Detailed Description

Defines 2D-based feature detection and tracking.

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...

Macro Definition Documentation

◆ DW_FEATURE2D_TRACKER_MAX_WINDOW_SIZE

#define DW_FEATURE2D_TRACKER_MAX_WINDOW_SIZE 16

tracking window size

Definition at line 49 of file FeatureTracker.h.

Typedef Documentation

◆ dwConstFeature2DTrackerHandle_t

typedef struct dwFeature2DTrackerObject const* dwConstFeature2DTrackerHandle_t

Handle representing a const feature tracker.

Definition at line 55 of file FeatureTracker.h.

◆ dwFeature2DTrackerAlgorithm

typedef enum dwFeature2DTrackerAlgorithm dwFeature2DTrackerAlgorithm

Defines different KLT tracking algorithms.

◆ dwFeature2DTrackerConfig

typedef struct dwFeature2DTrackerConfig dwFeature2DTrackerConfig

Holds configuration parameters for a feature tracker.

◆ dwFeature2DTrackerHandle_t

typedef struct dwFeature2DTrackerObject* dwFeature2DTrackerHandle_t

Handle representing a feature tracker.

Definition at line 52 of file FeatureTracker.h.

Enumeration Type Documentation

◆ dwFeature2DTrackerAlgorithm

enum dwFeature2DTrackerAlgorithm

Defines different KLT tracking algorithms.

Enumerator
DW_FEATURE2D_TRACKER_ALGORITHM_STD	3-DOF (dx, dy, dscale) standard KLT tracking.
DW_FEATURE2D_TRACKER_ALGORITHM_EX	3-DOF (dx, dy, dscale) extended KLT tracking.
DW_FEATURE2D_TRACKER_ALGORITHM_EX_FAST	3-DOF (dx, dy, dscale) fast extended KLT tracking.
DW_FEATURE2D_TRACKER_ALGORITHM_COUNT

Definition at line 69 of file FeatureTracker.h.

Function Documentation

◆ dwFeature2DTracker_compact()

DW_API_PUBLIC dwStatus dwFeature2DTracker_compact	(	dwFeatureHistoryArray *	featureHistoryArray,
		dwFeature2DTrackerHandle_t	obj
	)

Remove invalid features.

Parameters

[in,out]	featureHistoryArray	Sparse feature history array, the features whose status = DW_FEATURE2D_STATUS_INVALID will be removed after calling
[in]	obj	Specifies the feature tracker handle.

Returns: DW_INVALID_ARGUMENT if featureHistoryArray or obj is NULL.
A specific CUDA error in case of an underlying cuda failure.
DW_SUCCESS otherwise.

Note: this API does real work only when dwFeature2DTrackerConfig::enableSparseOutput = 1, It will also update the dwFeatureHistoryArray::newToOldMap.

API Group

Init: Yes
Runtime: Yes
De-Init: Yes

◆ dwFeature2DTracker_getCUDAStream()

DW_API_PUBLIC dwStatus dwFeature2DTracker_getCUDAStream	(	cudaStream_t *	stream,
		dwFeature2DTrackerHandle_t	obj
	)

Gets the CUDA stream used by the feature tracker.

Parameters

[out]	stream	The CUDA stream currently used.
[in]	obj	A handle to the feature tracker module.

Returns: DW_INVALID_ARGUMENT if feature tracker handle or stream are NULL.
DW_SUCCESS otherwise.

API Group

Init: Yes
Runtime: Yes
De-Init: Yes

◆ dwFeature2DTracker_getPVAStream()

DW_API_PUBLIC dwStatus dwFeature2DTracker_getPVAStream	(	cupvaStream_t *	stream,
		dwFeature2DTrackerHandle_t	obj
	)

Gets the cuPVA stream used by the feature tracker.

Parameters

[out]	stream	The cuPVA stream currently used.
[in]	obj	A handle to the feature tracker module.

Returns: DW_NOT_AVAILABLE if PVA is not available on the platform.
DW_INVALID_ARGUMENT if feature tracker handle is NULL.
DW_SUCCESS otherwise.

API Group

Init: Yes
Runtime: Yes
De-Init: Yes

◆ dwFeature2DTracker_initDefaultParams()

DW_API_PUBLIC dwStatus dwFeature2DTracker_initDefaultParams ( dwFeature2DTrackerConfig * params )

Initializes dwFeature2DTracker parameters with default values.

Parameters

[in,out] params dwFeature2DTracker parameters; user can optionally set imageWidth/imageHeight before the API call to obtain the default parameters for the resolution

Returns: DW_INVALID_ARGUMENT if params is NULL.
DW_SUCCESS otherwise.

