FeatureTracker.h File Reference

Detailed Description

NVIDIA DriveWorks API: 2D Tracker

Description: This file defines 2D tracking methods.

Definition in file FeatureTracker.h.

Go to the source code of this file.

Data Structures
struct	dwFeature2DTrackerConfig
	Holds configuration parameters for a feature tracker. More...

Macros
#define	DW_FEATURE2D_TRACKER_MAX_WINDOW_SIZE   16
	tracking window size More...

Typedefs
typedef struct dwFeature2DTrackerObject *	dwFeature2DTrackerHandle_t
	Handle representing a feature tracker. More...
typedef struct dwFeature2DTrackerObject const *	dwConstFeature2DTrackerHandle_t
	Handle representing a const feature tracker. More...
typedef enum dwFeature2DTrackerAlgorithm	dwFeature2DTrackerAlgorithm
	Defines different KLT tracking algorithms. More...
typedef struct dwFeature2DTrackerConfig	dwFeature2DTrackerConfig
	Holds configuration parameters for a feature tracker. More...

Enumerations
enum	dwFeature2DTrackerAlgorithm {   DW_FEATURE2D_TRACKER_ALGORITHM_STD = 0,   DW_FEATURE2D_TRACKER_ALGORITHM_EX,   DW_FEATURE2D_TRACKER_ALGORITHM_EX_FAST,   DW_FEATURE2D_TRACKER_ALGORITHM_COUNT }
	Defines different KLT tracking algorithms. More...

Functions
DW_API_PUBLIC dwStatus	dwFeature2DTracker_initDefaultParams (dwFeature2DTrackerConfig *params)
	Initializes dwFeature2DTracker parameters with default values. More...
DW_API_PUBLIC dwStatus	dwFeature2DTracker_initDefaultParamsForCamera (dwFeature2DTrackerConfig *params, const dwTransformation3f *cameraToRig, dwConstCameraModelHandle_t cameraHandle)
	Initializes dwFeature2DTracker 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	dwFeature2DTracker_initialize (dwFeature2DTrackerHandle_t *obj, const dwFeature2DTrackerConfig *config, cudaStream_t cudaStream, dwContextHandle_t context)
	Creates and initializes a feature tracker. More...
DW_API_PUBLIC dwStatus	dwFeature2DTracker_reset (dwFeature2DTrackerHandle_t obj)
	Resets a feature tracker. More...
DW_API_PUBLIC dwStatus	dwFeature2DTracker_release (dwFeature2DTrackerHandle_t obj)
	Releases the feature tracker. More...
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)
	Tracks features and store the tracked results to predictedFeatures between the previous and current images. More...
DW_API_PUBLIC dwStatus	dwFeature2DTracker_compact (dwFeatureHistoryArray *featureHistoryArray, dwFeature2DTrackerHandle_t obj)
	Remove invalid features. More...
DW_API_PUBLIC dwStatus	dwFeature2DTracker_setCUDAStream (cudaStream_t stream, dwFeature2DTrackerHandle_t obj)
	Sets the CUDA stream for CUDA related operations. More...
DW_API_PUBLIC dwStatus	dwFeature2DTracker_getCUDAStream (cudaStream_t *stream, dwFeature2DTrackerHandle_t obj)
	Gets the CUDA stream used by the feature tracker. More...
DW_API_PUBLIC dwStatus	dwFeature2DTracker_setPVAStream (cupvaStream_t stream, dwFeature2DTrackerHandle_t obj)
	Sets the cuPVA stream for PVA related operations. More...
DW_API_PUBLIC dwStatus	dwFeature2DTracker_getPVAStream (cupvaStream_t *stream, dwFeature2DTrackerHandle_t obj)
	Gets the cuPVA stream used by the feature tracker. More...
DW_API_PUBLIC dwStatus	dwFeature2DTracker_registerOutputNccScore (float32_t *nccScore, uint32_t nccScoreArraySize, dwFeature2DTrackerHandle_t obj)
	Binds output ncc Score. More...
DW_API_PUBLIC dwStatus	dwFeature2DTracker_registerHistoryArray (dwFeatureHistoryArray *historyArray, dwFeature2DTrackerHandle_t obj)
	Binds feature HistoryArray. More...
DW_API_PUBLIC dwStatus	dwFeature2DTracker_registerFeatureArray (dwFeatureArray *inFeatures, dwFeature2DTrackerHandle_t obj)
	Binds feature Array. More...