TemplateTracker.h

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/*
 * SPDX-FileCopyrightText: Copyright (c) 2019-2025 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_TEMPLATETRACKER_TEMPLATETRACKER_H_
#define DW_IMAGEPROCESSING_TRACKING_TEMPLATETRACKER_TEMPLATETRACKER_H_
 
// C api
#include <dw/core/base/Config.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>
 
#ifdef __cplusplus
extern "C" {
#endif
 
typedef struct dwTemplateTrackerObject* dwTemplateTrackerHandle_t;
 
typedef struct dwTemplateTrackerObject const* dwConstTemplateTrackerHandle_t;
 
typedef enum dwTemplateTrackerAlgorithm {
    DW_TEMPLATE_TRACKER_ALGORITHM_IA = 0, 
    DW_TEMPLATE_TRACKER_ALGORITHM_IC      
} dwTemplateTrackerAlgorithm;
 
typedef struct dwTemplateTrackerParameters
{
    dwTemplateTrackerAlgorithm algorithm;
 
    uint32_t maxTemplateCount;
 
    uint32_t maxPyramidLevel;
 
    uint32_t maxTemplateSize;
 
    uint32_t minTemplateSize;
 
    uint32_t imageWidth;
 
    uint32_t imageHeight;
 
    uint32_t numIterationsFine;
 
    uint32_t numIterationsCoarse;
 
    float32_t thresholdUpdate;
 
    float32_t thresholdKill;
 
    float32_t thresholdStop;
 
    float32_t maxScaleChange;
 
    float32_t validWidth;
 
    float32_t validHeight;
 
    dwProcessorType processorType;
} dwTemplateTrackerParameters;
 
typedef struct dwTemplateArray
{
    dwFeature2DStatus* statuses; 
    dwRectf* bboxes;             
    uint32_t* ids;               
    uint32_t* ages;              
    float32_t* scaleFactors;     
    uint32_t* newToOldMap;       
    uint32_t* templateCount; 
    uint32_t maxTemplates;   
    uint8_t* data; 
    size_t bytes;  
    dwMemoryType memoryType; 
} dwTemplateArray;
 
 
DW_API_PUBLIC
DW_DEPRECATED("WARNING: will be removed in the next major release, use dwTemplateArray_createNew instead")
dwStatus dwTemplateArray_create(dwTemplateArray* templateArray,
                                const uint32_t maxTemplateCount,
                                const dwMemoryType memoryType,
                                dwContextHandle_t context);
 
DW_API_PUBLIC
dwStatus dwTemplateArray_createNew(dwTemplateArray* templateArray,
                                   const uint32_t maxTemplateCount,
                                   const dwMemoryType memoryType,
                                   cudaStream_t stream,
                                   dwContextHandle_t context);
 
DW_API_PUBLIC
dwStatus dwTemplateArray_destroy(dwTemplateArray templateArray);
 
DW_API_PUBLIC
dwStatus dwTemplateArray_reset(dwTemplateArray* templateArray, cudaStream_t stream);
 
DW_API_PUBLIC
dwStatus dwTemplateArray_copyAsync(dwTemplateArray* dstTemplateArray,
                                   const dwTemplateArray* srcTemplateArray,
                                   cudaStream_t stream);
DW_API_PUBLIC
dwStatus dwTemplateTracker_initDefaultParams(dwTemplateTrackerParameters* params);
 
DW_API_PUBLIC
dwStatus dwTemplateTracker_initialize(dwTemplateTrackerHandle_t* obj,
                                      const dwTemplateTrackerParameters* params,
                                      cudaStream_t stream, dwContextHandle_t context);
 
DW_API_PUBLIC
dwStatus dwTemplateTracker_reset(dwTemplateTrackerHandle_t obj);
 
DW_API_PUBLIC
dwStatus dwTemplateTracker_release(dwTemplateTrackerHandle_t obj);
 
DW_API_PUBLIC
dwStatus dwTemplateTracker_setCUDAStream(cudaStream_t cudaStream,
                                         dwTemplateTrackerHandle_t obj);
 
DW_API_PUBLIC
dwStatus dwTemplateTracker_getCUDAStream(cudaStream_t* cudaStream,
                                         dwTemplateTrackerHandle_t obj);
 
DW_API_PUBLIC
dwStatus dwTemplateTracker_trackImage(dwTemplateArray* templateArray,
                                      const dwImageCUDA* currentImage,
                                      const dwImageCUDA* previousImage,
                                      dwTemplateTrackerHandle_t obj);
 
DW_API_PUBLIC
dwStatus dwTemplateTracker_trackPyramid(dwTemplateArray* templateArray,
                                        const dwPyramidImage* currentPyramid,
                                        const dwPyramidImage* previousPyramid,
                                        dwTemplateTrackerHandle_t obj);
 
#ifdef __cplusplus
}
#endif
 
#endif // DW_IMAGEPROCESSING_TRACKING_TEMPLATETRACKER_TEMPLATETRACKER_H_