FeatureTracker.h

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#ifndef DW_IMAGEPROCESSING_FEATURE2D_TRACKER_H_
#define DW_IMAGEPROCESSING_FEATURE2D_TRACKER_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/features/FeatureDetector.h>

#include <stdint.h>

#ifdef __cplusplus
extern "C" {
#endif

#define DW_FEATURE2D_TRACKER_MAX_WINDOW_SIZE 16

typedef struct dwFeature2DTrackerObject* dwFeature2DTrackerHandle_t;

typedef struct dwFeature2DTrackerObject const* dwConstFeature2DTrackerHandle_t;

typedef enum dwFeature2DTrackerAlgorithm {
    DW_FEATURE2D_TRACKER_ALGORITHM_STD = 0,

    DW_FEATURE2D_TRACKER_ALGORITHM_EX,

    DW_FEATURE2D_TRACKER_ALGORITHM_EX_FAST,

    DW_FEATURE2D_TRACKER_ALGORITHM_COUNT
} dwFeature2DTrackerAlgorithm;

typedef struct dwFeature2DTrackerConfig
{
    dwFeature2DTrackerAlgorithm algorithm;

    dwFeature2DDetectorType detectorType;

    uint32_t maxFeatureCount;

    uint32_t historyCapacity;

    uint32_t pyramidLevelCount;

    uint32_t imageWidth;

    uint32_t imageHeight;

    uint32_t windowSizeLK;

    bool enableAdaptiveWindowSizeLK;

    uint32_t numIterTranslationOnly;

    uint32_t numIterScaling;

    uint32_t numLevelTranslationOnly;

    bool useHalf;

    uint32_t enableSparseOutput;

    float32_t maxScaleChange;

    float32_t nccKillThreshold;

    float32_t nccUpdateThreshold;

    float32_t largeMotionKillRatio;

    float32_t displacementThreshold;

    dwProcessorType processorType;

    uint32_t numTrackerDevicesPVA;

} dwFeature2DTrackerConfig;

DW_API_PUBLIC
dwStatus dwFeature2DTracker_initDefaultParams(dwFeature2DTrackerConfig* params);

// TODO(dwplc): RFD coverity tool claims that first 31 characters of identifiers is same with dwFeature2DTracker_initDefaultParams, which causes ambiguity
// coverity[misra_c_2012_rule_5_1_violation]
DW_API_PUBLIC
dwStatus dwFeature2DTracker_initDefaultParamsForCamera(dwFeature2DTrackerConfig* params,
                                                       const dwTransformation3f* cameraToRig,
                                                       dwConstCameraModelHandle_t cameraHandle);

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

DW_API_PUBLIC
dwStatus dwFeature2DTracker_reset(dwFeature2DTrackerHandle_t obj);

DW_API_PUBLIC
dwStatus dwFeature2DTracker_release(dwFeature2DTrackerHandle_t obj);

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);

DW_API_PUBLIC
dwStatus dwFeature2DTracker_compact(dwFeatureHistoryArray* featureHistoryArray,
                                    dwFeature2DTrackerHandle_t obj);

DW_API_PUBLIC
dwStatus dwFeature2DTracker_setCUDAStream(cudaStream_t stream, dwFeature2DTrackerHandle_t obj);

DW_API_PUBLIC
dwStatus dwFeature2DTracker_getCUDAStream(cudaStream_t* stream, dwFeature2DTrackerHandle_t obj);

#ifdef __cplusplus
}
#endif

#endif // DW_IMAGEPROCESSING_FEATURE2D_TRACKER_H_