Detailed Description

dw_imageprocessing_features

The test specification can be found at featurearrayapi_features_testgroup

Data Structures
struct	dwFeatureHistoryArray
	Holds pointers to the data exposed by a feature2d list. More...

struct	dwFeatureArray

Typedefs
typedef enum dwFeature2DStatus	dwFeature2DStatus
	Defines the feature array used by detector and tracker. More...

typedef struct dwFeatureHistoryArray	dwFeatureHistoryArray
	Holds pointers to the data exposed by a feature2d list. More...

typedef struct dwFeatureArray	dwFeatureArray

Enumerations
enum	dwFeature2DStatus { DW_FEATURE2D_STATUS_INVALID = 0, DW_FEATURE2D_STATUS_DETECTED, DW_FEATURE2D_STATUS_TRACKED, DW_FEATURE2D_STATUS_TYPE_COUNT }
	Defines the feature array used by detector and tracker. More...

Functions
DW_API_PUBLIC dwStatus	dwFeatureArray_create (dwFeatureArray *featureArray, const uint32_t maxFeatureCount, const dwMemoryType memoryType, dwContextHandle_t context)
	Creates and initializes a feature array. More...

DW_API_PUBLIC dwStatus	dwFeatureArray_createNew (dwFeatureArray *featureArray, const uint32_t maxFeatureCount, const dwMemoryType memoryType, cudaStream_t stream, dwContextHandle_t context)
	Creates and initializes a feature array. More...

DW_API_PUBLIC dwStatus	dwFeatureArray_destroy (dwFeatureArray featureArray)
	Destroys the featureArray and frees any memory created by dwFeatureArray_createNew(). More...

DW_API_PUBLIC dwStatus	dwFeatureArray_reset (dwFeatureArray *featureArray, cudaStream_t stream)
	Resets the feature array. More...

DW_API_PUBLIC dwStatus	dwFeatureArray_copyAsync (dwFeatureArray dstFeatures, const dwFeatureArray srcFeatures, cudaStream_t stream)
	Deep copy all contents from srcFeatures to dstFeatures. More...

DW_API_PUBLIC dwStatus	dwFeatureHistoryArray_create (dwFeatureHistoryArray *featureHistoryArray, const uint32_t maxFeatureCount, const uint32_t maxHistoryCapacity, const dwMemoryType memoryType, dwContextHandle_t context)
	Creates and initializes a feature history array. More...

DW_API_PUBLIC dwStatus	dwFeatureHistoryArray_createNew (dwFeatureHistoryArray *featureHistoryArray, const uint32_t maxFeatureCount, const uint32_t maxHistoryCapacity, const dwMemoryType memoryType, cudaStream_t stream, dwContextHandle_t context)
	Creates and initializes a feature history array. More...

DW_API_PUBLIC dwStatus	dwFeatureHistoryArray_destroy (dwFeatureHistoryArray featureHistoryArray)
	Destroys the featureHistoryArray and frees any memory created by dwFeatureHistoryArray_createNew(). More...

DW_API_PUBLIC dwStatus	dwFeatureHistoryArray_reset (dwFeatureHistoryArray *featureHistoryArray, cudaStream_t stream)
	Resets the feature history array. More...

DW_API_PUBLIC dwStatus	dwFeatureHistoryArray_getCurrent (dwFeatureArray featureArray, dwFeatureHistoryArray const featureHistoryArray)
	Get the latest feature snapshot(arraySize = maxFeatureCount) from history. More...

DW_API_PUBLIC dwStatus	dwFeatureHistoryArray_getPrevious (dwFeatureArray featureArray, dwFeatureHistoryArray const featureHistoryArray)
	Get the feature snapshot(arraySize = maxFeatureCount) 1 frame previous to current time. More...

DW_API_PUBLIC dwStatus	dwFeatureHistoryArray_get (dwFeatureArray featureArray, const uint32_t historyIdx, dwFeatureHistoryArray const featureHistoryArray)
	Get the feature snapshot(arraySize = maxFeatureCount) historyIdx-th frame earlier. More...

DW_API_PUBLIC dwStatus	dwFeatureHistoryArray_copyAsync (dwFeatureHistoryArray dstFeatureHistory, const dwFeatureHistoryArray srcFeatureHistory, cudaStream_t stream)
	Deep copy all contents from srcFeatureHistory to dstFeatureHistory. More...