API Group

Init: Yes
Runtime: No
De-Init: No

◆ dwFeature2DTracker_initDefaultParamsForCamera()

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)

Parameters

[out]	params	dwFeature2DTracker parameters
[in]	cameraToRig	transformed camera extrinsic parameters with respect to rig
[in]	cameraHandle	holds camera intrinsic information

Returns: DW_INVALID_ARGUMENT if any parameter is NULL.
DW_SUCCESS otherwise.

API Group

Init: Yes
Runtime: No
De-Init: No

◆ dwFeature2DTracker_initialize()

DW_API_PUBLIC dwStatus dwFeature2DTracker_initialize	(	dwFeature2DTrackerHandle_t *	obj,
		const dwFeature2DTrackerConfig *	config,
		cudaStream_t	cudaStream,
		dwContextHandle_t	context
	)

Creates and initializes a feature tracker.

Parameters

[out]	obj	A pointer to the feature tracker handle is returned here.
[in]	config	the configuration parameters for tracker.
[in]	cudaStream	the CUDA stream to use for tracker operations.
[in]	context	the handle to the context under which it is created.

Returns: DW_INVALID_ARGUMENT if feature tracker handle, featureHistoryArray or context are NULL.
if config is invalid.
if featureHistoryArray is not allocated on GPU if featureHistoryArray contains invalid pointers DW_SUCCESS otherwise.

API Group

Init: Yes
Runtime: No
De-Init: No

◆ dwFeature2DTracker_registerFeatureArray()

DW_API_PUBLIC dwStatus dwFeature2DTracker_registerFeatureArray	(	dwFeatureArray *	inFeatures,
		dwFeature2DTrackerHandle_t	obj
	)

Binds feature Array.

Internally the cuda pointer to featureArray is mapped to pva address space using the cupva cuda interop api

Parameters

[in]	inFeatures	cuda pointer to Feature Array
[in]	obj	A handle to the feature tracker module.

Returns: DW_NOT_SUPPORTED if the api is called for non pva platform. DW_SUCCESS otherwise.

API Group

Init: Yes
Runtime: Yes
De-Init: Yes

◆ dwFeature2DTracker_registerHistoryArray()

DW_API_PUBLIC dwStatus dwFeature2DTracker_registerHistoryArray	(	dwFeatureHistoryArray *	historyArray,
		dwFeature2DTrackerHandle_t	obj
	)

Binds feature HistoryArray.

Internally the cuda pointer to feature History Array is mapped to pva address space using the cupva cuda interop api

Parameters

[in]	historyArray	cuda pointer to Complete feature History Array
[in]	obj	A handle to the feature tracker module.

Returns: DW_NOT_SUPPORTED if the api is called for non pva platform. DW_SUCCESS otherwise.

API Group

Init: Yes
Runtime: Yes
De-Init: Yes

◆ dwFeature2DTracker_registerOutputNccScore()

DW_API_PUBLIC dwStatus dwFeature2DTracker_registerOutputNccScore	(	float32_t *	nccScore,
		uint32_t	nccScoreArraySize,
		dwFeature2DTrackerHandle_t	obj
	)

Binds output ncc Score.

Internally the cuda pointer to nccScore is mapped to pva address space using the cupva cuda interop api

Parameters

[in]	nccScore	cuda pointer to Input NccScore
[in]	obj	A handle to the feature tracker module.
[in]	nccScoreArraySize	Number of elements in the ncc Score Array

Returns: DW_NOT_SUPPORTED if the api is called for non pva platform. DW_SUCCESS otherwise.

API Group

Init: Yes
Runtime: Yes
De-Init: Yes

◆ dwFeature2DTracker_release()

DW_API_PUBLIC dwStatus dwFeature2DTracker_release ( dwFeature2DTrackerHandle_t obj )

Releases the feature tracker.

This method releases all resources associated with a feature tracker.

Note: This method renders the handle unusable.

Parameters

[in] obj The object handle to be released.

Returns: DW_INVALID_ARGUMENT if feature tracker handle is NULL.
DW_SUCCESS otherwise.

API Group

Init: Yes
Runtime: No
De-Init: Yes

◆ dwFeature2DTracker_reset()

DW_API_PUBLIC dwStatus dwFeature2DTracker_reset ( dwFeature2DTrackerHandle_t obj )

Resets a feature tracker.

Parameters

[in] obj Specifies the feature tracker handle to be reset.

Returns: DW_INVALID_ARGUMENT if feature tracker handle is NULL.
DW_SUCCESS otherwise.

