FeatureTracker.h

Go to the documentation of this file.

 
//
// Notice
// ALL NVIDIA DESIGN SPECIFICATIONS AND CODE ("MATERIALS") ARE PROVIDED "AS IS" NVIDIA MAKES
// NO REPRESENTATIONS, WARRANTIES, EXPRESSED, IMPLIED, STATUTORY, OR OTHERWISE WITH RESPECT TO
// THE MATERIALS, AND EXPRESSLY DISCLAIMS ANY IMPLIED WARRANTIES OF NONINFRINGEMENT,
// MERCHANTABILITY, OR FITNESS FOR A PARTICULAR PURPOSE.
//
// NVIDIA CORPORATION & AFFILIATES assumes no responsibility for the consequences of use of such
// information or for any infringement of patents or other rights of third parties that may
// result from its use. No license is granted by implication or otherwise under any patent
// or patent rights of NVIDIA CORPORATION & AFFILIATES. No third party distribution is allowed unless
// expressly authorized by NVIDIA. Details are subject to change without notice.
// This code supersedes and replaces all information previously supplied.
// NVIDIA CORPORATION & AFFILIATES products are not authorized for use as critical
// components in life support devices or systems without express written approval of
// NVIDIA CORPORATION & AFFILIATES.
//
// SPDX-FileCopyrightText: Copyright (c) 2018-2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
// SPDX-License-Identifier: LicenseRef-NvidiaProprietary
//
// NVIDIA CORPORATION, its affiliates and licensors retain all intellectual
// property and proprietary rights in and to this material, related
// documentation and any modifications thereto. Any use, reproduction,
// disclosure or distribution of this material and related documentation
// without an express license agreement from NVIDIA CORPORATION or
// its affiliates is strictly prohibited.
//
 
#ifndef DW_IMAGEPROCESSING_TRACKING_FEATURETRACKER_FEATURETRACKER_H_
#define DW_IMAGEPROCESSING_TRACKING_FEATURETRACKER_FEATURETRACKER_H_
 
#include <dw/core/base/Config.h>
#include <dw/core/base/Exports.h>
#include <dw/core/context/Context.h>
#include <dw/core/base/Types.h>
#include <dw/image/Image.h>
#include <dw/imageprocessing/featuredetector/FeatureDetector.h>
#include <dw/core/system/PVA.h>
 
#include <stdint.h>
 
#ifdef __cplusplus
extern "C" {
#endif
 
#define DW_FEATURE2D_TRACKER_MAX_WINDOW_SIZE 16
 
typedef struct dwFeature2DTrackerObject* dwFeature2DTrackerHandle_t;
 
typedef struct dwFeature2DTrackerObject const* dwConstFeature2DTrackerHandle_t;
 
typedef enum dwFeature2DTrackerAlgorithm {
    DW_FEATURE2D_TRACKER_ALGORITHM_STD = 0,
 
    DW_FEATURE2D_TRACKER_ALGORITHM_EX,
 
    DW_FEATURE2D_TRACKER_ALGORITHM_EX_FAST,
 
    DW_FEATURE2D_TRACKER_ALGORITHM_COUNT
} dwFeature2DTrackerAlgorithm;
 
typedef struct dwFeature2DTrackerConfig
{
    dwFeature2DTrackerAlgorithm algorithm;
 
    dwFeature2DDetectorType detectorType;
 
    uint32_t maxFeatureCount;
 
    uint32_t historyCapacity;
 
    uint32_t pyramidLevelCount;
 
    uint32_t imageWidth;
 
    uint32_t imageHeight;
 
    uint32_t windowSizeLK;
 
    bool enableAdaptiveWindowSizeLK;
 
    uint32_t numIterTranslationOnly;
 
    uint32_t numIterScaling;
 
    uint32_t numLevelTranslationOnly;
 
    bool useHalf;
 
    uint32_t enableSparseOutput;
 
    float32_t maxScaleChange;
 
    float32_t nccKillThreshold;
 
    float32_t nccUpdateThreshold;
 
    float32_t largeMotionKillRatio;
 
    float32_t displacementThreshold;
 
    dwProcessorType processorType;
 
} dwFeature2DTrackerConfig;
 
DW_API_PUBLIC
dwStatus dwFeature2DTracker_initDefaultParams(dwFeature2DTrackerConfig* params);
 
DW_API_PUBLIC
// TODO(dwplc): RFD coverity tool claims that first 31 characters of identifiers is same with dwFeature2DTracker_initDefaultParams, which causes ambiguity
// coverity[misra_c_2012_rule_5_1_violation]
dwStatus dwFeature2DTracker_initDefaultParamsForCamera(dwFeature2DTrackerConfig* params,
                                                       const dwTransformation3f* cameraToRig,
                                                       dwConstCameraModelHandle_t cameraHandle);
 
DW_API_PUBLIC
dwStatus dwFeature2DTracker_initialize(dwFeature2DTrackerHandle_t* obj,
                                       const dwFeature2DTrackerConfig* config,
                                       cudaStream_t cudaStream, dwContextHandle_t context);
 
DW_API_PUBLIC
dwStatus dwFeature2DTracker_reset(dwFeature2DTrackerHandle_t obj);
 
DW_API_PUBLIC
dwStatus dwFeature2DTracker_release(dwFeature2DTrackerHandle_t obj);
 
DW_API_PUBLIC
dwStatus dwFeature2DTracker_trackFeatures(dwFeatureHistoryArray* featureHistoryArray,
                                          dwFeatureArray* predictedFeatures,
                                          float32_t* d_normalizedCrossCorrelation,
                                          const dwFeatureArray* featuresToTrack,
                                          const dwVector2f* d_predictedPositions,
                                          const dwPyramidImage* previousPyramid,
                                          const dwPyramidImage* currentPyramid,
                                          dwFeature2DTrackerHandle_t obj);
 
DW_API_PUBLIC
dwStatus dwFeature2DTracker_compact(dwFeatureHistoryArray* featureHistoryArray,
                                    dwFeature2DTrackerHandle_t obj);
 
DW_API_PUBLIC
dwStatus dwFeature2DTracker_setCUDAStream(cudaStream_t stream, dwFeature2DTrackerHandle_t obj);
 
DW_API_PUBLIC
dwStatus dwFeature2DTracker_getCUDAStream(cudaStream_t* stream, dwFeature2DTrackerHandle_t obj);
 
DW_API_PUBLIC
dwStatus dwFeature2DTracker_setPVAStream(cupvaStream_t stream, dwFeature2DTrackerHandle_t obj);
 
DW_API_PUBLIC
dwStatus dwFeature2DTracker_getPVAStream(cupvaStream_t* stream, dwFeature2DTrackerHandle_t obj);
 
#ifdef __cplusplus
}
#endif
#endif // DW_IMAGEPROCESSING_TRACKING_FEATURETRACKER_FEATURETRACKER_H_