SFM.h File Reference

Detailed Description

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_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...