46 #ifndef DW_IMAGEPROCESSING_FEATURE2D_TRACKER_H_ 47 #define DW_IMAGEPROCESSING_FEATURE2D_TRACKER_H_ 63 #define DW_FEATURE2D_TRACKER_MAX_WINDOW_SIZE 16 325 dwFeature2DTrackerHandle_t obj);
342 dwFeature2DTrackerHandle_t obj);
374 #endif // DW_IMAGEPROCESSING_FEATURE2D_TRACKER_H_ NVIDIA DriveWorks API: Core Types
Holds pointers to the data exposed by a feature2d list.
bool enableAdaptiveWindowSizeLK
Enable adaptive window size If enabled, the tracker will use windowSizeLK to track only at the first ...
float float32_t
Specifies POD types.
dwFeature2DDetectorType
Defines different KLT tracking algorithms.
Defines a two-element single-precision floating-point vector.
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)
Tracks features and store the tracked results to predictedFeatures between the previous and current i...
uint32_t numIterScaling
Upper bound on number of 3-DOF translation+scaling KLT iterations per level.
3-DOF (dx, dy, dscale) fast extended KLT tracking.
DW_API_PUBLIC dwStatus dwFeature2DTracker_initDefaultParamsForCamera(dwFeature2DTrackerConfig *params, const dwTransformation3f *cameraToRig, dwConstCameraModelHandle_t cameraHandle)
Initializes dwFeature2DTracker parameters with values best suited for the given camera using camera e...
uint32_t numTrackerDevicesPVA
Number of pva devices(pva job queues) created for feature tracking Valid only when processorType = DW...
float32_t maxScaleChange
The maximum allowed scale change for the tracked points across consecutive frames.
NVIDIA DriveWorks API: Image Conversion and Streaming Functionality
DW_API_PUBLIC dwStatus dwFeature2DTracker_initialize(dwFeature2DTrackerHandle_t *obj, const dwFeature2DTrackerConfig *config, cudaStream_t cudaStream, dwContextHandle_t context)
Creates and initializes a feature tracker.
struct dwFeature2DTrackerObject const * dwConstFeature2DTrackerHandle_t
Handle representing a const feature tracker.
float32_t largeMotionKillRatio
Features will be killed if the motion is larger than the template size times the large motion killing...
dwFeature2DTrackerAlgorithm
Defines different KLT tracking algorithms.
DW_API_PUBLIC dwStatus dwFeature2DTracker_reset(dwFeature2DTrackerHandle_t obj)
Resets a feature tracker.
dwStatus
Status definition.
bool useHalf
Set it to true to use half float as intermediate results during tracking It saves register usage and ...
Holds configuration parameters for a feature tracker.
dwProcessorType
Processor type definitions.
float32_t nccKillThreshold
Features will be killed if the Cross Correlation Score is less than this threshold during tracking...
uint32_t historyCapacity
Upper bound of history in feature history array.
dwFeature2DDetectorType detectorType
Type of detector that connects to the tracker, should the be the same value as dwFeature2DDetectorCon...
uint32_t imageHeight
Height of the images that the tracker runs on.
3-DOF (dx, dy, dscale) standard KLT tracking.
dwProcessorType processorType
Processor type which determines on which processor the algorithm should be executed on...
DW_API_PUBLIC dwStatus dwFeature2DTracker_initDefaultParams(dwFeature2DTrackerConfig *params)
Initializes dwFeature2DTracker parameters with default values.
uint32_t numLevelTranslationOnly
Number of levels in pyramid that will use translation-only KLT tracking, level [maxPyramidLevel - 1...
uint32_t numIterTranslationOnly
Upper bound on number of 2-DOF translation-only KLT iterations per level.
uint32_t enableSparseOutput
Enable sparse output if set to 1.
struct dwCameraModelObject const * dwConstCameraModelHandle_t
A pointer to the handle representing a const calibrated camera.
float32_t displacementThreshold
If difference of translation prediction between 2 adjacent KLT iteration is less than this value...
3-DOF (dx, dy, dscale) extended KLT tracking.
struct dwContextObject * dwContextHandle_t
Context handle.
NVIDIA DriveWorks API: Core Methods
uint32_t windowSizeLK
Window size used in the KLT tracker.
struct dwFeature2DTrackerObject * dwFeature2DTrackerHandle_t
Handle representing a feature tracker.
DW_API_PUBLIC dwStatus dwFeature2DTracker_release(dwFeature2DTrackerHandle_t obj)
Releases the feature tracker.
dwFeature2DTrackerAlgorithm algorithm
Tracking Algorithm defined by dwFeature2DTrackerAlgorithm.
uint32_t pyramidLevelCount
Levels of pyramid to track Valid only when algorithm = DW_FEATURE2D_TRACKER_ALGORITHM_EX.
uint32_t maxFeatureCount
Upper bound on number of features handled.
uint32_t imageWidth
Width of the images that the tracker runs on.
DW_API_PUBLIC dwStatus dwFeature2DTracker_compact(dwFeatureHistoryArray *featureHistoryArray, dwFeature2DTrackerHandle_t obj)
Remove invalid features.
DW_API_PUBLIC dwStatus dwFeature2DTracker_setCUDAStream(cudaStream_t stream, dwFeature2DTrackerHandle_t obj)
Sets the CUDA stream for CUDA related operations.
float32_t nccUpdateThreshold
Feature template will be updated if the Cross Correlation Score is less than this threshold during tr...
NVIDIA DriveWorks API: 2D Detector
DW_API_PUBLIC dwStatus dwFeature2DTracker_getCUDAStream(cudaStream_t *stream, dwFeature2DTrackerHandle_t obj)
Gets the CUDA stream used by the feature tracker.
NVIDIA DriveWorks API: Core Exports