ORB feature

Runs the orb algorithm over the input image. More...

Data Structures
struct	VPIORBParams
	Structure that defines the parameters for both vpiCreateORBFeatureDetector and vpiSubmitORBFeatureDetector. More...

Functions
VPIStatus	vpiInitORBParams (VPIORBParams *params)
	Initializes VPIORBParams with default values. More...
VPIStatus	vpiCreateORBFeatureDetector (uint64_t backends, size_t capacity, VPIPayload *payload)
	Creates a ORB payload. More...
VPIStatus	vpiSubmitORBFeatureDetector (VPIStream stream, uint64_t backend, VPIPayload payload, VPIPyramid input, VPIArray outCorners, VPIArray outDescriptors, const VPIORBParams *params, VPIBorderExtension border)
	Submits a ORB operation to the stream. More...

Detailed Description

Runs the orb algorithm over the input image.

Refer to ORB feature detector for more details and usage examples.

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Data Structure Documentation

VPIORBParams

struct VPIORBParams

Structure that defines the parameters for both vpiCreateORBFeatureDetector and vpiSubmitORBFeatureDetector.

Definition at line 83 of file ORB.h.

Collaboration diagram for VPIORBParams:

Data Fields
uint8_t	enableRBRIEF	Whether or not to enable rBRIEF (rotationally invariant BRIEF). Disabling this makes it non-rotationally invariant but calculated faster.
VPIFASTCornerDetectorParams	fastParams	Parameters for oFAST implementation.
int32_t	maxFeatures	The maximum number of features alloted per level of the scale pyramid.
int32_t	pyramidLevels	The number of levels in the scale pyramid to utilize. Must be the same level as passed to the Pyramid.
VPICornerScore	scoreType	The scoring criteria for ordering the top N FAST corners. Defaults to Harris Corner value.

Function Documentation

vpiCreateORBFeatureDetector()

VPIStatus vpiCreateORBFeatureDetector	(	uint64_t	backends,
		size_t	capacity,
		VPIPayload *	payload
	)

#include </opt/nvidia/vpi2/include/vpi/algo/ORB.h>

Creates a ORB payload.

This function allocates all temporary memory needed by the algorithm.

Parameters

[in]	backends	VPI backends that are eligible to execute the algorithm. Valid values: VPI_BACKEND_CPU VPI_BACKEND_CUDA Backend must be enabled in current context.
[in]	capacity	Capacity of the internal buffer used to store FAST corners (the maximum number of FAST corners detected before filtering).
[out]	payload	Pointer to the payload variable that receives the created handle.

Return values

VPI_ERROR_INVALID_ARGUMENT	payload is NULL.
VPI_ERROR_INVALID_ARGUMENT	inputWidth or inputHeight outside valid range.
VPI_ERROR_INVALID_ARGUMENT	backends refers to an invalid backend.
VPI_ERROR_INVALID_OPERATION	Backend hardware not available.
VPI_ERROR_NOT_IMPLEMENTED	ORB algorithm is not supported by given backend.
VPI_ERROR_INVALID_CONTEXT	Current context is destroyed.
VPI_ERROR_OUT_OF_MEMORY	Cannot allocate required resources.
VPI_ERROR_INVALID_OPERATION	Backend isn't enabled in current context.
VPI_SUCCESS	Operation executed successfully.

vpiInitORBParams()

VPIStatus vpiInitORBParams

(

VPIORBParams *

params

)

#include </opt/nvidia/vpi2/include/vpi/algo/ORB.h>

Initializes VPIORBParams with default values.

Default values are:

• params.fastParams.circleRadius: 3
• params.fastParams.arcLength: 9
• params.fastParams.intensityThreshold: 20
• params.fastParams.nonMaxSuppression: 1
• params.maxFeatures: 100
• params.pyramidLevels: 4 //Set this parameter to the value in the Pyramid
• params.enableRBRIEF: true
• params.scoreType: VPI_CORNER_SCORE_HARRIS;

Return values

VPI_ERROR_INVALID_ARGUMENT	params is NULL.
VPI_SUCCESS	Operation executed successfully.

vpiSubmitORBFeatureDetector()

VPIStatus vpiSubmitORBFeatureDetector	(	VPIStream	stream,
		uint64_t	backend,
		VPIPayload	payload,
		VPIPyramid	input,
		VPIArray	outCorners,
		VPIArray	outDescriptors,
		const VPIORBParams *	params,
		VPIBorderExtension	border
	)

#include </opt/nvidia/vpi2/include/vpi/algo/ORB.h>

Submits a ORB operation to the stream.

Parameters

[in]	stream	The stream where the operation will be queued in. Must not be NULL. Stream must have enabled the backends that will execute the algorithm.
[in]	backend	Backend that will execute the algorithm. Valid values: VPI_BACKEND_CPU VPI_BACKEND_CUDA
[in]	payload	Payload to be submitted along the other parameters.
[in]	input	Input Image Pyramid on which ORB will be executed. Must not be NULL. Image must have enabled the backends that will execute the algorithm. The accepted image formats are: VPI_IMAGE_FORMAT_Y8_ER VPI_IMAGE_FORMAT_Y16_ER VPI_IMAGE_FORMAT_U8 VPI_IMAGE_FORMAT_S8 VPI_IMAGE_FORMAT_U16 VPI_IMAGE_FORMAT_S16
[out]	outCorners	Array that will receive the detected corners. Array size is updated with the number of corners found. Must not be NULL. It must have type VPI_ARRAY_TYPE_KEYPOINT_F32. Array must have enabled the backends that will execute the algorithm.
[out]	outDescriptors	Array that will receive the descriptors for the corners Array size is updated with the number of corners found. Must not be NULL. It must have type VPI_ARRAY_TYPE_KEYPOINT_F32. Array must have enabled the backends that will execute the algorithm.
[in]	params	Pointer to a VPIORBParams. It defines the parameters for this algorithm invocation. These parameters can vary in every call and will be copied internally. Thus there is no need to keep the parameters object around. If NULL, use the defaults given by VPIORBParams.
[in]	border	How to handle pixels outside image boundaries. Set this value to the same value as the one in vpiSubmitGaussianPyramidGenerator. The accepted border extensions are: VPI_BORDER_ZERO VPI_BORDER_CLAMP

Return values

VPI_ERROR_INVALID_ARGUMENT	stream is NULL.
VPI_ERROR_INVALID_ARGUMENT	input or outCorners are NULL.
VPI_ERROR_INVALID_ARGUMENT	Circle radius in params outside valid range.
VPI_ERROR_INVALID_ARGUMENT	Arc length in params outside valid range.
VPI_ERROR_INVALID_ARGUMENT	Intensity threshold in params outside valid range.
VPI_ERROR_INVALID_ARRAY_TYPE	Invalid outCorners array type.
VPI_ERROR_INVALID_IMAGE_FORMAT	Unsupported input format.
VPI_ERROR_INVALID_OPERATION	The needed backends aren't enabled in stream, input or outCorners.
VPI_SUCCESS	Operation executed successfully.