FeatureDetector.h

Go to the documentation of this file.

// This code contains NVIDIA Confidential Information and is disclosed
// under the Mutual Non-Disclosure Agreement.
//
// Notice
// ALL NVIDIA DESIGN SPECIFICATIONS AND CODE ("MATERIALS") ARE PROVIDED "AS IS" NVIDIA MAKES
// NO REPRESENTATIONS, WARRANTIES, EXPRESSED, IMPLIED, STATUTORY, OR OTHERWISE WITH RESPECT TO
// THE MATERIALS, AND EXPRESSLY DISCLAIMS ANY IMPLIED WARRANTIES OF NONINFRINGEMENT,
// MERCHANTABILITY, OR FITNESS FOR A PARTICULAR PURPOSE.
//
// NVIDIA Corporation assumes no responsibility for the consequences of use of such
// information or for any infringement of patents or other rights of third parties that may
// result from its use. No license is granted by implication or otherwise under any patent
// or patent rights of NVIDIA Corporation. No third party distribution is allowed unless
// expressly authorized by NVIDIA.  Details are subject to change without notice.
// This code supersedes and replaces all information previously supplied.
// NVIDIA Corporation products are not authorized for use as critical
// components in life support devices or systems without express written approval of
// NVIDIA Corporation.
//
// Copyright (c) 2018-2021 NVIDIA Corporation. All rights reserved.
//
// NVIDIA Corporation and its licensors retain all intellectual property and proprietary
// rights in and to this software and related documentation and any modifications thereto.
// Any use, reproduction, disclosure or distribution of this software and related
// documentation without an express license agreement from NVIDIA Corporation is
// strictly prohibited.
//

#ifndef DW_IMAGEPROCESSING_FEATURE_DETECTOR_H_
#define DW_IMAGEPROCESSING_FEATURE_DETECTOR_H_

#include <dw/core/Config.h>
#include <dw/core/base/Exports.h>
#include <dw/core/context/Context.h>
#include <dw/core/base/Types.h>
#include <dw/image/Image.h>
#include <dw/imageprocessing/features/FeatureList.h>
#include <dw/imageprocessing/filtering/Pyramid.h>
#include <dw/calibration/cameramodel/CameraModel.h>

#ifdef __cplusplus
extern "C" {
#endif

typedef struct dwFeature2DDetectorObject* dwFeature2DDetectorHandle_t;

typedef struct dwFeature2DDetectorObject const* dwConstFeature2DDetectorHandle_t;

typedef enum dwFeature2DDetectorType {
    DW_FEATURE2D_DETECTOR_TYPE_STD = 0,

    DW_FEATURE2D_DETECTOR_TYPE_EX,

    DW_FEATURE2D_DETECTOR_TYPE_FAST9,

    DW_FEATURE2D_DETECTOR_TYPE_COUNT
} dwFeature2DDetectorType;

typedef enum {
    DW_FEATURE2D_SELECTION_MASK_TYPE_UNIFORM = 0,

    DW_FEATURE2D_SELECTION_MASK_TYPE_GAUSSIAN,

    DW_FEATURE2D_SELECTION_MASK_TYPE_COUNT
} dwFeature2DSelectionMaskType;

typedef struct dwFeature2DDetectorConfig
{
    dwFeature2DDetectorType type;

    uint32_t imageWidth;

    uint32_t imageHeight;

    uint32_t maxFeatureCount;

    float32_t harrisK;

    uint32_t cellSize;

    uint32_t gradientSize;

    uint32_t blockSize;

    float32_t scoreThreshold;

    float32_t detailThreshold;

    uint32_t numEvenDistributionPerCell;

    uint32_t detectionLevel;

    uint32_t harrisRadius;

    uint32_t NMSRadius;

    dwFeature2DSelectionMaskType maskType;

    float32_t gaussianMaskCenterX;

    float32_t gaussianMaskCenterY;

    float32_t gaussianMaskStDevX;

    float32_t gaussianMaskStDevY;

    bool useHalf;

    bool isMaskAdjustmentEnabled;

    bool useNewToOldMapFromPreTracked;

    bool autoGenerateFeatureID;

    dwProcessorType processorType;
} dwFeature2DDetectorConfig;

const uint32_t DW_FEATURES2D_DETECTOR_MAX_CELL_SIZE = 128;

DW_API_PUBLIC
dwStatus dwFeature2DDetector_initDefaultParams(dwFeature2DDetectorConfig* params);

DW_API_PUBLIC
dwStatus dwFeature2DDetector_initDefaultParamsForCamera(dwFeature2DDetectorConfig* params,
                                                        const dwTransformation3f* cameraToRig,
                                                        dwConstCameraModelHandle_t cameraHandle);

DW_API_PUBLIC
dwStatus dwFeature2DDetector_initialize(dwFeature2DDetectorHandle_t* obj,
                                        const dwFeature2DDetectorConfig* config,
                                        cudaStream_t cudaStream,
                                        dwContextHandle_t context);

DW_API_PUBLIC
dwStatus dwFeature2DDetector_reset(dwFeature2DDetectorHandle_t obj);

DW_API_PUBLIC
dwStatus dwFeature2DDetector_release(dwFeature2DDetectorHandle_t obj);

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);

DW_API_PUBLIC
dwStatus dwFeature2DDetector_detectFromImage(dwFeatureArray* outputDetections,
                                             dwImageHandle_t image,
                                             dwFeatureArray* preTrackedFeatures,
                                             const float32_t* d_normalizedCrossCorrelation,
                                             dwFeature2DDetectorHandle_t obj);

DW_API_PUBLIC
dwStatus dwFeature2DDetector_detectFromPyramid(dwFeatureArray* outputDetections,
                                               const dwPyramidImage* pyramid,
                                               dwFeatureArray* preTrackedFeatures,
                                               const float32_t* d_normalizedCrossCorrelation,
                                               dwFeature2DDetectorHandle_t obj);

DW_API_PUBLIC
dwStatus dwFeature2DDetector_getValidTrackedCount(const uint32_t** d_validTrackedCount,
                                                  dwFeature2DDetectorHandle_t obj);

DW_API_PUBLIC
dwStatus dwFeature2DDetector_setCUDAStream(cudaStream_t stream, dwFeature2DDetectorHandle_t obj);

DW_API_PUBLIC
dwStatus dwFeature2DDetector_getCUDAStream(cudaStream_t* stream, dwFeature2DDetectorHandle_t obj);

#ifdef __cplusplus
}
#endif

#endif // DW_IMAGEPROCESSING_FEATURE_DETECTOR_H_