ScalingFeatureTracker.h

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#ifndef DW_FEATURES_SCALING_FEATURE_TRACKER_H__
#define DW_FEATURES_SCALING_FEATURE_TRACKER_H__

// C api
#include <dw/core/Config.h>
#include <dw/core/Context.h>
#include <dw/core/Types.h>
#include <dw/image/Image.h>
#include <dw/features/Features.h>

#ifdef __cplusplus
extern "C" {
#endif

#define DW_MAX_TEMPLATE_SIZE 128

typedef struct dwScalingFeatureTrackerObject *dwScalingFeatureTrackerHandle_t;

typedef struct dwScalingFeatureTrackerObject const *dwConstScalingFeatureTrackerHandle_t;

typedef struct dwScalingFeatureListObject *dwScalingFeatureListHandle_t;

typedef struct dwScalingFeatureListObject const *dwConstScalingFeatureListHandle_t;

typedef struct dwScalingFeatureTrackerParameters {
    uint32_t numIterTranslation;

    uint32_t numIterScaling;

    float32_t thresholdUpdate;

    float32_t thresholdKill;

    float32_t maxPixelTolerance;

    float32_t maxScaleChange;

    float32_t maxSizeDifference;

} dwScalingFeatureTrackerParameters;

typedef struct dwScalingFeatureListPointers {
    dwVector2f      *locations;

    dwVector2f      *sizes;

    dwVector2f      *templateLocations;

    dwVector2f      *templateSizes;

    dwFeatureStatus *statuses;

    dwBool          *bNewTemplate;

    uint32_t        *ids;

    uint32_t        *ages;

    float32_t       *scaleFactors;

    float32_t       *scaleToTemplate;

    uint32_t        *featureCount;
} dwScalingFeatureListPointers;

// dwScalingFeatureList
DW_API_PUBLIC
dwStatus dwScalingFeatureList_initialize(dwScalingFeatureListHandle_t *obj, dwContextHandle_t context, cudaStream_t stream,
                                         const uint32_t maxFeatureCount, const dwTrivialDataType pxlType);

DW_API_PUBLIC
dwStatus dwScalingFeatureList_reset(dwScalingFeatureListHandle_t obj);

DW_API_PUBLIC
dwStatus dwScalingFeatureList_release(dwScalingFeatureListHandle_t *obj);

DW_API_PUBLIC
dwStatus dwScalingFeatureList_getDataBasePointer(void **d_basePointer, size_t *size, dwScalingFeatureListHandle_t obj);

DW_API_PUBLIC
dwStatus dwScalingFeatureList_getDataPointers(dwScalingFeatureListPointers *pointers, void *basePointer,
                                              dwScalingFeatureListHandle_t obj);

DW_API_PUBLIC
dwStatus dwScalingFeatureList_addEmptyFeature(uint32_t nFeatures, dwScalingFeatureListHandle_t obj);

DW_API_PUBLIC
dwStatus dwScalingFeatureList_applySizeFilter(float32_t maxWidth, float32_t maxHeight,
                                              dwScalingFeatureListHandle_t obj);

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);

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);

DW_API_PUBLIC
dwStatus dwScalingFeatureList_setCUDAStream(cudaStream_t stream, dwScalingFeatureListHandle_t obj);

DW_API_PUBLIC
dwStatus dwScalingFeatureList_getCUDAStream(cudaStream_t *stream, dwScalingFeatureListHandle_t obj);

DW_API_PUBLIC
dwStatus dwScalingFeatureTracker_initDefaultParams(dwScalingFeatureTrackerParameters* params);


DW_API_PUBLIC
dwStatus dwScalingFeatureTracker_initialize(dwScalingFeatureTrackerHandle_t *obj,
                                            const dwScalingFeatureTrackerParameters* params,
                                            cudaStream_t stream, dwContextHandle_t context);

DW_API_PUBLIC
dwStatus dwScalingFeatureTracker_reset(dwScalingFeatureTrackerHandle_t obj);

DW_API_PUBLIC
dwStatus dwScalingFeatureTracker_release(dwScalingFeatureTrackerHandle_t* obj);

DW_API_PUBLIC
dwStatus dwScalingFeatureTracker_setCUDAStream(cudaStream_t cudaStream,
                                               dwScalingFeatureTrackerHandle_t obj);

DW_API_PUBLIC
dwStatus dwScalingFeatureTracker_getCUDAStream(cudaStream_t* cudaStream,
                                               dwScalingFeatureTrackerHandle_t obj);


DW_API_PUBLIC
dwStatus dwScalingFeatureTracker_updateTemplateAsync(dwScalingFeatureListHandle_t list,
                                                     const dwImageCUDA* templateImage,
                                                     dwScalingFeatureTrackerHandle_t obj);

DW_API_PUBLIC
dwStatus dwScalingFeatureTracker_trackAsync(dwScalingFeatureListHandle_t list,
                                            const dwImageCUDA* currentImage,
                                            dwScalingFeatureTrackerHandle_t obj);


#ifdef __cplusplus
}
#endif

#endif // DW_FEATURES_SCALING_FEATURE_TRACKER_H__