Defines 2D-based feature detection.
Data Structures | |
| struct | dwFeature2DDetectorConfig |
| Holds configuration parameters for a feature detector. More... | |
Typedefs | |
| typedef struct dwFeature2DDetectorObject const * | dwConstFeature2DDetectorHandle_t |
| Handle representing a const feature detector. More... | |
| typedef struct dwFeature2DDetectorObject * | dwFeature2DDetectorHandle_t |
| Handle representing a feature detector. More... | |
Enumerations | |
| enum | dwFeature2DDetectorType { DW_FEATURE2D_DETECTOR_TYPE_STD = 0 , DW_FEATURE2D_DETECTOR_TYPE_EX , DW_FEATURE2D_DETECTOR_TYPE_FAST9 , DW_FEATURE2D_DETECTOR_TYPE_COUNT } |
| Defines different KLT tracking algorithms. More... | |
| enum | dwFeature2DSelectionMaskType { DW_FEATURE2D_SELECTION_MASK_TYPE_UNIFORM = 0 , DW_FEATURE2D_SELECTION_MASK_TYPE_GAUSSIAN , DW_FEATURE2D_SELECTION_MASK_TYPE_COUNT } |
| Feature distribution mask for extended detector. More... | |
Variables | |
| const uint32_t | DW_FEATURES2D_DETECTOR_MAX_CELL_SIZE = 128 |
| struct dwFeature2DDetectorConfig |
| Data Fields | ||
|---|---|---|
| bool | autoGenerateFeatureID |
Determines whether the detector generates unique feature ids for new detections automatically. If set to true, each new detected features will be assigned with a unique feature id. If set to false, dwFeatureArray::ids will be kept. Default is true. |
| uint32_t | blockSize |
for DW_PROCESSOR_TYPE_PVA_0 or DW_PROCESSOR_TYPE_PVA_1 only Block window size used to compute the Harris Corner score. Must be 3, 5 or 7. |
| uint32_t | cellSize |
Cell size in pixel to split the image into cells. Must be an integer multiplicaiton of 4 |
| float32_t | detailThreshold |
for DW_FEATURE2D_DETECTOR_TYPE_STD only features in the cell that have scores higher than this value will be considered as high frequency point and will always be outputed. If set it <= detectorScoreThreshold, all features detected are high frequency and the next numEvenDistributionPerCell will be invalid |
| uint32_t | detectionLevel |
for DW_FEATURE2D_DETECTOR_TYPE_EX only STD detector always detects on level 0 pyramid image. Level at which features are detected Default to one (half of original image resolution) |
| float32_t | gaussianMaskCenterX |
for DW_FEATURE2D_DETECTOR_TYPE_EX only Ignored when not using DW_FEATURE2D_SELECTION_MASK_TYPE_GAUSSIAN The center X of the Gaussian mask, range: [0.0f, 1.0f] |
| float32_t | gaussianMaskCenterY |
for DW_FEATURE2D_DETECTOR_TYPE_EX only Ignored when not using DW_FEATURE2D_SELECTION_MASK_TYPE_GAUSSIAN The center Y of the Gaussian mask, range: [0.0f, 1.0f] |
| float32_t | gaussianMaskStDevX |
for DW_FEATURE2D_DETECTOR_TYPE_EX only Ignored when not using DW_FEATURE2D_SELECTION_MASK_TYPE_GAUSSIAN The standard deviation in X of the Gaussian mask 1.0 means the standard deviation equals to the width of the image |
| float32_t | gaussianMaskStDevY |
for DW_FEATURE2D_DETECTOR_TYPE_EX only Ignored when not using DW_FEATURE2D_SELECTION_MASK_TYPE_GAUSSIAN The standard deviation in Y of the Gaussian mask 1.0 means the standard deviation equals to the height of the image |
| uint32_t | gradientSize |
for DW_PROCESSOR_TYPE_PVA_0 or DW_PROCESSOR_TYPE_PVA_1 only Gradient window size. Must be 3, 5 or 7. |
| float32_t | harrisK | Weigting K of the harris corner score defined as det(M) - K * trace(M) * trace(M), where M is the structural matrix 0.04 - 0.06 is used typically If set to zero the default value (5e-2) will be used. |
| uint32_t | harrisRadius |
for DW_FEATURE2D_DETECTOR_TYPE_EX only STD detector use fixed harrisRadius = 1. Radius of detector harris averaging window If set to zero the default value (1) will be used |
| uint32_t | imageHeight |