DW_API_PUBLIC dwStatus	dwFeature_mergeNewToOldMap (uint32_t d_newToOldMapC2A, const uint32_t d_newToOldMapC2B, const uint32_t d_newToOldMapB2A, const uint32_t d_newToOldMapCount, const uint32_t maxFeatureCount, cudaStream_t stream)
	Merge newToOldMap from 2 inputs. More...

Typedef Documentation

◆ dwFeature2DStatus

typedef enum dwFeature2DStatus dwFeature2DStatus

Defines the feature array used by detector and tracker.

Defines the possible status of a feature.

◆ dwFeatureArray

typedef struct dwFeatureArray dwFeatureArray

◆ dwFeatureHistoryArray

typedef struct dwFeatureHistoryArray dwFeatureHistoryArray

Holds pointers to the data exposed by a feature2d list.

The pointers can point to GPU or CPU memory.

The locationHistory field is a 2D structure that stores the pixel positions for each feature at each time instant. It is a column-major matrix, where the column is the time-index and the row is the feature-index, for example: [x_00,y_00],[x_10,y_10],...,[x_N0,y_N0],[x_01,y_01],...,[x_N1,y_N1],...,[x_NH,y_NH], Where N = max feature count and H = location history size.

To avoid unnecessary memory copies, the time-index is treated as a ringbuffer. The feature2d list has a global "currentTimeIdx" that wraps around the location history size. The ages array holds how many frames each feature has been tracked. This value can be larger than historyCapacity, in this case, the accessing will be wrapped in ringbuffer.

@par Example to access the locations for the current and previous frames. @verbatim embed:rst:leading-asterisk .. code-block:: cpp dwVector2f currentLocation = locationHistory[currentTimeIdx * maxFeatureCount + featureIdx]; uint32_t previousTimeIdx = (currentTimeIdx + 1) % historyCapacity; dwVector2f currentLocation = locationHistory[previousTimeIdx * maxFeatureCount + featureIdx]; @endverbatim

Enumeration Type Documentation

◆ dwFeature2DStatus

enum dwFeature2DStatus

Defines the feature array used by detector and tracker.

Defines the possible status of a feature.

Enumerator
DW_FEATURE2D_STATUS_INVALID	A feature with this entry is garbage.
DW_FEATURE2D_STATUS_DETECTED	The feature was just detected in the current frame.
DW_FEATURE2D_STATUS_TRACKED	The feature was successfully tracked in the current frame.
DW_FEATURE2D_STATUS_TYPE_COUNT	Number of different dwFeature2DStatus enum type, mark as enum end.

Definition at line 52 of file FeatureList.h.

Function Documentation

◆ dwFeature_mergeNewToOldMap()

DW_API_PUBLIC dwStatus dwFeature_mergeNewToOldMap	(	uint32_t *	d_newToOldMapC2A,
		const uint32_t *	d_newToOldMapC2B,
		const uint32_t *	d_newToOldMapB2A,
		const uint32_t *	d_newToOldMapCount,
		const uint32_t	maxFeatureCount,
		cudaStream_t	stream
	)

Merge newToOldMap from 2 inputs.

i.e. There're 3 working stages: A->B->C, newToOldMapC2B gives the mapping of C->B, while newToOldMapB2A gives the mapping of B->A. The final C->A mapping will be computed and output to newToOldMapC2A

Parameters

[out]	d_newToOldMapC2A	A GPU pointer to the output merged newToOldMap
[in]	d_newToOldMapC2B	A GPU pointer to newToOldMap from stage C->B
[in]	d_newToOldMapB2A	A GPU pointer to newToOldMap from stage B->A
[in]	d_newToOldMapCount	A GPU pointer to valid number of entries in newToOldMapC2B
[in]	maxFeatureCount	max number of features for newToOldMapC2A, newToOldMapC2B and newToOldMapB2A
[in]	stream	Working cuda stream

Returns: DW_INVALID_ARGUMENT if any of the input argument is NULL.
DW_SUCCESS otherwise.

