FeatureList.h

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#ifndef DW_IMAGEPROCESSING_FEATURE_LIST_H_
#define DW_IMAGEPROCESSING_FEATURE_LIST_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>

#ifdef __cplusplus
extern "C" {
#endif

typedef enum dwFeature2DStatus {
    DW_FEATURE2D_STATUS_INVALID = 0,

    DW_FEATURE2D_STATUS_DETECTED,

    DW_FEATURE2D_STATUS_TRACKED,

    DW_FEATURE2D_STATUS_TYPE_COUNT
} dwFeature2DStatus;

typedef struct dwFeatureHistoryArray
{
    dwFeature2DStatus* statuses; 
    uint32_t* ages;              
    float32_t* scales;           
    uint32_t* ids;               
    uint32_t* newToOldMap;       
    dwVector2f* locationHistory; 
    uint32_t* featureCount;      
    uint32_t* validTrackedCount; 
    uint32_t currentTimeIdx; 
    uint32_t maxHistory;     
    uint32_t maxFeatures;    
    uint8_t* data; 
    size_t bytes;  
    dwMemoryType memoryType; 
} dwFeatureHistoryArray;

typedef struct dwFeatureArray
{
    dwFeature2DStatus* statuses; 
    uint32_t* ages;              
    float32_t* scales;           
    uint32_t* ids;               
    uint32_t* newToOldMap;       
    dwVector2f* locations;       
    uint32_t* featureCount;      
    uint32_t* validTrackedCount; 
    uint32_t timeIdx;     
    uint32_t maxFeatures; 
    dwMemoryType memoryType; 
} dwFeatureArray;

typedef struct dwFeatureDescriptorArray
{
    dwFeature2DStatus* statuses; 
    dwVector2f* locations;       
    uint8_t* descriptors;        
    uint32_t* featureCount;      
    dwTrivialDataType dataType; 
    uint32_t dimension;         
    uint32_t maxFeatures;       
    uint8_t* data; 
    size_t bytes;  
    dwMemoryType memoryType; 
} dwFeatureDescriptorArray;
// dwFeature2DList
DW_API_PUBLIC
dwStatus dwFeatureArray_create(dwFeatureArray* featureArray,
                               const uint32_t maxFeatureCount,
                               const dwMemoryType memoryType,
                               dwContextHandle_t context);

DW_API_PUBLIC
dwStatus dwFeatureArray_destroy(dwFeatureArray featureArray);

DW_API_PUBLIC
dwStatus dwFeatureArray_reset(dwFeatureArray* featureArray);

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

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

DW_API_PUBLIC
dwStatus dwFeatureHistoryArray_destroy(dwFeatureHistoryArray featureHistoryArray);

DW_API_PUBLIC
dwStatus dwFeatureHistoryArray_reset(dwFeatureHistoryArray* featureHistoryArray);

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

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

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

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

DW_API_PUBLIC
dwStatus dwFeatureDescriptorArray_create(dwFeatureDescriptorArray* descriptorArray,
                                         dwTrivialDataType const dataType,
                                         uint32_t const dimension,
                                         uint32_t const maxFeatureCount,
                                         dwMemoryType const memoryType,
                                         dwContextHandle_t context);

DW_API_PUBLIC
dwStatus dwFeatureDescriptorArray_destroy(dwFeatureDescriptorArray const* descriptorArray);

DW_API_PUBLIC
dwStatus dwFeatureDescriptorArray_copyAsync(dwFeatureDescriptorArray* dstDescriptors,
                                            dwFeatureDescriptorArray const* srcDescriptors,
                                            cudaStream_t stream);

DW_API_PUBLIC
dwStatus dwFeatureDescriptorArray_copy(dwFeatureDescriptorArray* dstDescriptors,
                                       dwFeatureDescriptorArray const* srcDescriptors);

#ifdef __cplusplus
}
#endif

#endif // DW_IMAGEPROCESSING_FEATURE2D_LIST_H_