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DriveWorks SDK Reference| 0.6.67 Release |
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DriveWorks SDK Reference| 0.6.67 Release |
NVIDIA DriveWorks API: ScalingFeatureTracker Methods * Description: This file defines scaling-extend KLT tracking methods.
Definition in file ScalingFeatureTracker.h.
Go to the source code of this file.
Data Structures | |
| struct | dwScalingFeatureListPointers |
| Pointer list to the CUDA table with type = DW_CUDA_TABLE_SIMPLE. More... | |
| struct | dwScalingFeatureTrackerParameters |
| Configuration parameters for a dwScalingFeatureTracker. More... | |
Macros | |
| #define | DW_MAX_TEMPLATE_SIZE 128 |
| defines the maximum template size More... | |
Typedefs | |
| typedef struct dwScalingFeatureListObject const * | dwConstScalingFeatureListHandle_t |
| Handle representing a const list of 2D scaling features. More... | |
| typedef struct dwScalingFeatureTrackerObject const * | dwConstScalingFeatureTrackerHandle_t |
| Handle representing a const ScalingFeatureTracker tracker. More... | |
| typedef struct dwScalingFeatureListObject * | dwScalingFeatureListHandle_t |
| Handle representing a list of 2D scaling features. More... | |
| typedef struct dwScalingFeatureTrackerObject * | dwScalingFeatureTrackerHandle_t |
| Handle representing a ScalingFeatureTracker tracker. More... | |
Functions | |
| DW_API_PUBLIC dwStatus | dwScalingFeatureList_addEmptyFeature (uint32_t nFeatures, dwScalingFeatureListHandle_t obj) |
| Insert nFeatures empty feature into the feature list. More... | |
| DW_API_PUBLIC dwStatus | dwScalingFeatureList_applySizeFilter (float32_t maxWidth, float32_t maxHeight, dwScalingFeatureListHandle_t obj) |
| Mark the features in the list as DW_FEATURE_STATUS_INVALID with size larger than (maxWidth, maxHeight) More... | |
| DW_API_PUBLIC dwStatus | dwScalingFeatureList_compact (dwScalingFeatureListHandle_t list, const uint32_t *d_validIndexCount, const uint32_t *d_validIndexes, const uint32_t *d_invalidIndexCount, const uint32_t *d_invalidIndexes) |
| Removes scaling features from the list. More... | |
| DW_API_PUBLIC dwStatus | dwScalingFeatureList_getCUDAStream (cudaStream_t *stream, dwScalingFeatureListHandle_t obj) |
| Gets the CUDA stream used by the scaling feature list. More... | |
| DW_API_PUBLIC dwStatus | dwScalingFeatureList_getDataBasePointer (void **d_basePointer, size_t *size, dwScalingFeatureListHandle_t obj) |
| Returns the start position of the data buffer that stores all of the scaling feature list information (in GPU memory). More... | |
| DW_API_PUBLIC dwStatus | dwScalingFeatureList_getDataPointers (dwScalingFeatureListPointers *pointers, void *basePointer, dwScalingFeatureListHandle_t obj) |
| Returns the pointers to the actual data of a scaling feature list given the base pointer. More... | |
| DW_API_PUBLIC dwStatus | dwScalingFeatureList_initialize (dwScalingFeatureListHandle_t *obj, dwContextHandle_t context, cudaStream_t stream, const uint32_t maxFeatureCount, const dwTrivialDataType pxlType) |
| Creates and initializes a scaling feature list. More... | |
| DW_API_PUBLIC dwStatus | dwScalingFeatureList_release (dwScalingFeatureListHandle_t *obj) |
| Releases the scaling feature list. More... | |
| DW_API_PUBLIC dwStatus | dwScalingFeatureList_reset (dwScalingFeatureListHandle_t obj) |
| Resets the scaling feature list. More... | |
| DW_API_PUBLIC dwStatus | dwScalingFeatureList_selectValid (uint32_t *d_validIndexCount, uint32_t *d_validIndexes, uint32_t *d_invalidIndexCount, uint32_t *d_invalidIndexes, dwConstScalingFeatureListHandle_t obj) |
| Creates a list of indexes of those scaling features with a status of detected or tracked, and list of indexes of those scaling features with a status of invalid. More... | |
| DW_API_PUBLIC dwStatus | dwScalingFeatureList_setCUDAStream (cudaStream_t stream, dwScalingFeatureListHandle_t obj) |
| Sets the CUDA stream for CUDA related operations. More... | |
| DW_API_PUBLIC dwStatus | dwScalingFeatureTracker_getCUDAStream (cudaStream_t *cudaStream, dwScalingFeatureTrackerHandle_t obj) |
| Gets the CUDA stream used. More... | |
| DW_API_PUBLIC dwStatus | dwScalingFeatureTracker_initDefaultParams (dwScalingFeatureTrackerParameters *params) |
| Initializes ScalingFeatureTracker parameters with default values. More... | |
| DW_API_PUBLIC dwStatus | dwScalingFeatureTracker_initialize (dwScalingFeatureTrackerHandle_t *obj, const dwScalingFeatureTrackerParameters *params, cudaStream_t stream, dwContextHandle_t context) |
| Initialize the ScalingFeatureTracker module. More... | |