API Group

Init: Yes
Runtime: Yes
De-Init: Yes

◆ dwFeature2DTracker_setCUDAStream()

DW_API_PUBLIC dwStatus dwFeature2DTracker_setCUDAStream	(	cudaStream_t	stream,
		dwFeature2DTrackerHandle_t	obj
	)

Sets the CUDA stream for CUDA related operations.

Note: The ownership of the stream remains by the callee.

Parameters

[in]	stream	The CUDA stream to be used. Default is the one passed during dwFeature2DTracker_initialize.
[in]	obj	A handle to the feature tracker module to set CUDA stream for.

Returns: DW_INVALID_ARGUMENT if feature tracker handle is NULL.
DW_SUCCESS otherwise.

API Group

Init: Yes
Runtime: Yes
De-Init: Yes

◆ dwFeature2DTracker_setPVAStream()

DW_API_PUBLIC dwStatus dwFeature2DTracker_setPVAStream	(	cupvaStream_t	stream,
		dwFeature2DTrackerHandle_t	obj
	)

Sets the cuPVA stream for PVA related operations.

Note: The ownership of the stream remains by the callee.

Parameters

[in]	stream	The cuPVA stream to be used.
[in]	obj	A handle to the feature tracker module to set cuPVA stream for.

Returns: DW_NOT_AVAILABLE if PVA is not available on the platform.
DW_INVALID_ARGUMENT if feature tracker handle is NULL.
DW_SUCCESS otherwise.

API Group

Init: Yes
Runtime: Yes
De-Init: Yes

◆ dwFeature2DTracker_trackFeatures()

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.

Features to track are defined by dwFeatureHistoryArray bound to the tracker during initialization

Parameters

[out]	featureHistoryArray	output feature history array, must be on GPU memory.
[out]	predictedFeatures	list of predicted features, it's also the top slice of `dwFeatureHistoryArray`
[out]	d_normalizedCrossCorrelation	Device pointer to nccScore of tracked features, will be ignored if it's NULL.
[in]	featuresToTrack	list of features to be tracked, usually the output of feature detector.
[in]	d_predictedPositions	A GPU pointer to a list of expected positions of the features to be tracked. The indexes of this list must match the indexes of the internal feature list. If this is NULL(== 0), then use the locations in `featuresToTrack`
[in]	previousPyramid	pyramid constructed from the last image.
[in]	currentPyramid	pyramid constructed from the current image.
[in]	obj	Specifies the feature tracker handle.

Returns: DW_INVALID_ARGUMENT if any parameter except d_normalizedCrossCorrelation and d_predictedPositions is NULL, or previous and current pyramids have a different number of levels.
if previousFeatures or detectedFeatures are not on GPU.
A specific CUDA error in case of an underlying cuda failure.
DW_SUCCESS otherwise.

Note: Output predictedFeatures array contains a list of compacted features, invalid trackings are removed automatically, the orders between input featuresToTrack and output predictedFeatures can be queried by dwFeatureHistoryArray::newToOldMap which maps new->old index: newToOldMap[newIdx] == oldIdx. newToOldMap[i] = j means the i-th feature in output predictedFeatures is the j-th item in input featuresToTrack array. i.e. predictedFeatures[i] = featuresToTrack[newToOldMap[i]], below is an example: data: [1 2 3 4 5 6 7 8 9] tracked/untracked: [O O X X O X O X O] compacted output (overwrite 3 and 4 by 9 and 7): data: [1 2 9 7 5] newToOldMap: [0 1 8 6 4]

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

Macros

Typedefs

Enumerations

Functions

Macro Definition Documentation

◆ DW_FEATURE2D_TRACKER_MAX_WINDOW_SIZE

Typedef Documentation

◆ dwConstFeature2DTrackerHandle_t

◆ dwFeature2DTrackerAlgorithm

◆ dwFeature2DTrackerConfig

◆ dwFeature2DTrackerHandle_t

Enumeration Type Documentation

◆ dwFeature2DTrackerAlgorithm

Function Documentation

◆ dwFeature2DTracker_compact()

◆ dwFeature2DTracker_getCUDAStream()

◆ dwFeature2DTracker_getPVAStream()

◆ dwFeature2DTracker_initDefaultParams()

◆ dwFeature2DTracker_initDefaultParamsForCamera()

◆ dwFeature2DTracker_initialize()

◆ dwFeature2DTracker_registerFeatureArray()

◆ dwFeature2DTracker_registerHistoryArray()

◆ dwFeature2DTracker_registerOutputNccScore()

◆ dwFeature2DTracker_release()

◆ dwFeature2DTracker_reset()

◆ dwFeature2DTracker_setCUDAStream()

◆ dwFeature2DTracker_setPVAStream()

◆ dwFeature2DTracker_trackFeatures()