Height of the images that the Detector runs on. When PVA fast9 detector is used, the height should be in range of [65, 2448] |
| uint32_t | imageWidth |
Width of the images that the Detector runs on. When PVA fast9 detector is used, the width should be in range of [65, 3264] |
| bool | isMaskAdjustmentEnabled | for DW_FEATURE2D_DETECTOR_TYPE_EX only Switch to use mask adjusment |
| dwFeature2DSelectionMaskType | maskType |
for DW_FEATURE2D_DETECTOR_TYPE_EX only STD detector always output UNIFORM distribution. The type of feature selection mask |
| uint32_t | maxFeatureCount |
Upper bound on number of features handled. When using EX detector, maxFeatureCount must be no less than the amount of cells, i.e., maxFeatureCount >= ceil(imageWidth / cellSize) * ceil(imageHeight / cellSize). |
| uint32_t | NMSRadius |
for DW_FEATURE2D_DETECTOR_TYPE_EX and DW_FEATURE2D_DETECTOR_TYPE_FAST9 STD detector use fixed NMSRadius = 3. Radius of detector non-maximum suppression For EX detector, if it is set to zero the default value (1) will be used As for FAST9 detector, nonmax suppression will be enabled for non-zero value and will be disabled for zero |
| uint32_t | numEvenDistributionPerCell |
for DW_FEATURE2D_DETECTOR_TYPE_STD only Number of features to be appended after high frequency points, they have second highest scores but are less than detectorDetailThreshold. During detection, the input image will be splitted into cellSize x cellSize small tiles, there'll be at most numEvenDistributionPerCell second-highest-score features in each cell. Larger numEvenDistributionPerCell will output an evener distributed feature map Smaller numEvenDistributionPerCell will have more features in high frequence points (score >= detectorDetailThreshold) and a less evener distributed feature map. Invalid if = 0, in that case, only detectorDetailThreshold takes effect. |
| dwProcessorType | processorType | for DW_FEATURE2D_DETECTOR_TYPE_STD only set to DW_PROCESSOR_TYPE_PVA_0 or DW_PROCESSOR_TYPE_PVA_1 to call PVA harris detector. |
| float32_t | scoreThreshold |
Threshold to filter out low latency points. All points whose scores are less than detectorScoreThreshold will be considered as a non-feature point. Lower value will output more features, higher value will only keep the high frequency points. If set to zero the default value will be used. |
| dwFeature2DDetectorType | type |
Detecting algorithm defined by dwFeature2DDetectorType |
| bool | useHalf | for DW_FEATURE2D_DETECTOR_TYPE_EX only use half-precision floating point to calculate harris corner score |
| bool | useNewToOldMapFromPreTracked |
Determines whether the detector uses dwFeatureArray::newToOldMap directly from input preTrackedFeatures in dwFeature2DDetector_detectFromImage and dwFeature2DDetector_detectFromPyramid. If set to true, the output |
| typedef struct dwFeature2DDetectorObject const* dwConstFeature2DDetectorHandle_t |
Handle representing a const feature detector.
Definition at line 66 of file FeatureDetector.h.
| typedef struct dwFeature2DDetectorObject* dwFeature2DDetectorHandle_t |
Handle representing a feature detector.
Definition at line 63 of file FeatureDetector.h.
Defines different KLT tracking algorithms.
Definition at line 71 of file FeatureDetector.h.
Feature distribution mask for extended detector.
Definition at line 87 of file FeatureDetector.h.
| DW_API_PUBLIC dwStatus dwFeature2DDetector_detectFromImage | ( | dwFeatureArray * | outputDetections, |
| dwImageHandle_t | image, | ||
| dwFeatureArray * | preTrackedFeatures, | ||
| const float32_t * | d_normalizedCrossCorrelation, | ||
| dwFeature2DDetectorHandle_t | obj | ||
| ) |
Detects new features and append them after old tracked features.
