FeatureDetector.h

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/*
 * SPDX-FileCopyrightText: Copyright (c) 2018-2025 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_FEATUREDETECTOR_FEATUREDETECTOR_H_
#define DW_IMAGEPROCESSING_FEATUREDETECTOR_FEATUREDETECTOR_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/features/FeatureList.h>
#include <dw/imageprocessing/pyramid/Pyramid.h>
#include <dw/calibration/cameramodel/CameraModel.h>
#include <dw/core/system/PVA.h>
 
#ifdef __cplusplus
extern "C" {
#endif
 
typedef struct dwFeature2DDetectorObject* dwFeature2DDetectorHandle_t;
 
typedef struct dwFeature2DDetectorObject const* dwConstFeature2DDetectorHandle_t;
 
typedef enum dwFeature2DDetectorType {
    DW_FEATURE2D_DETECTOR_TYPE_STD = 0,
 
    DW_FEATURE2D_DETECTOR_TYPE_EX,
 
    DW_FEATURE2D_DETECTOR_TYPE_FAST9,
 
    DW_FEATURE2D_DETECTOR_TYPE_COUNT
} dwFeature2DDetectorType;
 
typedef enum {
    DW_FEATURE2D_SELECTION_MASK_TYPE_UNIFORM = 0,
 
    DW_FEATURE2D_SELECTION_MASK_TYPE_GAUSSIAN,
 
    DW_FEATURE2D_SELECTION_MASK_TYPE_COUNT
} dwFeature2DSelectionMaskType;
 
typedef struct dwFeature2DDetectorConfig
{
    dwFeature2DDetectorType type;
 
    uint32_t imageWidth;
 
    uint32_t imageHeight;
 
    uint32_t maxFeatureCount;
 
    float32_t harrisK;
 
    uint32_t cellSize;
 
    uint32_t gradientSize;
 
    uint32_t blockSize;
 
    float32_t scoreThreshold;
 
    float32_t detailThreshold;
 
    uint32_t numEvenDistributionPerCell;
 
    uint32_t detectionLevel;
 
    uint32_t harrisRadius;
 
    uint32_t NMSRadius;
 
    dwFeature2DSelectionMaskType maskType;
 
    float32_t gaussianMaskCenterX;
 
    float32_t gaussianMaskCenterY;
 
    float32_t gaussianMaskStDevX;
 
    float32_t gaussianMaskStDevY;
 
    bool useHalf;
 
    bool isMaskAdjustmentEnabled;
 
    DW_DEPRECATED("WARNING: will be removed in the next major release")
    bool useNewToOldMapFromPreTracked;
 
    DW_DEPRECATED("WARNING: will be removed in the next major release")
    bool autoGenerateFeatureID;
 
    dwProcessorType processorType;
} dwFeature2DDetectorConfig;
 
const uint32_t DW_FEATURES2D_DETECTOR_MAX_CELL_SIZE = 128;
 
DW_API_PUBLIC
dwStatus dwFeature2DDetector_initDefaultParams(dwFeature2DDetectorConfig* params);
 
DW_API_PUBLIC
dwStatus dwFeature2DDetector_initDefaultParamsForCamera(dwFeature2DDetectorConfig* params,
                                                        const dwTransformation3f* cameraToRig,
                                                        dwConstCameraModelHandle_t cameraHandle);
 
DW_API_PUBLIC
dwStatus dwFeature2DDetector_initialize(dwFeature2DDetectorHandle_t* obj,
                                        const dwFeature2DDetectorConfig* config,
                                        cudaStream_t cudaStream,
                                        dwContextHandle_t context);
 
DW_API_PUBLIC
dwStatus dwFeature2DDetector_reset(dwFeature2DDetectorHandle_t obj);
 
DW_API_PUBLIC
dwStatus dwFeature2DDetector_release(dwFeature2DDetectorHandle_t obj);
 
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);
 
DW_API_PUBLIC
dwStatus dwFeature2DDetector_detectFromImage(dwFeatureArray* outputDetections,
                                             dwImageHandle_t image,
                                             dwFeatureArray* preTrackedFeatures,
                                             const float32_t* d_normalizedCrossCorrelation,
                                             dwFeature2DDetectorHandle_t obj);
 
DW_API_PUBLIC
dwStatus dwFeature2DDetector_detectFromPyramid(dwFeatureArray* outputDetections,
                                               const dwPyramidImage* pyramid,
                                               dwFeatureArray* preTrackedFeatures,
                                               const float32_t* d_normalizedCrossCorrelation,
                                               dwFeature2DDetectorHandle_t obj);
 
DW_API_PUBLIC
dwStatus dwFeature2DDetector_dryrunDetectionImage(dwFeatureArray* outputDetections,
                                                  dwFeatureArray* preTrackedFeatures,
                                                  const float32_t* d_normalizedCrossCorrelation,
                                                  dwFeature2DDetectorHandle_t obj);
 
DW_API_PUBLIC
dwStatus dwFeature2DDetector_dryrunDetectionPyramid(dwFeatureArray* outputDetections,
                                                    dwFeatureArray* preTrackedFeatures,
                                                    const float32_t* d_normalizedCrossCorrelation,
                                                    dwFeature2DDetectorHandle_t obj);
 
DW_DEPRECATED("WARNING: will be removed in the next major release, validTrackedCount pointer can be read directly from dwFeatureArray")
DW_API_PUBLIC
dwStatus dwFeature2DDetector_getValidTrackedCount(const uint32_t** d_validTrackedCount,
                                                  dwFeature2DDetectorHandle_t obj);
 
DW_API_PUBLIC
dwStatus dwFeature2DDetector_setCUDAStream(cudaStream_t stream, dwFeature2DDetectorHandle_t obj);
 
DW_API_PUBLIC
dwStatus dwFeature2DDetector_getCUDAStream(cudaStream_t* stream, dwFeature2DDetectorHandle_t obj);
 
DW_API_PUBLIC
dwStatus dwFeature2DDetector_getScoreThreshold(float32_t* scoreThreshold, dwFeature2DDetectorHandle_t obj);
 
DW_API_PUBLIC
dwStatus dwFeature2DDetector_setScoreThreshold(float32_t scoreThreshold, dwFeature2DDetectorHandle_t obj);
 
DW_API_PUBLIC
dwStatus dwFeature2DDetector_setPVAStream(cupvaStream_t stream, dwFeature2DDetectorHandle_t obj);
 
DW_API_PUBLIC
dwStatus dwFeature2DDetector_getPVAStream(cupvaStream_t* stream, dwFeature2DDetectorHandle_t obj);
 
DW_API_PUBLIC
dwStatus dwFeature2DDetector_registerInputNccScore(float32_t* nccScore, uint32_t nccScoreArraySize, dwFeature2DDetectorHandle_t obj);
 
DW_API_PUBLIC
dwStatus dwFeature2DDetector_registerHistoryArray(dwFeatureHistoryArray* historyArray, dwFeature2DDetectorHandle_t obj);
 
DW_API_PUBLIC
dwStatus dwFeature2DDetector_registerFeatureArray(dwFeatureArray* inFeatures, dwFeature2DDetectorHandle_t obj);
 
#ifdef __cplusplus
}
#endif
 
#endif // DW_IMAGEPROCESSING_FEATUREDETECTOR_FEATUREDETECTOR_H_