48 #ifndef DW_IMAGEPROCESSING_FEATURE_DETECTOR_H_ 49 #define DW_IMAGEPROCESSING_FEATURE_DETECTOR_H_ 51 #include <dw/core/Config.h> 218 DW_DEPRECATED(
"WARNING: dwFeature2DDetectorConfig will be removed in the next major release, " 219 "use dwFeature2DDetectorConfigNew instead");
378 #pragma GCC diagnostic push 379 #pragma GCC diagnostic ignored "-Wdeprecated-declarations" 381 DW_DEPRECATED(
"WARNING: dwFeature2DDetector_initDefaultParams will be removed in the next major " 382 "release, use dwFeature2DDetector_initDefaultParamsNew instead")
384 #pragma GCC diagnostic pop 406 #pragma GCC diagnostic push 407 #pragma GCC diagnostic ignored "-Wdeprecated-declarations" 409 DW_DEPRECATED(
"WARNING: dwFeature2DDetector_initDefaultParamsForCamera will be removed in the next " 410 "major release, use dwFeature2DDetector_initDefaultParamsForCameraNew instead")
414 #pragma GCC diagnostic pop 443 #pragma GCC diagnostic push 444 #pragma GCC diagnostic ignored "-Wdeprecated-declarations" 446 DW_DEPRECATED(
"WARNING: dwFeature2DDetector_initialize will be removed in the next major release, " 447 "use dwFeature2DDetector_initializeNew instead")
450 cudaStream_t cudaStream,
452 #pragma GCC diagnostic pop 468 cudaStream_t cudaStream,
516 const uint32_t maskStrideBytes,
517 const uint32_t maskWidth,
518 const uint32_t maskHeight,
519 dwFeature2DDetectorHandle_t obj);
554 const float32_t* d_normalizedCrossCorrelation,
555 dwFeature2DDetectorHandle_t obj);
589 const float32_t* d_normalizedCrossCorrelation,
590 dwFeature2DDetectorHandle_t obj);
600 dwFeature2DDetectorHandle_t obj);
632 #endif // DW_IMAGEPROCESSING_FEATURE_DETECTOR_H_ NVIDIA DriveWorks API: Camera Methods
Extended Harris Corner detector with more configurable parameters, more flexible, better quality but ...
uint32_t detectionLevel
for DW_FEATURE2D_DETECTOR_TYPE_EX only STD detector always detects on level 0 pyramid image...
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 ...
uint32_t NMSRadius
for DW_FEATURE2D_DETECTOR_TYPE_EX and DW_FEATURE2D_DETECTOR_TYPE_FAST9 STD detector use fixed NMSRadi...
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.
bool isMaskAdjustmentEnabled
for DW_FEATURE2D_DETECTOR_TYPE_EX only Switch to use mask adjusment
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.
DW_API_PUBLIC dwStatus dwFeature2DDetector_initDefaultParamsNew(dwFeature2DDetectorConfigNew *params)
Initializes dwFeature2DDetector parameters with default values.
uint32_t harrisRadius
for DW_FEATURE2D_DETECTOR_TYPE_EX only STD detector use fixed harrisRadius = 1.
float32_t detailThreshold
for DW_FEATURE2D_DETECTOR_TYPE_STD only features in the cell that have scores higher than this value ...
bool useHalf
for DW_FEATURE2D_DETECTOR_TYPE_EX only use half-precision floating point to calculate harris corner s...
float32_t gaussianMaskStDevX
for DW_FEATURE2D_DETECTOR_TYPE_EX only Ignored when not using DW_FEATURE2D_SELECTION_MASK_TYPE_GAUSSI...
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.
DW_API_PUBLIC dwStatus dwFeature2DDetector_initializeNew(dwFeature2DDetectorHandle_t *obj, const dwFeature2DDetectorConfigNew *config, cudaStream_t cudaStream, dwContextHandle_t context)
Creates and initializes a feature Detector.
NVIDIA DriveWorks API: Image Conversion and Streaming Functionality
uint32_t imageHeight
Height of the images that the Detector runs on.
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.
uint32_t imageWidth
Width of the images that the Detector runs on.
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.
dwFeature2DSelectionMaskType maskType
for DW_FEATURE2D_DETECTOR_TYPE_EX only STD detector always output UNIFORM distribution.
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 numEvenDistributionPerCell
for DW_FEATURE2D_DETECTOR_TYPE_STD only Number of features to be appended after high frequency points...
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.
#define DW_DEPRECATED(msg)
uint32_t harrisRadius
for DW_FEATURE2D_DETECTOR_TYPE_EX only STD detector use fixed harrisRadius = 1.
NVIDIA DriveWorks API: Pyramid
Holds configuration parameters for a feature detector.
uint32_t cellSize
Cell size in pixel to split the image into cells.
dwProcessorType processorType
for DW_FEATURE2D_DETECTOR_TYPE_STD only set to DW_PROCESSOR_TYPE_PVA_0 or DW_PROCESSOR_TYPE_PVA_1 to ...
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.
dwFeature2DDetectorType type
Detecting algorithm defined by dwFeature2DDetectorType
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
uint32_t gradientSize
for DW_PROCESSOR_TYPE_PVA_0 or DW_PROCESSOR_TYPE_PVA_1 only Gradient window size. ...
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.
bool useNewToOldMapFromPreTracked
Determines whether the detector uses dwFeatureArray::newToOldMap directly from input preTrackedFeatur...
struct dwFeature2DDetectorObject const * dwConstFeature2DDetectorHandle_t
Handle representing a const feature detector.
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.
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.
float32_t gaussianMaskStDevY
for DW_FEATURE2D_DETECTOR_TYPE_EX only Ignored when not using DW_FEATURE2D_SELECTION_MASK_TYPE_GAUSSI...
NVIDIA DriveWorks API: Core Exports
float32_t gaussianMaskCenterY
for DW_FEATURE2D_DETECTOR_TYPE_EX only Ignored when not using DW_FEATURE2D_SELECTION_MASK_TYPE_GAUSSI...
bool autoGenerateFeatureID
Determines whether the detector generates unique feature ids for new detections automatically.
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
DW_API_PUBLIC dwStatus dwFeature2DDetector_initDefaultParamsForCameraNew(dwFeature2DDetectorConfigNew *params, const dwTransformation3f *cameraToRig, dwConstCameraModelHandle_t cameraHandle)
Initializes dwFeature2DDetector parameters with values best suited for the given camera using camera ...
uint32_t blockSize
for DW_PROCESSOR_TYPE_PVA_0 or DW_PROCESSOR_TYPE_PVA_1 only Block window size used to compute the Har...
uint32_t numEvenDistributionPerCell
for DW_FEATURE2D_DETECTOR_TYPE_STD only Number of features to be appended after high frequency points...
uint32_t maxFeatureCount
Upper bound on number of features handled.
float32_t scoreThreshold
Threshold to filter out low latency 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.
float32_t gaussianMaskCenterX
for DW_FEATURE2D_DETECTOR_TYPE_EX only Ignored when not using DW_FEATURE2D_SELECTION_MASK_TYPE_GAUSSI...