Features are added only in areas where the mask == 0xff means valid area, any pixel whose mask value != 0xff will be ignored during tracking.
| [out] | outputDetections | Detected features, composed of old tracked features and new detections, new detections are appended after old features. Must be created by dwFeatureArray_createNew() with DW_PROCESSOR_TYPE_GPU flag and the same maxFeatureCount when initializing detector |
| [in] | image | Specifies the image on which feature detection takes place, must be a CUDA image. |
| [in,out] | preTrackedFeatures | Previous tracked features, if detector type is DW_FEATURE2D_DETECTOR_TYPE_EX, some of old features will be marked as DW_FEATURE2D_STATUS_INVALID during detection. The dwFeatureArray can either be an empty array allocated by dwFeatureArray_createNew or a slice from feature history by dwFeatureHistoryArray_getXXX |
| [in] | d_normalizedCrossCorrelation | GPU pointer to nccScores of each feature, will be ignored if it's NULL. If the feature detector is connected to a tracker, d_normalizedCrossCorrelation can be filled by dwFeature2DTracker_trackFeatures. |
| [in] | obj | Specifies the feature detector handle. |
If there're N features in preTrackedFeatures, for DW_FEATURE2D_DETECTOR_TYPE_STD, the first N features in detectedFeatures are from preTrackedFeaturs, new detections are appended after old ones. for DW_FEATURE2D_DETECTOR_TYPE_EX, the first M(M <= N) features in detectedFeatures are from preTrackedFeaturs new detections are appended after old ones. The reason that M <= N is that some features in preTrackedFeatures will be marked as invalid to meet the restriction of uniform/gaussian distribution.
| DW_API_PUBLIC dwStatus dwFeature2DDetector_detectFromPyramid | ( | dwFeatureArray * | outputDetections, |
| const dwPyramidImage * | pyramid, | ||
| dwFeatureArray * | preTrackedFeatures, | ||
| const float32_t * | d_normalizedCrossCorrelation, | ||
| dwFeature2DDetectorHandle_t | obj | ||
| ) |
Detects new features and append them after old tracked features.
Features are added only in areas where the mask == 0xff means valid area, any pixel whose mask value != 0xff will be ignored during tracking.
| [out] | outputDetections | Detected features, composed of old tracked features and new detections, new detections are appended after old features. Must be created by dwFeatureArray_createNew() with DW_PROCESSOR_TYPE_GPU flag and the same maxFeatureCount when initializing detector |
| [in] | pyramid | Specifies the pyramid on which feature detection takes place. |
| [in,out] | preTrackedFeatures | Previous tracked features, if detector type is DW_FEATURE2D_DETECTOR_TYPE_EX, some of old features will be marked as DW_FEATURE2D_STATUS_INVALID during detection. The dwFeatureArray can either be an empty array allocated by dwFeatureArray_createNew or a slice from feature history by dwFeatureHistoryArray_getXXX * |
| [in] | d_normalizedCrossCorrelation | GPU pointer to nccScores of each feature, will be ignored if it's NULL. If the feature detector is connected to a tracker, d_normalizedCrossCorrelation can be filled by dwFeature2DTracker_trackFeatures. |
| [in] | obj | Specifies the feature detector handle. |
If there're N features in preTrackedFeatures, for DW_FEATURE2D_DETECTOR_TYPE_STD, the first N features in detectedFeatures are from preTrackedFeaturs, new detections are appended after old ones. for DW_FEATURE2D_DETECTOR_TYPE_EX, the first M(M <= N) features in detectedFeatures are from preTrackedFeaturs new detections are appended after old ones. The reason that M <= N is that some features in preTrackedFeatures will be marked as invalid to meet the restriction of uniform/gaussian distribution.
| DW_API_PUBLIC dwStatus dwFeature2DDetector_dryrunDetectionImage | ( | dwFeatureArray * | outputDetections, |
| dwFeatureArray * | preTrackedFeatures, | ||
| const float32_t * | d_normalizedCrossCorrelation, | ||
| dwFeature2DDetectorHandle_t | obj | ||
| ) |
Dryrun the detection to record a CUDA graph.
