NVIDIA DriveWorks API: Structure from Motion Methods
Description: This file defines structure from motion methods.
Definition in file SFM.h.
Go to the source code of this file.
Data Structures | |
| struct | dwReconstructorConfig |
| Configuration parameters for a reconstructor. More... | |
Typedefs | |
| typedef struct dwReconstructorObject const * | dwConstReconstructorHandle_t |
| Handle representing a const reconstructor object. More... | |
| typedef struct dwReconstructorObject * | dwReconstructorHandle_t |
| Handle representing a reconstructor object. More... | |
Functions | |
| DW_API_PUBLIC dwStatus | dwReconstructor_compactFeatureHistory (const uint32_t cameraIdx, const uint32_t *d_validIndexCount, const uint32_t *d_newToOldMap, dwReconstructorHandle_t obj) |
| Compacts the internal feature history by keeping only selected features. More... | |
| DW_API_PUBLIC dwStatus | dwReconstructor_compactWorldPoints (dwVector4f *d_worldPoints, const uint32_t *d_validIndexCount, const uint32_t *d_newToOldMap, dwReconstructorHandle_t obj) |
| Compacts the world point array by keeping only selected features. More... | |
| DW_API_PUBLIC dwStatus | dwReconstructor_dryrunEstimation (dwReconstructorHandle_t obj) |
| Dryrun the reconstructor estimation on GPU to record CUDAGraph. More... | |
| DW_API_PUBLIC dwStatus | dwReconstructor_enableCamerasForPoseEstimation (uint8_t const enabled[], dwReconstructorHandle_t obj) |
| Marks the cameras to use for pose estimation. More... | |
| DW_API_PUBLIC dwStatus | dwReconstructor_estimatePoseAsync (const dwTransformation3f *previousRig2World, const dwTransformation3f *predictedRig2World, const uint32_t listCount, const uint32_t *const d_featureCounts[], const dwFeature2DStatus *const d_statuses[], const dwVector2f *const d_trackedLocations[], const dwVector4f *const d_worldPoints[], dwReconstructorHandle_t obj) |
| Uses all tracked features from all cameras to estimate the current rig pose. More... | |
| DW_API_PUBLIC dwStatus | dwReconstructor_getCUDAStream (cudaStream_t *stream, dwReconstructorHandle_t obj) |
| Gets CUDA stream used by the reconstructor. More... | |
| DW_API_PUBLIC dwStatus | dwReconstructor_getEstimatedPose (dwTransformation3f *correctedRig2World, dwReconstructorHandle_t obj) |
| Returns the estimated pose from a previous call to dwReconstructor_estimatePoseAsync. More... | |
| DW_API_PUBLIC dwStatus | dwReconstructor_initConfig (dwReconstructorConfig *config) |
| Initializes the reconstructor config with default values. More... | |
| DW_API_PUBLIC dwStatus | dwReconstructor_initialize (dwReconstructorHandle_t *obj, const dwReconstructorConfig *config, cudaStream_t stream, dwContextHandle_t context) |
| Creates and initializes a reconstructor. More... | |
| DW_API_PUBLIC dwStatus | dwReconstructor_predictFeaturePosition (dwVector2f d_predictedLocations[], uint32_t cameraIdx, const dwTransformation3f *previousRigToWorld, const dwTransformation3f *predictedRigToWorld, const uint32_t *d_featureCount, const dwFeature2DStatus d_featureStatuses[], const dwVector2f d_featureLocations[], const dwVector4f d_worldPoints[], dwReconstructorHandle_t obj) |
| Predicts the positions of features based on the predicted car motion. More... | |
| DW_API_PUBLIC dwStatus | dwReconstructor_project (dwVector2f *d_locations[], const dwTransformation3f *rig2World, const uint32_t *const d_pointCount[], const dwVector4f *const d_worldPoints[], dwReconstructorHandle_t obj) |
| Projects triangulated features back to the image. More... | |
| DW_API_PUBLIC dwStatus | dwReconstructor_release (dwReconstructorHandle_t obj) |
| Releases a reconstructor. More... | |
| DW_API_PUBLIC dwStatus | dwReconstructor_reset (dwReconstructorHandle_t obj) |
| Resets a reconstructor. More... | |
| DW_API_PUBLIC dwStatus | dwReconstructor_setCUDAStream (cudaStream_t stream, dwReconstructorHandle_t obj) |
| Sets the CUDA stream for CUDA related operations. More... | |
| DW_API_PUBLIC dwStatus | dwReconstructor_triangulateFeatures (dwVector4f *d_worldPoints, dwFeature2DStatus *d_statuses, const uint32_t *d_featureCount, const uint32_t cameraIdx, dwReconstructorHandle_t obj) |
| Triangulates the features of a camera from the internal feature and pose history. More... | |
| DW_API_PUBLIC dwStatus | dwReconstructor_updateHistory (int32_t *rig2WorldHistoryIdx, const dwTransformation3f *rig2World, const uint32_t listCount, const uint32_t *const d_featureCounts[], const dwVector2f *const d_trackedLocations[], dwReconstructorHandle_t obj) |
| Updates the feature and pose history. More... | |
