FeatureList.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_LIST_H_
#define DW_IMAGEPROCESSING_FEATURE_LIST_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>

#ifdef __cplusplus
extern "C" {
#endif

typedef enum dwFeature2DStatus {
    DW_FEATURE2D_STATUS_INVALID = 0,

    DW_FEATURE2D_STATUS_DETECTED,

    DW_FEATURE2D_STATUS_TRACKED,

    DW_FEATURE2D_STATUS_TYPE_COUNT
} dwFeature2DStatus;

typedef struct dwFeatureHistoryArray
{
    dwFeature2DStatus* statuses; 
    uint32_t* ages;              
    float32_t* scales;           
    uint32_t* ids;               
    uint32_t* newToOldMap;       
    dwVector2f* locationHistory; 
    uint32_t* featureCount;      
    uint32_t currentTimeIdx; 
    uint32_t maxHistory;     
    uint32_t maxFeatures;    
    uint8_t* data; 
    size_t bytes;  
    dwMemoryType memoryType; 
} dwFeatureHistoryArray;

typedef struct dwFeatureArray
{
    dwFeature2DStatus* statuses; 
    uint32_t* ages;              
    float32_t* scales;           
    uint32_t* ids;               
    uint32_t* newToOldMap;       
    dwVector2f* locations;       
    uint32_t* featureCount;      
    uint32_t timeIdx;     
    uint32_t maxFeatures; 
    dwMemoryType memoryType; 
} dwFeatureArray;

// dwFeature2DList
DW_API_PUBLIC
dwStatus dwFeatureArray_create(dwFeatureArray* featureArray,
                               const uint32_t maxFeatureCount,
                               const dwMemoryType memoryType,
                               dwContextHandle_t context);

DW_API_PUBLIC
dwStatus dwFeatureArray_destroy(dwFeatureArray featureArray);

DW_API_PUBLIC
dwStatus dwFeatureArray_reset(dwFeatureArray* featureArray);

DW_API_PUBLIC
dwStatus dwFeatureArray_copyAsync(dwFeatureArray* dstFeatures,
                                  const dwFeatureArray* srcFeatures,
                                  cudaStream_t stream);

DW_API_PUBLIC
dwStatus dwFeatureHistoryArray_create(dwFeatureHistoryArray* featureHistoryArray,
                                      const uint32_t maxFeatureCount,
                                      const uint32_t maxHistoryCapacity,
                                      const dwMemoryType memoryType,
                                      dwContextHandle_t context);

DW_API_PUBLIC
dwStatus dwFeatureHistoryArray_destroy(dwFeatureHistoryArray featureHistoryArray);

DW_API_PUBLIC
dwStatus dwFeatureHistoryArray_reset(dwFeatureHistoryArray* featureHistoryArray);

DW_API_PUBLIC
dwStatus dwFeatureHistoryArray_getCurrent(dwFeatureArray* featureArray,
                                          dwFeatureHistoryArray* featureHistoryArray);

DW_API_PUBLIC
dwStatus dwFeatureHistoryArray_getPrevious(dwFeatureArray* featureArray,
                                           dwFeatureHistoryArray* featureHistoryArray);

DW_API_PUBLIC
dwStatus dwFeatureHistoryArray_get(dwFeatureArray* featureArray,
                                   const uint32_t historyIdx,
                                   dwFeatureHistoryArray* featureHistoryArray);

DW_API_PUBLIC
dwStatus dwFeatureHistoryArray_copyAsync(dwFeatureHistoryArray* dstFeatureHistory,
                                         const dwFeatureHistoryArray* srcFeatureHistory,
                                         cudaStream_t stream);
DW_API_PUBLIC
dwStatus dwFeature_mergeNewToOldMap(uint32_t* d_newToOldMapC2A,
                                    const uint32_t* d_newToOldMapC2B,
                                    const uint32_t* d_newToOldMapB2A,
                                    const uint32_t* d_newToOldMapCount,
                                    const uint32_t maxFeatureCount,
                                    cudaStream_t stream);

#ifdef __cplusplus
}
#endif

#endif // DW_IMAGEPROCESSING_FEATURE2D_LIST_H_