| [out] | outputDetections | Detected features, composed of old tracked features and new detections, new detections are appended after old features. Must be created by dwFeatureArray_createNew() with DW_PROCESSOR_TYPE_GPU flag and the same maxFeatureCount when initializing detector |
| [in,out] | preTrackedFeatures | Previous tracked features, if detector type is DW_FEATURE2D_DETECTOR_TYPE_EX, some of old features will be marked as DW_FEATURE2D_STATUS_INVALID during detection. The dwFeatureArray can either be an empty array allocated by dwFeatureArray_createNew or a slice from feature history by dwFeatureHistoryArray_getXXX |
| [in] | d_normalizedCrossCorrelation | GPU pointer to nccScores of each feature, will be ignored if it's NULL. If the feature detector is connected to a tracker, d_normalizedCrossCorrelation can be filled by dwFeature2DTracker_trackFeatures. |
| [in] | obj | Specifies the feature detector handle. |
| DW_API_PUBLIC dwStatus dwFeature2DDetector_dryrunDetectionPyramid | ( | dwFeatureArray * | outputDetections, |
| dwFeatureArray * | preTrackedFeatures, | ||
| const float32_t * | d_normalizedCrossCorrelation, | ||
| dwFeature2DDetectorHandle_t | obj | ||
| ) |
Dryrun the detection to record a CUDA graph.
| [out] | outputDetections | Detected features, composed of old tracked features and new detections, new detections are appended after old features. Must be created by dwFeatureArray_createNew() with DW_PROCESSOR_TYPE_GPU flag and the same maxFeatureCount when initializing detector |
| [in,out] | preTrackedFeatures | Previous tracked features, if detector type is DW_FEATURE2D_DETECTOR_TYPE_EX, some of old features will be marked as DW_FEATURE2D_STATUS_INVALID during detection. The dwFeatureArray can either be an empty array allocated by dwFeatureArray_createNew or a slice from feature history by dwFeatureHistoryArray_getXXX * |
| [in] | d_normalizedCrossCorrelation | GPU pointer to nccScores of each feature, will be ignored if it's NULL. If the feature detector is connected to a tracker, d_normalizedCrossCorrelation can be filled by dwFeature2DTracker_trackFeatures. |
| [in] | obj | Specifies the feature detector handle. |
| DW_API_PUBLIC dwStatus dwFeature2DDetector_getCUDAStream | ( | cudaStream_t * | stream, |
| dwFeature2DDetectorHandle_t | obj | ||
| ) |
Gets the CUDA stream used by the feature Detector.
| [out] | stream | The CUDA stream currently used. |
| [in] | obj | A handle to the feature Detector module. |
| DW_API_PUBLIC dwStatus dwFeature2DDetector_getPVAStream | ( | cupvaStream_t * | stream, |
| dwFeature2DDetectorHandle_t | obj | ||
| ) |
Gets the CUPVA stream used by the feature Detector.
| [out] | stream | The CUPVA stream currently used. |
| [in] | obj | A handle to the feature Detector module. |
| DW_API_PUBLIC dwStatus dwFeature2DDetector_getValidTrackedCount | ( | const uint32_t ** | d_validTrackedCount, |
| dwFeature2DDetectorHandle_t | obj | ||
| ) |
dwFeature2DDetector_getValidTrackedCount
| d_validTrackedCount | |
| obj |
| DW_API_PUBLIC dwStatus dwFeature2DDetector_initDefaultParams | ( | dwFeature2DDetectorConfig * | params | ) |
Initializes dwFeature2DDetector parameters with default values.
| [in,out] | params | dwFeature2DDetector parameters; user can optionally set imageWidth/imageHeight before the API call to obtain the default parameters for the resolution |
| DW_API_PUBLIC dwStatus dwFeature2DDetector_initDefaultParamsForCamera | ( | dwFeature2DDetectorConfig * | params, |
| const dwTransformation3f * | cameraToRig, | ||
| dwConstCameraModelHandle_t | cameraHandle | ||
| ) |
Initializes dwFeature2DDetector parameters with values best suited for the given camera using camera extrinsic (dwTransformation3f* cameraToRig) and camera intrinsic (dwConstCameraModelHandle_t cameraHandle)
| [out] | params | dwFeature2DDetector parameters |
| [in] | cameraToRig | transformed camera extrinsic parameters with respect to rig |
| [in] | cameraHandle | holds camera intrinsic information |
| DW_API_PUBLIC dwStatus dwFeature2DDetector_initialize | ( | dwFeature2DDetectorHandle_t * | obj, |
| const dwFeature2DDetectorConfig * | config, | ||
| cudaStream_t | cudaStream, | ||
| dwContextHandle_t | context | ||
| ) |
Creates and initializes a feature Detector.