| DW_API_PUBLIC dwStatus | dwScalingFeatureTracker_release (dwScalingFeatureTrackerHandle_t *obj) |
| Releases the ScalingFeatureTracker module. More... | |
| DW_API_PUBLIC dwStatus | dwScalingFeatureTracker_reset (dwScalingFeatureTrackerHandle_t obj) |
| Resets the ScalingFeatureTracker. More... | |
| DW_API_PUBLIC dwStatus | dwScalingFeatureTracker_setCUDAStream (cudaStream_t cudaStream, dwScalingFeatureTrackerHandle_t obj) |
| Sets the CUDA stream used. More... | |
| DW_API_PUBLIC dwStatus | dwScalingFeatureTracker_trackAsync (dwScalingFeatureListHandle_t list, const dwImageCUDA *currentImage, dwScalingFeatureTrackerHandle_t obj) |
| Track the features in currentImage . More... | |
| DW_API_PUBLIC dwStatus | dwScalingFeatureTracker_updateTemplateAsync (dwScalingFeatureListHandle_t list, const dwImageCUDA *templateImage, dwScalingFeatureTrackerHandle_t obj) |
| Update the tracking template for each valid feature in the tracker The computation takes place asynchronously on the device (GPU). More... | |
| struct dwScalingFeatureListPointers |
| Data Fields | ||
|---|---|---|
| uint32_t * | ages | age of the feature |
| dwBool * | bNewTemplate | true when the overall data is updated, false when only location info is updated |
| uint32_t * | featureCount | Total number of feature points. Single value. |
| uint32_t * | ids | id of the feature |
| dwVector2f * | locations | center location of the feature to be tracked |
| float32_t * | scaleFactors | scaleFactor of frame N to N-1 |
| float32_t * | scaleToTemplate | scaleFactor of frame N to the template |
| dwVector2f * | sizes | size of the feature to be tracked |
| dwFeatureStatus * | statuses | status of the tracking |
| dwVector2f * | templateLocations | location of the feature template |
| dwVector2f * | templateSizes | size of the feature template |
| struct dwScalingFeatureTrackerParameters |
| Data Fields | ||
|---|---|---|
| float32_t | maxPixelTolerance | When template image data is kept and only updates its location, if the pixel offset between the center of template feature and incoming feature is less than this value, tracker will not update template to the new location but use the old ones to prevent drifting. |
| float32_t | maxScaleChange | If scalingFactor between frame N to N-1 is outside range [1/maxScaleChange, maxScaleChange] tracking will be killed. |
| float32_t | maxSizeDifference | If templateSize/newDetectedSize is not within [1/maxSizeDifference, maxSizeDifference] region, Or the new added box size is far different to the existing template size, tracker will apply a force update to the template image/size/location. |
| uint32_t | numIterScaling | Iteration number to apply the translation-and-scaling KLT. |
| uint32_t | numIterTranslation | Iteration number to apply the translation-only KLT for robustness. |
| float32_t | thresholdKill |
Killing threshold in [0, 1]. If normalized zero cross correlation between 2 frames is less than this value, tracking will be killed. Smaller value means less possible to be killed. If thresholdKill = 0, the tracking will not be marked as failure until it's out of time or move out of boundary. If thresholdKill = 1, the tracking will always be killed. |
| float32_t | thresholdUpdate |
Updating threshold in [0, 1]. If normalized zero cross correlation between 2 frames is less than this value, tracking template will be updated. Otherwise only updates its location but keep the original size and image data unchanged. Larger value means updating the tempalte more frequently. If thresholdUpdate = 1, template will be updated every frame If thresholdUpdate = 0, template won't be updated unless the size of template and new feature differs too much. |
| #define DW_MAX_TEMPLATE_SIZE 128 |
defines the maximum template size
Definition at line 52 of file ScalingFeatureTracker.h.
| typedef struct dwScalingFeatureListObject const* dwConstScalingFeatureListHandle_t |
Handle representing a const list of 2D scaling features.
Definition at line 64 of file ScalingFeatureTracker.h.
| typedef struct dwScalingFeatureTrackerObject const* dwConstScalingFeatureTrackerHandle_t |
Handle representing a const ScalingFeatureTracker tracker.
Definition at line 58 of file ScalingFeatureTracker.h.
| typedef struct dwScalingFeatureListObject* dwScalingFeatureListHandle_t |
Handle representing a list of 2D scaling features.
Definition at line 61 of file ScalingFeatureTracker.h.
| typedef struct dwScalingFeatureTrackerObject* dwScalingFeatureTrackerHandle_t |
Handle representing a ScalingFeatureTracker tracker.
Definition at line 55 of file ScalingFeatureTracker.h.