FeatureDescriptor.h

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#ifndef DW_IMAGEPROCESSING_FEATURE_DESCRIPTOR_H_
#define DW_IMAGEPROCESSING_FEATURE_DESCRIPTOR_H_

#include <dw/core/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/filtering/Pyramid.h>
#include <dw/imageprocessing/features/FeatureList.h>

#ifdef __cplusplus
extern "C" {
#endif

typedef struct dwFeature2DDescriptorObject* dwFeature2DDescriptorHandle_t;

typedef struct dwFeature2DDescriptorObject const* dwConstFeature2DDescriptorHandle_t;

typedef enum {
    DW_FEATURE2D_DESCRIPTOR_ALGORITHM_ORB = 0,
    DW_FEATURE2D_DESCRIPTOR_ALGORITHM_COUNT
} dwFeature2DDescriptorAlgorithm;

typedef struct dwFeature2DDescriptorConfig
{
    dwFeature2DDescriptorAlgorithm algorithm;

    uint32_t imageWidth;

    uint32_t imageHeight;

    uint32_t maxFeatureCount;

    dwProcessorType processorType;

} dwFeature2DDescriptorConfig;

typedef enum dwFeature2DDescriptorStage {
    // GPU Async stage
    DW_FEATURE2D_DESCRIPTOR_STAGE_GPU_ASYNC = 0,
    // CPU preprocess
    DW_FEATURE2D_DESCRIPTOR_STAGE_CPU_SYNC,
    // PVA Process
    DW_FEATURE2D_DESCRIPTOR_STAGE_PVA_ASYNC,
    // CPU Post process
    DW_FEATURE2D_DESCRIPTOR_STAGE_CPU_SYNC_POSTPROCESS,
    DW_FEATURE2D_DESCRIPTOR_STAGE_GPU_ASYNC_POSTPROCESS = 100,
} dwFeature2DDescriptorStage;

DW_API_PUBLIC
dwStatus dwFeature2DDescriptor_initDefaultParams(dwFeature2DDescriptorConfig* params);

DW_API_PUBLIC
dwStatus dwFeature2DDescriptor_initialize(dwFeature2DDescriptorHandle_t* obj,
                                          const dwFeature2DDescriptorConfig* config,
                                          cudaStream_t cudaStream,
                                          dwContextHandle_t context);

DW_API_PUBLIC
dwStatus dwFeature2DDescriptor_reset(dwFeature2DDescriptorHandle_t obj);

DW_API_PUBLIC
dwStatus dwFeature2DDescriptor_release(dwFeature2DDescriptorHandle_t obj);

DW_API_PUBLIC
dwStatus dwFeature2DDescriptor_setCUDAStream(cudaStream_t stream, dwFeature2DDescriptorHandle_t obj);

DW_API_PUBLIC
dwStatus dwFeature2DDescriptor_getCUDAStream(cudaStream_t* stream, dwFeature2DDescriptorHandle_t obj);

DW_API_PUBLIC
dwStatus dwFeature2DDescriptor_bindOutput(dwFeatureDescriptorArray* outputDescriptors,
                                          dwFeature2DDescriptorHandle_t obj);

DW_API_PUBLIC
dwStatus dwFeature2DDescriptor_bindInputBuffers(dwImageHandle_t image,
                                                dwFeatureArray* features,
                                                dwFeature2DDescriptorHandle_t obj);

DW_API_PUBLIC
dwStatus dwFeature2DDescriptor_processImage(dwFeature2DDescriptorStage stage,
                                            dwFeature2DDescriptorHandle_t obj);

#ifdef __cplusplus
}
#endif

#endif // DW_IMAGEPROCESSING_FEATURE_DESCRIPTOR_H_