ORBDescExtractor

Functions

NVCVStatus pvaORBDescExtractorCreate(NVCVOperatorHandle *handle, const NVCVImageRequirements *inImageRequirements, const NVCVTensorRequirements *inCornersTensorRequirements, const NVCVTensorRequirements *outDescriptorsTensorRequirements, uint32_t disableRBRIEFFlag, NVCVBorderType borderType, int32_t borderValue)

Constructs an instance of the ORBDescExtractor operator.

NVCVStatus pvaORBDescExtractorSubmit(NVCVOperatorHandle handle, cudaStream_t stream, NVCVImageHandle in, NVCVTensorHandle inCornersTensorHandle, NVCVTensorHandle outDescriptorsTensorHandle)

Submits the ORBDescExtractor operator to a CUDA stream.

NVCVStatus pvaORBDescExtractorSubmit(NVCVOperatorHandle handle, cupvaStream_t stream, NVCVImageHandle in, NVCVTensorHandle inCornersTensorHandle, NVCVTensorHandle outDescriptorsTensorHandle)

Submits the ORBDescExtractor operator to a cuPVA stream.

Functions

NVCVStatus pvaORBDescExtractorCreate(

NVCVOperatorHandle *handle,

const NVCVImageRequirements *inImageRequirements,

const NVCVTensorRequirements *inCornersTensorRequirements,

const NVCVTensorRequirements *outDescriptorsTensorRequirements,

uint32_t disableRBRIEFFlag,

NVCVBorderType borderType,

int32_t borderValue,

)

Constructs an instance of the ORBDescExtractor operator.

Limitations: Only support feature points from a single image.

Input Image: Input image sizes and formats are specified in inImageRequirements.

Image Format	Allowed
U8	Yes
Y8	Yes
Y8_ER	Yes
S8	Yes
U16	Yes
Y16	Yes
Y16_ER	Yes
S16	Yes

Border Type:

Border Type	Allowed
Constant	Yes
Clamp	Yes
Mirror	No
Reflect	No
Limited	No

Parameters:

Data Layout: [HW] Data Type: NVCV_DATA_TYPE_F32 Height: Number of features Width: 2

Data Layout: [HW] Data Type: NVCV_DATA_TYPE_U8 Height: Number of features Width: PVA_BRIEF_DESCRIPTOR_ARRAY_LENGTH

Parameters:

• handle – [out] Where the operator instance handle will be written to.

  • Must not be NULL.

• inImageRequirements – [in] Pointer to the input image NVCVImageRequirements structure which contains image shape, strides, and format information.

• inCornersTensorRequirements – [in] Pointer to the input corners NVCVTensorRequirements structure which contains tensor rank, shape, layout and data type information. Corner coordinates are in XY-interleaved format.

• outDescriptorsTensorRequirements – [in] Pointer to the output descriptors NVCVTensorRequirements. 2D tensor with 2nd dimension size PVA_BRIEF_DESCRIPTOR_ARRAY_LENGTH.

• disableRBRIEFFlag – [in] Binary flag to control whether to use the rotationally-invariant BRIEF algorithm.

  • Valid values are as follows:

    • 0: Default, enable rotationally-invariant BRIEF.

    • 1 : Disable rotationally-invariant BRIEF.

• borderType – [in] Border type to use.

• borderValue – [in] Border value to use for NVCV_BORDER_CONSTANT.

Return values:

• NVCV_ERROR_INVALID_ARGUMENT – Handle is null.

• NVCV_ERROR_OUT_OF_MEMORY – Not enough memory to create the operator.

• NVCV_SUCCESS –

NVCVStatus pvaORBDescExtractorSubmit(

NVCVOperatorHandle handle,

cudaStream_t stream,

NVCVImageHandle in,

NVCVTensorHandle inCornersTensorHandle,

NVCVTensorHandle outDescriptorsTensorHandle,

)

Submits the ORBDescExtractor operator to a CUDA stream.

Note

CUDA stream support requirements:

• PVA SDK 2.7.0 or later

• Jetpack 7 or later

• DriveOS 7 or later

• x86 Emulator is not supported

Parameters:

• handle – [in] Handle to the operator.

• stream – [in] Handle to a valid CUDA stream.

• in – [in] Input image handle.

• inCornersTensorHandle – [in] Input corners tensor handle.

• outDescriptorsTensorHandle – [out] Output descriptors tensor handle.

Return values:

• NVCV_ERROR_INVALID_ARGUMENT – Some parameter is outside valid range.

• NVCV_ERROR_INTERNAL – Internal error in the operator, invalid types passed in.

• NVCV_SUCCESS – Operation executed successfully.

NVCVStatus pvaORBDescExtractorSubmit(

NVCVOperatorHandle handle,

cupvaStream_t stream,

NVCVImageHandle in,

NVCVTensorHandle inCornersTensorHandle,

NVCVTensorHandle outDescriptorsTensorHandle,

)

Submits the ORBDescExtractor operator to a cuPVA stream.

Parameters:

• handle – [in] Handle to the operator.

  • Must not be NULL.

• stream – [in] Handle to a valid cuPVA stream.

• in – [in] Input image handle.

• inCornersTensorHandle – [in] Input corners tensor handle.

• outDescriptorsTensorHandle – [out] Output descriptors tensor handle.

Return values:

• NVCV_ERROR_INVALID_ARGUMENT – Some parameter is outside valid range.

• NVCV_ERROR_INTERNAL – Internal error in the operator, invalid types passed in.

• NVCV_SUCCESS – Operation executed successfully.