| [out] | obj | A pointer to the feature Detector handle is returned here. |
| [in] | config | Specifies the configuration parameters. |
| [in] | cudaStream | Specifies the CUDA stream to use for Detector operations. |
| [in] | context | Specifies the handle to the context under which it is created. |
| DW_API_PUBLIC dwStatus dwFeature2DDetector_registerFeatureArray | ( | dwFeatureArray * | inFeatures, |
| dwFeature2DDetectorHandle_t | obj | ||
| ) |
Binds feature Array.
Internally the cuda pointer to featureArray is mapped to pva address space using the cupva cuda interop api
| [in] | inFeatures | cuda pointer to Feature Array |
| [in] | obj | A handle to the feature detector module. |
| DW_API_PUBLIC dwStatus dwFeature2DDetector_registerInputNccScore | ( | float32_t const * | nccScore, |
| uint32_t | nccScoreArraySize, | ||
| dwFeature2DDetectorHandle_t | obj | ||
| ) |
Binds input ncc Score.
Internally the cuda pointer to nccScore is mapped to pva address space using the cupva cuda interop api
| [in] | nccScore | cuda pointer to Input NccScore |
| [in] | obj | A handle to the feature detector module. |
| [in] | nccScoreArraySize | Number of elements in the ncc Score Array. |
| DW_API_PUBLIC dwStatus dwFeature2DDetector_release | ( | dwFeature2DDetectorHandle_t | obj | ) |
Releases the feature Detector.
This method releases all resources associated with a feature Detector.
| [in] | obj | The feature detector handle to be released. |
| DW_API_PUBLIC dwStatus dwFeature2DDetector_reset | ( | dwFeature2DDetectorHandle_t | obj | ) |
Resets a feature Detector.
| [in] | obj | Specifies the feature Detector handle to be reset. |
| DW_API_PUBLIC dwStatus dwFeature2DDetector_setCUDAStream | ( | cudaStream_t | stream, |
| dwFeature2DDetectorHandle_t | obj | ||
| ) |
Sets the CUDA stream for CUDA related operations.
| [in] | stream | The CUDA stream to be used. Default is the one passed during dwFeature2DDetector_initialize. |
| [in] | obj | A handle to the feature Detector module to set CUDA stream for. |
| DW_API_PUBLIC dwStatus dwFeature2DDetector_setMask | ( | const uint8_t * | d_mask, |
| const uint32_t | maskStrideBytes, | ||
| const uint32_t | maskWidth, | ||
| const uint32_t | maskHeight, | ||
| dwFeature2DDetectorHandle_t | obj | ||
| ) |
Sets a mask to ignore areas of the image.
Areas where mask != 0xff will not produce new features when detectNewFeatures() is called. The size of the mask must be the same as the image.
dwFeature2DDetector_initialize(), it must be called with the same input parameters after dwFeature2DDetector_reset because reset() function will clear the existing mask.| [in] | d_mask | A GPU pointer to the mask data. The data is copied. |
| [in] | maskStrideBytes | Specifies the stride, in bytes, for each row of the mask. |
| [in] | maskWidth | Specifies the width of the mask. |
| [in] | maskHeight | Specifies the height of the mask. |
| [in] | obj | Specifies the feature detector handle. |
| DW_API_PUBLIC dwStatus dwFeature2DDetector_setPVAStream | ( | cupvaStream_t | stream, |
| dwFeature2DDetectorHandle_t | obj | ||
| ) |
Sets the CUPVA stream for PVA related operations.
| [in] | stream | The CUPVA stream to be used. Default is the one passed during dwFeature2DDetector_initialize. |
| [in] | obj | A handle to the feature Detector module to set CUPVA stream for. |
| const uint32_t DW_FEATURES2D_DETECTOR_MAX_CELL_SIZE = 128 |
Definition at line 249 of file FeatureDetector.h.