48 #ifndef DW_IMAGEPROCESSING_FEATURE_DETECTOR_H_ 49 #define DW_IMAGEPROCESSING_FEATURE_DETECTOR_H_ 51 #include <dw/core/Config.h> 260 cudaStream_t cudaStream,
308 const uint32_t maskStrideBytes,
309 const uint32_t maskWidth,
310 const uint32_t maskHeight,
311 dwFeature2DDetectorHandle_t obj);
346 const float32_t* d_normalizedCrossCorrelation,
347 dwFeature2DDetectorHandle_t obj);
381 const float32_t* d_normalizedCrossCorrelation,
382 dwFeature2DDetectorHandle_t obj);
392 dwFeature2DDetectorHandle_t obj);
424 #endif // DW_IMAGEPROCESSING_FEATURE_DETECTOR_H_ NVIDIA DriveWorks API: Camera Methods
Extended Harris Corner detector with more configurable parameters, more flexible, better quality but ...
Fast corner detector, quicker.
float32_t detailThreshold
for DW_FEATURE2D_DETECTOR_TYPE_STD only features in the cell that have scores higher than this value ...
DW_API_PUBLIC dwStatus dwFeature2DDetector_initDefaultParamsForCamera(dwFeature2DDetectorConfig *params, const dwTransformation3f *cameraToRig, dwConstCameraModelHandle_t cameraHandle)
Initializes dwFeature2DDetector parameters with values best suited for the given camera using camera ...
NVIDIA DriveWorks API: Core Types
float float32_t
Specifies POD types.
struct dwImageObject * dwImageHandle_t
dwFeature2DSelectionMaskType
Feature distribution mask for extended detector.
dwFeature2DDetectorType
Defines different KLT tracking algorithms.
DW_API_PUBLIC dwStatus dwFeature2DDetector_setMask(const uint8_t *d_mask, const uint32_t maskStrideBytes, const uint32_t maskWidth, const uint32_t maskHeight, dwFeature2DDetectorHandle_t obj)
Sets a mask to ignore areas of the image.
uint32_t harrisRadius
for DW_FEATURE2D_DETECTOR_TYPE_EX only STD detector use fixed harrisRadius = 1.
dwProcessorType processorType
for DW_FEATURE2D_DETECTOR_TYPE_STD only set to DW_PROCESSOR_TYPE_PVA_0 or DW_PROCESSOR_TYPE_PVA_1 to ...
uint32_t detectionLevel
for DW_FEATURE2D_DETECTOR_TYPE_EX only STD detector always detects on level 0 pyramid image...
NVIDIA DriveWorks API: Core Methods
DW_API_PUBLIC dwStatus dwFeature2DDetector_initialize(dwFeature2DDetectorHandle_t *obj, const dwFeature2DDetectorConfig *config, cudaStream_t cudaStream, dwContextHandle_t context)
Creates and initializes a feature Detector.
DW_API_PUBLIC dwStatus dwFeature2DDetector_initDefaultParams(dwFeature2DDetectorConfig *params)
Initializes dwFeature2DDetector parameters with default values.
NVIDIA DriveWorks API: Image Conversion and Streaming Functionality
output feature in uniform distribution
uint32_t blockSize
for DW_PROCESSOR_TYPE_PVA_0 or DW_PROCESSOR_TYPE_PVA_1 only Block window size used to compute the Har...
DW_API_PUBLIC dwStatus dwFeature2DDetector_release(dwFeature2DDetectorHandle_t obj)
Releases the feature Detector.
DW_API_PUBLIC dwStatus dwFeature2DDetector_detectFromImage(dwFeatureArray *outputDetections, dwImageHandle_t image, dwFeatureArray *preTrackedFeatures, const float32_t *d_normalizedCrossCorrelation, dwFeature2DDetectorHandle_t obj)
Detects new features and append them after old tracked features.
output feature in 2D gaussian distribution which has more features in center area and less ones in bo...
uint32_t imageWidth
Width of the images that the Detector runs on.
float32_t scoreThreshold
Threshold to filter out low latency points.
dwStatus
Status definition.
uint32_t maxFeatureCount
Upper bound on number of features handled.
dwProcessorType
Processor type definitions.
uint32_t NMSRadius
for DW_FEATURE2D_DETECTOR_TYPE_EX and DW_FEATURE2D_DETECTOR_TYPE_FAST9 STD detector use fixed NMSRadi...
uint32_t cellSize
Cell size in pixel to split the image into cells.
NVIDIA DriveWorks API: Pyramid
DW_API_PUBLIC dwStatus dwFeature2DDetector_getValidTrackedCount(const uint32_t **d_validTrackedCount, dwFeature2DDetectorHandle_t obj)
dwFeature2DDetector_getValidTrackedCount
const uint32_t DW_FEATURES2D_DETECTOR_MAX_CELL_SIZE
DW_API_PUBLIC dwStatus dwFeature2DDetector_reset(dwFeature2DDetectorHandle_t obj)
Resets a feature Detector.
struct dwCameraModelObject const * dwConstCameraModelHandle_t
A pointer to the handle representing a const calibrated camera.
uint32_t gradientSize
for DW_PROCESSOR_TYPE_PVA_0 or DW_PROCESSOR_TYPE_PVA_1 only Gradient window size. ...
bool isMaskAdjustmentEnabled
for DW_FEATURE2D_DETECTOR_TYPE_EX only Switch to use mask adjusment
DW_API_PUBLIC dwStatus dwFeature2DDetector_getCUDAStream(cudaStream_t *stream, dwFeature2DDetectorHandle_t obj)
Gets the CUDA stream used by the feature Detector.
struct dwContextObject * dwContextHandle_t
Context handle.
struct dwFeature2DDetectorObject const * dwConstFeature2DDetectorHandle_t
Handle representing a const feature detector.
bool autoGenerateFeatureID
Determines whether the detector generates unique feature ids for new detections automatically.
bool useNewToOldMapFromPreTracked
Determines whether the detector uses dwFeatureArray::newToOldMap directly from input preTrackedFeatur...
float32_t harrisK
Weigting K of the harris corner score defined as det(M) - K * trace(M) * trace(M), where M is the structural matrix 0.04 - 0.06 is used typically If set to zero the default value (5e-2) will be used.
dwFeature2DSelectionMaskType maskType
for DW_FEATURE2D_DETECTOR_TYPE_EX only STD detector always output UNIFORM distribution.
struct dwFeature2DDetectorObject * dwFeature2DDetectorHandle_t
Handle representing a feature detector.
Standard Harris Corner detector with fixed parameters, quicker.
NVIDIA DriveWorks API: Core Exports
Holds configuration parameters for a feature detector.
NVIDIA DriveWorks API: Feature Array and Feature History Array
uint32_t imageHeight
Height of the images that the Detector runs on.
dwFeature2DDetectorType type
Detecting algorithm defined by dwFeature2DDetectorType
uint32_t numEvenDistributionPerCell
for DW_FEATURE2D_DETECTOR_TYPE_STD only Number of features to be appended after high frequency points...
DW_API_PUBLIC dwStatus dwFeature2DDetector_detectFromPyramid(dwFeatureArray *outputDetections, const dwPyramidImage *pyramid, dwFeatureArray *preTrackedFeatures, const float32_t *d_normalizedCrossCorrelation, dwFeature2DDetectorHandle_t obj)
Detects new features and append them after old tracked features.
DW_API_PUBLIC dwStatus dwFeature2DDetector_setCUDAStream(cudaStream_t stream, dwFeature2DDetectorHandle_t obj)
Sets the CUDA stream for CUDA related operations.