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/Exports.h>
#include <dw/core/Context.h>
#include <dw/core/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_SFM DW_DEPRECATED_ENUM("deprecated, please use dwFeature2DTrackerConfigNew::enableSparseOutput=1"),

    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;

    uint32_t numIterTranslationOnly;

    uint32_t numIterScaling;

    uint32_t numLevelTranslationOnly;

    float32_t maxScaleChange;

    float32_t nccKillThreshold;

    float32_t nccUpdateThreshold;

    float32_t largeMotionKillRatio;

    dwProcessorType processorType;

} dwFeature2DTrackerConfig
    DW_DEPRECATED("WARNING: dwFeature2DTrackerConfig will be removed in the next major release, "
                  "use dwFeature2DTrackerConfigNew instead");

typedef struct dwFeature2DTrackerConfigNew
{
    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;

} dwFeature2DTrackerConfigNew;

#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
DW_API_PUBLIC
DW_DEPRECATED("WARNING: dwFeature2DTracker_initDefaultParams will be removed in the next major release, "
              "use dwFeature2DTracker_initDefaultParamsNew instead")
dwStatus dwFeature2DTracker_initDefaultParams(dwFeature2DTrackerConfig* params);
#pragma GCC diagnostic pop

DW_API_PUBLIC
dwStatus dwFeature2DTracker_initDefaultParamsNew(dwFeature2DTrackerConfigNew* params);

#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
DW_API_PUBLIC
DW_DEPRECATED("WARNING: dwFeature2DTracker_initDefaultParamsForCamera will be removed in the next major release, "
              "use dwFeature2DTracker_initDefaultParamsForCameraNew instead")
dwStatus dwFeature2DTracker_initDefaultParamsForCamera(dwFeature2DTrackerConfig* params,
                                                       const dwTransformation3f* cameraToRig,
                                                       dwConstCameraModelHandle_t cameraHandle);
#pragma GCC diagnostic pop

DW_API_PUBLIC
dwStatus dwFeature2DTracker_initDefaultParamsForCameraNew(dwFeature2DTrackerConfigNew* params,
                                                          const dwTransformation3f* cameraToRig,
                                                          dwConstCameraModelHandle_t cameraHandle);

#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
DW_API_PUBLIC
DW_DEPRECATED("WARNING: dwFeature2DTracker_initialize will be removed in the next major release, "
              "use dwFeature2DTracker_initializeNew instead")
dwStatus dwFeature2DTracker_initialize(dwFeature2DTrackerHandle_t* obj,
                                       const dwFeature2DTrackerConfig* config,
                                       cudaStream_t cudaStream, dwContextHandle_t context);
#pragma GCC diagnostic pop

DW_API_PUBLIC
dwStatus dwFeature2DTracker_initializeNew(dwFeature2DTrackerHandle_t* obj,
                                          const dwFeature2DTrackerConfigNew* 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_