FeatureDetector.h File Reference

Detailed Description

NVIDIA DriveWorks API: 2D Detector

Description: This file defines 2D detection

Definition in file FeatureDetector.h.

Go to the source code of this file.

Data Structures
struct	dwFeature2DDetectorConfig
	Holds configuration parameters for a feature detector. More...

Typedefs
typedef struct dwFeature2DDetectorObject *	dwFeature2DDetectorHandle_t
	Handle representing a feature detector. More...
typedef struct dwFeature2DDetectorObject const *	dwConstFeature2DDetectorHandle_t
	Handle representing a const feature detector. More...
typedef enum dwFeature2DDetectorType	dwFeature2DDetectorType
	Defines different KLT tracking algorithms. More...
typedef struct dwFeature2DDetectorConfig	dwFeature2DDetectorConfig
	Holds configuration parameters for a feature detector. More...

Enumerations
enum	dwFeature2DDetectorType {   DW_FEATURE2D_DETECTOR_TYPE_STD = 0,   DW_FEATURE2D_DETECTOR_TYPE_EX,   DW_FEATURE2D_DETECTOR_TYPE_FAST9,   DW_FEATURE2D_DETECTOR_TYPE_COUNT }
	Defines different KLT tracking algorithms. More...
enum	dwFeature2DSelectionMaskType {   DW_FEATURE2D_SELECTION_MASK_TYPE_UNIFORM = 0,   DW_FEATURE2D_SELECTION_MASK_TYPE_GAUSSIAN,   DW_FEATURE2D_SELECTION_MASK_TYPE_COUNT }
	Feature distribution mask for extended detector. More...

Functions
DW_API_PUBLIC dwStatus	dwFeature2DDetector_initDefaultParams (dwFeature2DDetectorConfig *params)
	Initializes dwFeature2DDetector parameters with default values. More...
DW_API_PUBLIC dwStatus	dwFeature2DDetector_initDefaultParamsForCamera (dwFeature2DDetectorConfig *params, const dwTransformation3f *cameraToRig, dwConstCameraModelHandle_t cameraHandle)
	Initializes dwFeature2DDetector parameters with values best suited for the given camera using camera extrinsic (dwTransformation3f* cameraToRig) and camera intrinsic (dwConstCameraModelHandle_t cameraHandle) More...
DW_API_PUBLIC dwStatus	dwFeature2DDetector_initialize (dwFeature2DDetectorHandle_t *obj, const dwFeature2DDetectorConfig *config, cudaStream_t cudaStream, dwContextHandle_t context)
	Creates and initializes a feature Detector. More...
DW_API_PUBLIC dwStatus	dwFeature2DDetector_reset (dwFeature2DDetectorHandle_t obj)
	Resets a feature Detector. More...
DW_API_PUBLIC dwStatus	dwFeature2DDetector_release (dwFeature2DDetectorHandle_t obj)
	Releases the feature Detector. More...
DW_API_PUBLIC dwStatus	dwFeature2DDetector_setMask (const uint8_t *d_mask, const uint32_t maskStrideBytes, const uint32_t maskWidth, const uint32_t maskHeight, dwFeature2DDetectorHandle_t obj)
	Sets a mask to ignore areas of the image. More...
DW_API_PUBLIC dwStatus	dwFeature2DDetector_detectFromImage (dwFeatureArray *outputDetections, dwImageHandle_t image, dwFeatureArray *preTrackedFeatures, const float32_t *d_normalizedCrossCorrelation, dwFeature2DDetectorHandle_t obj)
	Detects new features and append them after old tracked features. More...
DW_API_PUBLIC dwStatus	dwFeature2DDetector_detectFromPyramid (dwFeatureArray *outputDetections, const dwPyramidImage *pyramid, dwFeatureArray *preTrackedFeatures, const float32_t *d_normalizedCrossCorrelation, dwFeature2DDetectorHandle_t obj)
	Detects new features and append them after old tracked features. More...
DW_API_PUBLIC dwStatus	dwFeature2DDetector_dryrunDetectionImage (dwFeatureArray *outputDetections, dwFeatureArray *preTrackedFeatures, const float32_t *d_normalizedCrossCorrelation, dwFeature2DDetectorHandle_t obj)
	Dryrun the detection to record a CUDA graph. More...
DW_API_PUBLIC dwStatus	dwFeature2DDetector_dryrunDetectionPyramid (dwFeatureArray *outputDetections, dwFeatureArray *preTrackedFeatures, const float32_t *d_normalizedCrossCorrelation, dwFeature2DDetectorHandle_t obj)
	Dryrun the detection to record a CUDA graph. More...
DW_API_PUBLIC dwStatus	dwFeature2DDetector_getValidTrackedCount (const uint32_t **d_validTrackedCount, dwFeature2DDetectorHandle_t obj)
	dwFeature2DDetector_getValidTrackedCount More...
DW_API_PUBLIC dwStatus	dwFeature2DDetector_setCUDAStream (cudaStream_t stream, dwFeature2DDetectorHandle_t obj)
	Sets the CUDA stream for CUDA related operations. More...
DW_API_PUBLIC dwStatus	dwFeature2DDetector_getCUDAStream (cudaStream_t *stream, dwFeature2DDetectorHandle_t obj)
	Gets the CUDA stream used by the feature Detector. More...
DW_API_PUBLIC dwStatus	dwFeature2DDetector_getScoreThreshold (float32_t *scoreThreshold, dwFeature2DDetectorHandle_t obj)
	Get the current score threshold used in Harris detector. More...
DW_API_PUBLIC dwStatus	dwFeature2DDetector_setScoreThreshold (float32_t scoreThreshold, dwFeature2DDetectorHandle_t obj)
	Set Harris detector's score threshold. More...
DW_API_PUBLIC dwStatus	dwFeature2DDetector_setPVAStream (cupvaStream_t stream, dwFeature2DDetectorHandle_t obj)
	Sets the CUPVA stream for PVA related operations. More...
DW_API_PUBLIC dwStatus	dwFeature2DDetector_getPVAStream (cupvaStream_t *stream, dwFeature2DDetectorHandle_t obj)
	Gets the CUPVA stream used by the feature Detector. More...
DW_API_PUBLIC dwStatus	dwFeature2DDetector_registerInputNccScore (float32_t *nccScore, uint32_t nccScoreArraySize, dwFeature2DDetectorHandle_t obj)
	Binds input ncc Score. More...
DW_API_PUBLIC dwStatus	dwFeature2DDetector_registerHistoryArray (dwFeatureHistoryArray *historyArray, dwFeature2DDetectorHandle_t obj)
	Binds feature HistoryArray. More...
DW_API_PUBLIC dwStatus	dwFeature2DDetector_registerFeatureArray (dwFeatureArray *inFeatures, dwFeature2DDetectorHandle_t obj)
	Binds feature Array. More...

Variables
const uint32_t	DW_FEATURES2D_DETECTOR_MAX_CELL_SIZE = 128