API Group

Init: Yes
Runtime: Yes
De-Init: Yes

◆ dwFeatureArray_copyAsync()

DW_API_PUBLIC dwStatus dwFeatureArray_copyAsync	(	dwFeatureArray *	dstFeatures,
		const dwFeatureArray *	srcFeatures,
		cudaStream_t	stream
	)

Deep copy all contents from srcFeatures to dstFeatures.

Parameters

[out]	dstFeatures	dwFeatureArray to copy to
[in]	srcFeatures	dwFeatureArray to copy from
[in]	stream	Working cuda stream

Returns: DW_INVALID_ARGUMENT if dstFeatures or srcFeatures is NULL.
if dstFeatures.maxFeatures != srcFeatures.maxFeatures.
A specific CUDA error in case of an underlying cuda failure.
DW_SUCCESS otherwise.

API Group

Init: Yes
Runtime: Yes
De-Init: Yes

◆ dwFeatureArray_create()

DW_API_PUBLIC dwStatus dwFeatureArray_create	(	dwFeatureArray *	featureArray,
		const uint32_t	maxFeatureCount,
		const dwMemoryType	memoryType,
		dwContextHandle_t	context
	)

Creates and initializes a feature array.

Parameters

[out]	featureArray	pointer to the dwFeatureArray is returned here.
[in]	maxFeatureCount	maximum number of features that the feature array can have.
[in]	memoryType	DW_FEATURE2D_MEMORY_TYPE_CUDA for CUDA array, DW_FEATURE2D_MEMORY_TYPE_CPU for CPU array, DW_FEATURE2D_MEMORY_TYPE_PINNED for pinned memory
[in]	context	handle to the context under which it is created.

Returns: DW_INVALID_ARGUMENT if feature arry or context are NULL.
if maxFeatureCount is 0.
DW_SUCCESS otherwise.

API Group

Init: Yes
Runtime: No
De-Init: No

◆ dwFeatureArray_createNew()

DW_API_PUBLIC dwStatus dwFeatureArray_createNew	(	dwFeatureArray *	featureArray,
		const uint32_t	maxFeatureCount,
		const dwMemoryType	memoryType,
		cudaStream_t	stream,
		dwContextHandle_t	context
	)

Creates and initializes a feature array.

Parameters

[out]	featureArray	pointer to the dwFeatureArray is returned here.
[in]	maxFeatureCount	maximum number of features that the feature array can have.
[in]	memoryType	DW_FEATURE2D_MEMORY_TYPE_CUDA for CUDA array, DW_FEATURE2D_MEMORY_TYPE_CPU for CPU array, DW_FEATURE2D_MEMORY_TYPE_PINNED for pinned memory
[in]	stream	Working CUDA stream
[in]	context	handle to the context under which it is created.

Returns: DW_INVALID_ARGUMENT if feature arry or context are NULL.
if maxFeatureCount is 0.
DW_SUCCESS otherwise.

API Group

Init: Yes
Runtime: No
De-Init: No

◆ dwFeatureArray_destroy()

DW_API_PUBLIC dwStatus dwFeatureArray_destroy ( dwFeatureArray featureArray )

Destroys the featureArray and frees any memory created by dwFeatureArray_createNew().

Parameters

[in] featureArray feature array to be destroyed.

Returns: DW_INVALID_ARGUMENT if featureArray contains invalid pointers.
DW_SUCCESS otherwise.

Note: dwFeatureArray got by dwFeatureHistoryArray_get*() API doesn't need to be destroyed by this API, all resource will be freed when calling dwFeatureHistoryArray_destroy().

API Group

Init: Yes
Runtime: No
De-Init: Yes

◆ dwFeatureArray_reset()

DW_API_PUBLIC dwStatus dwFeatureArray_reset	(	dwFeatureArray *	featureArray,
		cudaStream_t	stream
	)

Resets the feature array.

Sets the feature count back to zero.

Parameters

[in]	featureArray	feature array to be reset.
[in]	stream	CUDA stream used to reset the feature array

Returns: DW_INVALID_ARGUMENT if featureArray.featureCount is NULL.
DW_SUCCESS otherwise.

