dwFeatureTrackerNode.hpp

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#ifndef DWFRAMEWORK_DWNODES_IMAGEPROCESSING_DWFEATURETRACKERNODE_DWFEATURETRACKERNODE_HPP_
#define DWFRAMEWORK_DWNODES_IMAGEPROCESSING_DWFEATURETRACKERNODE_DWFEATURETRACKERNODE_HPP_
 
#include <dw/imageprocessing/featuredetector/FeatureDetector.h>
#include <dw/imageprocessing/features/FeatureList.h>
#include <dw/imageprocessing/tracking/featuretracker/FeatureTracker_processpipeline.h>
#include <dwcgf/node/Node.hpp>
#include <dwcgf/parameter/ParameterDescriptor.hpp>
#include <dwcgf/parameter/SemanticParameterTypes.hpp>
#include <dwcgf/pass/PassDescriptor.hpp>
#include <dwcgf/port/Port.hpp>
#include <dwcgf/port/PortDescriptor.hpp>
#include <dwframework/dwnodes/common/channelpackets/DwframeworkTypes.hpp>
#include <dwframework/dwnodes/common/channelpackets/FeatureList.hpp>
#include <dwframework/dwnodes/common/channelpackets/Pyramid.hpp>
#include <dwframework/dwnodes/common/channelpackets/SensorCommonTypes.hpp>
 
namespace dw
{
namespace framework
{
 
using dwFeatureTrackerNodeParams = struct dwFeatureTrackerNodeParams
{
    bool initForCamera;
    dwCameraModelHandle_t intrinsic;
    dwTransformation3f extrinsic;
 
    dwFeature2DTrackerConfig dwTrackerParams;
    cupvaStream_t cupvaStream;
    cudaStream_t cudaStream;
};
 
class dwFeatureTrackerNodeBase : public ExceptionSafeProcessNode
{
public:
    static constexpr auto describeInputPorts()
    {
        return describePortCollection(
            DW_DESCRIBE_PORT(dwPyramidImage, "CURRENT_PYRAMID"_sv, PortBinding::REQUIRED),
            DW_DESCRIBE_PORT(dwFeatureArray, "DETECTED_FEATURES"_sv, PortBinding::REQUIRED));
    };
    static constexpr auto describeOutputPorts()
    {
        return describePortCollection(
            DW_DESCRIBE_PORT(dwFeatureHistoryArray, "FEATURE_HISTORY_CPU"_sv, PortBinding::REQUIRED),
            DW_DESCRIBE_PORT(dwFeatureHistoryArray, "FEATURE_HISTORY_GPU"_sv, PortBinding::REQUIRED),
            DW_DESCRIBE_PORT(dwFeatureNccScores, "NCC_SCORES"_sv, PortBinding::REQUIRED),
            DW_DESCRIBE_PORT(void*, "MODULE_HANDLE"_sv, PortBinding::REQUIRED));
    };
 
    // Inherit constructor from base class
    using ExceptionSafeProcessNode::ExceptionSafeProcessNode;
};
 
class dwFeatureTrackerNode : public dwFeatureTrackerNodeBase
{
public:
    static constexpr char LOG_TAG[] = "dwFeatureTrackerNode";
    static constexpr auto describePasses()
    {
        return describePassCollection(
            describePass("SETUP"_sv, DW_PROCESSOR_TYPE_CPU),
            describePass("TRACK_FEATURE"_sv, DW_PROCESSOR_TYPE_GPU),
            describePass("COMPACT_FEATURE"_sv, DW_PROCESSOR_TYPE_GPU),
            describePass("COPY"_sv, DW_PROCESSOR_TYPE_GPU),
            describePass("WAIT_EVENT"_sv, DW_PROCESSOR_TYPE_CPU),
            describePass("TEARDOWN"_sv, DW_PROCESSOR_TYPE_CPU));
    };
 
    static std::unique_ptr<dwFeatureTrackerNode> create(ParameterProvider& provider);
 
    static constexpr auto describeParameters()
    {
        return describeConstructorArguments<dwFeatureTrackerNodeParams, dwContextHandle_t>(
            describeConstructorArgument(
                DW_DESCRIBE_PARAMETER(
                    bool,
                    "initForCamera"_sv,
                    &dwFeatureTrackerNodeParams::initForCamera),
                DW_DESCRIBE_INDEX_PARAMETER(
                    dwCameraModelHandle_t,
                    "cameraIndex"_sv,
                    &dwFeatureTrackerNodeParams::intrinsic),
                DW_DESCRIBE_INDEX_PARAMETER_WITH_SEMANTIC(
                    dwTransformation3f,
                    semantic_parameter_types::CameraExtrinsic,
                    "cameraIndex"_sv,
                    &dwFeatureTrackerNodeParams::extrinsic),
                DW_DESCRIBE_PARAMETER(
                    dwFeature2DTrackerAlgorithm,
                    "featureTrackerAlgorithm"_sv,
                    &dwFeatureTrackerNodeParams::dwTrackerParams, &dwFeature2DTrackerConfig::algorithm),
                DW_DESCRIBE_PARAMETER(
                    dwFeature2DDetectorType,
                    "featureDetectorType"_sv,
                    &dwFeatureTrackerNodeParams::dwTrackerParams, &dwFeature2DTrackerConfig::detectorType),
                DW_DESCRIBE_PARAMETER(
                    uint32_t,
                    "maxFeatureCount"_sv,
                    &dwFeatureTrackerNodeParams::dwTrackerParams, &dwFeature2DTrackerConfig::maxFeatureCount),
                DW_DESCRIBE_PARAMETER(
                    uint32_t,
                    "pyramidLevelCount"_sv,
                    &dwFeatureTrackerNodeParams::dwTrackerParams, &dwFeature2DTrackerConfig::pyramidLevelCount),
                DW_DESCRIBE_INDEX_PARAMETER_WITH_SEMANTIC(
                    uint32_t,
                    semantic_parameter_types::ImageWidth,
                    "cameraIndex"_sv,
                    &dwFeatureTrackerNodeParams::dwTrackerParams, &dwFeature2DTrackerConfig::imageWidth),
                DW_DESCRIBE_INDEX_PARAMETER_WITH_SEMANTIC(
                    uint32_t,
                    semantic_parameter_types::ImageHeight,
                    "cameraIndex"_sv,
                    &dwFeatureTrackerNodeParams::dwTrackerParams, &dwFeature2DTrackerConfig::imageHeight),
                DW_DESCRIBE_INDEX_PARAMETER(
                    cudaStream_t,
                    "streamIndex"_sv,
                    &dwFeatureTrackerNodeParams::cudaStream)),
            describeConstructorArgument(
                DW_DESCRIBE_UNNAMED_PARAMETER(
                    dwContextHandle_t)));
    }
 
    dwFeatureTrackerNode(const dwFeatureTrackerNodeParams& params,
                         const dwContextHandle_t ctx);
};
} // namespace framework
} // namespace dw
 
#endif // DWFRAMEWORK_DWNODES_IMAGEPROCESSING_DWFEATURETRACKERNODE_DWFEATURETRACKERNODE_HPP_