FeatureTracker.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_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
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);
 
DW_API_PUBLIC
dwStatus dwFeature2DTracker_registerOutputNccScore(float32_t* nccScore, uint32_t nccScoreArraySize, dwFeature2DTrackerHandle_t obj);
 
DW_API_PUBLIC
dwStatus dwFeature2DTracker_registerHistoryArray(dwFeatureHistoryArray* historyArray, dwFeature2DTrackerHandle_t obj);
 
DW_API_PUBLIC
dwStatus dwFeature2DTracker_registerFeatureArray(dwFeatureArray* inFeatures, dwFeature2DTrackerHandle_t obj);
 
#ifdef __cplusplus
}
#endif
 
#endif // DW_IMAGEPROCESSING_TRACKING_FEATURETRACKER_FEATURETRACKER_H_