ORB.h

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#ifndef NV_VPI_ALGORITHMS_ORB_H
#define NV_VPI_ALGORITHMS_ORB_H

#include "../Export.h"
#include "../Status.h"
#include "../Types.h"
#include "FASTCorners.h"

#include <stddef.h>
#include <stdint.h>

#ifdef __cplusplus
extern "C" {
#endif

#define VPI_DISABLE_RBRIEF (0x01)

typedef struct
{
 VPIFASTCornerDetectorParams fastParams;

 int32_t maxFeaturesPerLevel;

 int32_t maxPyramidLevels;

 VPICornerScore scoreType;

 uint32_t flags;
} VPIORBParams;

VPI_PUBLIC VPIStatus vpiInitORBParams(VPIORBParams *params);

VPI_PUBLIC VPIStatus vpiCreateORBFeatureDetector(uint64_t backends, int32_t capacity, VPIPayload *payload);

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

VPI_PUBLIC VPIStatus vpiCreateORBDescriptorExtractor(uint64_t backends, VPIPayload *payload);

#if NV_VPI_VERSION_API_AT_LEAST(3, 1)
VPI_PUBLIC VPIStatus vpiSubmitORBDescriptorExtractor(VPIStream stream, uint64_t backend, VPIPayload payload,
 VPIPyramid input, VPIArray inCorners, VPIArray outDescriptors,
 uint32_t flags);
#else
__asm__(".symver vpiSubmitORBDescriptorExtractor,vpiSubmitORBDescriptorExtractor@VPI_3.0");
VPI_PUBLIC VPIStatus vpiSubmitORBDescriptorExtractor(VPIStream stream, uint64_t backend, VPIPayload payload,
 VPIImage input, VPIArray inCorners, VPIArray outDescriptors,
 uint32_t flags);
#endif

#ifdef __cplusplus
}
#endif
 // end of VPI_OrbFeatureDetector

#endif /* NV_VPI_ALGORITHMS_ORB_H */