API Group

Init: Yes
Runtime: Yes
De-Init: Yes

◆ dwFeatureHistoryArray_copyAsync()

DW_API_PUBLIC dwStatus dwFeatureHistoryArray_copyAsync	(	dwFeatureHistoryArray *	dstFeatureHistory,
		const dwFeatureHistoryArray *	srcFeatureHistory,
		cudaStream_t	stream
	)

Deep copy all contents from srcFeatureHistory to dstFeatureHistory.

Parameters

[out]	dstFeatureHistory	dwFeatureHistoryArray to copy to
[in]	srcFeatureHistory	dwFeatureHistoryArray to copy from
[in]	stream	Working cuda stream

Returns: DW_INVALID_ARGUMENT if dstFeatureHistory or srcFeatureHistory is NULL.
if dstFeatureHistory.bytes != srcFeaturesHistory.bytes.
A specific CUDA error in case of an underlying cuda failure.
DW_SUCCESS otherwise.

API Group

Init: Yes
Runtime: Yes
De-Init: Yes

◆ dwFeatureHistoryArray_create()

DW_API_PUBLIC dwStatus dwFeatureHistoryArray_create	(	dwFeatureHistoryArray *	featureHistoryArray,
		const uint32_t	maxFeatureCount,
		const uint32_t	maxHistoryCapacity,
		const dwMemoryType	memoryType,
		dwContextHandle_t	context
	)

Creates and initializes a feature history array.

Parameters

[out]	featureHistoryArray	pointer to the dwFeatureHistoryArray is returned here.
[in]	maxFeatureCount	maximum number of features that each time slice can have.
[in]	maxHistoryCapacity	maximum length of history in feature history array. There'll be maxFeatureCount*maxHistoryCapacity features totally.
[in]	memoryType	DW_FEATURE2D_MEMORY_TYPE_CUDA for CUDA array, DW_FEATURE2D_MEMORY_TYPE_CPU for CPU array, DW_FEATURE2D_MEMORY_TYPE_PINNED for pinned memory
[in]	context	handle to the context under which it is created.

Returns: DW_INVALID_ARGUMENT if feature arry or context are NULL.
if maxFeatureCount or maxHistoryCapacity is 0.
DW_SUCCESS otherwise.

API Group

Init: Yes
Runtime: No
De-Init: No

◆ dwFeatureHistoryArray_createNew()

DW_API_PUBLIC dwStatus dwFeatureHistoryArray_createNew	(	dwFeatureHistoryArray *	featureHistoryArray,
		const uint32_t	maxFeatureCount,
		const uint32_t	maxHistoryCapacity,
		const dwMemoryType	memoryType,
		cudaStream_t	stream,
		dwContextHandle_t	context
	)

Creates and initializes a feature history array.

Parameters

[out]	featureHistoryArray	pointer to the dwFeatureHistoryArray is returned here.
[in]	maxFeatureCount	maximum number of features that each time slice can have.
[in]	maxHistoryCapacity	maximum length of history in feature history array. There'll be maxFeatureCount*maxHistoryCapacity features totally.
[in]	memoryType	DW_FEATURE2D_MEMORY_TYPE_CUDA for CUDA array, DW_FEATURE2D_MEMORY_TYPE_CPU for CPU array, DW_FEATURE2D_MEMORY_TYPE_PINNED for pinned memory
[in]	stream	Working CUDA stream
[in]	context	handle to the context under which it is created.

Returns: DW_INVALID_ARGUMENT if feature arry or context are NULL.
if maxFeatureCount or maxHistoryCapacity is 0.
DW_SUCCESS otherwise.

API Group

Init: Yes
Runtime: No
De-Init: No

◆ dwFeatureHistoryArray_destroy()

DW_API_PUBLIC dwStatus dwFeatureHistoryArray_destroy ( dwFeatureHistoryArray featureHistoryArray )

Destroys the featureHistoryArray and frees any memory created by dwFeatureHistoryArray_createNew().

Parameters

[in] featureHistoryArray feature history array to be destroyed.

Returns: DW_INVALID_ARGUMENT if featureHistoryArray contains invalid pointers.
DW_SUCCESS otherwise.

API Group

Init: Yes
Runtime: No
De-Init: Yes

◆ dwFeatureHistoryArray_get()

DW_API_PUBLIC dwStatus dwFeatureHistoryArray_get	(	dwFeatureArray *	featureArray,
		const uint32_t	historyIdx,
		dwFeatureHistoryArray const *	featureHistoryArray
	)

Get the feature snapshot(arraySize = maxFeatureCount) historyIdx-th frame earlier.

