DriveWorks SDK Reference
4.0.0 Release
For Test and Development only

FeatureDetector.h File Reference

Detailed Description

NVIDIA DriveWorks API: 2D Detector

Description: This file defines 2D detection

Definition in file FeatureDetector.h.

Go to the source code of this file.

Data Structures

struct  dwFeature2DDetectorConfig
 Holds configuration parameters for a feature detector. More...
 

Typedefs

typedef struct dwFeature2DDetectorObject const * dwConstFeature2DDetectorHandle_t
 Handle representing a const feature detector. More...
 
typedef struct dwFeature2DDetectorObject * dwFeature2DDetectorHandle_t
 Handle representing a feature detector. More...
 

Enumerations

enum  dwFeature2DDetectorType {
  DW_FEATURE2D_DETECTOR_TYPE_STD = 0,
  DW_FEATURE2D_DETECTOR_TYPE_EX,
  DW_FEATURE2D_DETECTOR_TYPE_FAST9,
  DW_FEATURE2D_DETECTOR_TYPE_COUNT
}
 Defines different KLT tracking algorithms. More...
 
enum  dwFeature2DSelectionMaskType {
  DW_FEATURE2D_SELECTION_MASK_TYPE_UNIFORM = 0,
  DW_FEATURE2D_SELECTION_MASK_TYPE_GAUSSIAN,
  DW_FEATURE2D_SELECTION_MASK_TYPE_COUNT
}
 Feature distribution mask for extended detector. More...
 

Functions

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. More...
 
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. More...
 
DW_API_PUBLIC dwStatus dwFeature2DDetector_getCUDAStream (cudaStream_t *stream, dwFeature2DDetectorHandle_t obj)
 Gets the CUDA stream used by the feature Detector. More...
 
DW_API_PUBLIC dwStatus dwFeature2DDetector_getValidTrackedCount (const uint32_t **d_validTrackedCount, dwFeature2DDetectorHandle_t obj)
 dwFeature2DDetector_getValidTrackedCount More...
 
DW_API_PUBLIC dwStatus dwFeature2DDetector_initDefaultParams (dwFeature2DDetectorConfig *params)
 Initializes dwFeature2DDetector parameters with default values. More...
 
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 extrinsic (dwTransformation3f* cameraToRig) and camera intrinsic (dwConstCameraModelHandle_t cameraHandle) More...
 
DW_API_PUBLIC dwStatus dwFeature2DDetector_initialize (dwFeature2DDetectorHandle_t *obj, const dwFeature2DDetectorConfig *config, cudaStream_t cudaStream, dwContextHandle_t context)
 Creates and initializes a feature Detector. More...
 
DW_API_PUBLIC dwStatus dwFeature2DDetector_release (dwFeature2DDetectorHandle_t obj)
 Releases the feature Detector. More...
 
DW_API_PUBLIC dwStatus dwFeature2DDetector_reset (dwFeature2DDetectorHandle_t obj)
 Resets a feature Detector. More...
 
DW_API_PUBLIC dwStatus dwFeature2DDetector_setCUDAStream (cudaStream_t stream, dwFeature2DDetectorHandle_t obj)
 Sets the CUDA stream for CUDA related operations. More...
 
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. More...
 

Variables

const uint32_t DW_FEATURES2D_DETECTOR_MAX_CELL_SIZE = 128