TYPE_CPU));
    };
 
    static std::unique_ptr<dwFeatureDetectorPVANode> create(ParameterProvider& provider);
 
    static constexpr auto describeParameters()
    {
        return describeConstructorArguments<dwFeatureDetectorNodeParams, dwFeatureDetectorNodeRuntimeParams, dwContextHandle_t>(
            describeConstructorArgument(
                DW_DESCRIBE_PARAMETER(
                    bool,
                    "initForCamera"_sv,
                    &dwFeatureDetectorNodeParams::initForCamera),
                DW_DESCRIBE_INDEX_PARAMETER_WITH_SEMANTIC(
                    dwCameraModelHandle_t,
                    semantic_parameter_types::CameraIntrinsicsYuv,
                    "cameraIndex"_sv,
                    &dwFeatureDetectorNodeParams::intrinsic),
                DW_DESCRIBE_INDEX_PARAMETER_WITH_SEMANTIC(
                    dwTransformation3f,
                    semantic_parameter_types::CameraExtrinsic,
                    "cameraIndex"_sv,
                    &dwFeatureDetectorNodeParams::extrinsic),
                DW_DESCRIBE_PARAMETER(
                    dwFeature2DDetectorType,
                    "featureDetectorType"_sv,
                    &dwFeatureDetectorNodeParams::dwDetectorParams, &dwFeature2DDetectorConfig::type),
                DW_DESCRIBE_INDEX_PARAMETER_WITH_SEMANTIC(
                    cupvaStream_t,
                    semantic_parameter_types::CupvaStream,
                    "pvaStreamIndex"_sv,
                    &dwFeatureDetectorNodeParams::cupvastream),
                DW_DESCRIBE_INDEX_PARAMETER_WITH_SEMANTIC(
                    uint32_t,
                    semantic_parameter_types::ImageWidthYuv,
                    "cameraIndex"_sv,
                    &dwFeatureDetectorNodeParams::dwDetectorParams, &dwFeature2DDetectorConfig::imageWidth),
                DW_DESCRIBE_INDEX_PARAMETER_WITH_SEMANTIC(
                    uint32_t,
                    semantic_parameter_types::ImageHeightYuv,
                    "cameraIndex"_sv,
                    &dwFeatureDetectorNodeParams::dwDetectorParams, &dwFeature2DDetectorConfig::imageHeight),
                DW_DESCRIBE_PARAMETER(
                    uint32_t,
                    "maxFeatureCount"_sv,
                    &dwFeatureDetectorNodeParams::dwDetectorParams, &dwFeature2DDetectorConfig::maxFeatureCount)),
            describeConstructorArgument(
                DW_DESCRIBE_INDEX_PARAMETER(
                    cudaStream_t,
                    "streamIndex"_sv,
                    &dwFeatureDetectorNodeRuntimeParams::cudaStream)),
            describeConstructorArgument(
                DW_DESCRIBE_UNNAMED_PARAMETER(
                    dwContextHandle_t)));
    }
 
    dwFeatureDetectorPVANode(const dwFeatureDetectorNodeParams& params,
                             const dwFeatureDetectorNodeRuntimeParams& runtimeParams,
                             const dwContextHandle_t ctx);
 
    dwStatus setRuntimeParams(const dwFeatureDetectorNodeRuntimeParams& runtimeParams);
};
} // namespace framework
} // namespace dw
 
#endif //DW_FRAMEWORK_FEATURE_DETECTOR_PVA_NODE_H_