Assuming dwFeatureHistoryArray has N valid features in current Time(t), this API returns a dwFeatureArray that contains the snapshot of those N features in Time(t-historyIdx)

Parameters

[out]	featureArray	Snapshot of the timeIdx that is historyIdx frame previous to current in feature history.
[in]	historyIdx	Time index that need to be backtraced.
[in]	featureHistoryArray	Complete feature history.

Returns: DW_INVALID_ARGUMENT if featureArray or featureHistoryArray is NULL
DW_SUCCESS otherwise

Note: featureArray got by this API DOES NOT need to be freed by dwFeatureArray_destroy().

API Group

Init: Yes
Runtime: Yes
De-Init: Yes

◆ dwFeatureHistoryArray_getCurrent()

DW_API_PUBLIC dwStatus dwFeatureHistoryArray_getCurrent	(	dwFeatureArray *	featureArray,
		dwFeatureHistoryArray const *	featureHistoryArray
	)

Get the latest feature snapshot(arraySize = maxFeatureCount) from history.

Parameters

[out]	featureArray	Snapshot of latest time in feature history.
[in]	featureHistoryArray	Complete feature history.

Returns: DW_INVALID_ARGUMENT if featureArray or featureHistoryArray is NULL.
DW_SUCCESS otherwise.

Note: featureArray got by this API DOES NOT need to be freed by dwFeatureArray_destroy().

API Group

Init: Yes
Runtime: Yes
De-Init: Yes

◆ dwFeatureHistoryArray_getPrevious()

DW_API_PUBLIC dwStatus dwFeatureHistoryArray_getPrevious	(	dwFeatureArray *	featureArray,
		dwFeatureHistoryArray const *	featureHistoryArray
	)

Get the feature snapshot(arraySize = maxFeatureCount) 1 frame previous to current time.

Assuming dwFeatureHistoryArray has N valid features in current Time(t), this API returns a dwFeatureArray that contains the snapshot of those N features in Time(t-1).

Parameters

[out]	featureArray	Snapshot of the timeIdx that is 1 frame previous to current in feature history.
[in]	featureHistoryArray	Complete feature history.

Returns: DW_INVALID_ARGUMENT if featureArray or featureHistoryArray is NULL.
DW_SUCCESS otherwise.

Note: featureArray got by this API DOES NOT need to be freed by dwFeatureArray_destroy()

API Group

Init: Yes
Runtime: Yes
De-Init: Yes

◆ dwFeatureHistoryArray_reset()

DW_API_PUBLIC dwStatus dwFeatureHistoryArray_reset	(	dwFeatureHistoryArray *	featureHistoryArray,
		cudaStream_t	stream
	)

Resets the feature history array.

Sets the feature count back to zero.

Parameters

[in]	featureHistoryArray	feature history array to be reset.
[in]	stream	CUDA stream used to reset the feature history array

Returns: DW_INVALID_ARGUMENT if featureHistoryArray.featureCount is NULL.
DW_SUCCESS otherwise.

API Group

Init: Yes
Runtime: Yes
De-Init: Yes

NVIDIA DriveOS Linux NSR SDK API Reference

7.0.3.0 Release

Detailed Description

Data Structures

Typedefs

Enumerations

Functions

Typedef Documentation

◆ dwFeature2DStatus

◆ dwFeatureArray

◆ dwFeatureHistoryArray

Enumeration Type Documentation

◆ dwFeature2DStatus

Function Documentation

◆ dwFeature_mergeNewToOldMap()

◆ dwFeatureArray_copyAsync()

◆ dwFeatureArray_create()

◆ dwFeatureArray_createNew()

◆ dwFeatureArray_destroy()

◆ dwFeatureArray_reset()

◆ dwFeatureHistoryArray_copyAsync()

◆ dwFeatureHistoryArray_create()

◆ dwFeatureHistoryArray_createNew()

◆ dwFeatureHistoryArray_destroy()

◆ dwFeatureHistoryArray_get()

◆ dwFeatureHistoryArray_getCurrent()

◆ dwFeatureHistoryArray_getPrevious()

◆ dwFeatureHistoryArray_reset()