text: /*
   * Feature tracker utilities in CUDA
   * feature_tracker_cuda_tools.h
   *
   * Copyright (c) 2019-2020 Balazs Nagy,
   * Robotics and Perception Group, University of Zurich
   * All rights reserved.
   * 
   * Redistribution and use in source and binary forms, with or without
   * modification, are permitted provided that the following conditions are met:
   * 
   *  1. Redistributions of source code must retain the above copyright notice, this
   *    list of conditions and the following disclaimer.
   * 
   * 2. Redistributions in binary form must reproduce the above copyright notice,
   *    this list of conditions and the following disclaimer in the documentation
   *    and/or other materials provided with the distribution.
   * 
   * 3. Neither the name of the copyright holder nor the names of its
   *    contributors may be used to endorse or promote products derived from
   *    this software without specific prior written permission.
   * 
   * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
   * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
   * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
   * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
   * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
   * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
   * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
   * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
   * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
   * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
   */
  
  #pragma once
  
  #include "vilib/common/types.h"
  
  namespace vilib {
  namespace feature_tracker_cuda_tools {
  
  void update_tracks(const int candidate_num,
                     const bool affine_est_offset,
                     const bool affine_est_gain,
                     const int min_level,
                     const int max_level,
                     const image_pyramid_descriptor_t & pyramid_description,
                     const pyramid_patch_descriptor_t & pyramid_patch_sizes,
                     const int * d_indir_data,
                     const float2 * d_in_ref_px,
                     unsigned char * d_patch_data,
                     float * d_hessian_data,
                     cudaStream_t stream);
  
  void track_features(const bool affine_est_offset,
                      const bool affine_est_gain,
                      const int candidate_num,
                      const int min_level,
                      const int max_level,
                      const float min_update_squared,
                      const image_pyramid_descriptor_t & pyramid_description,
                      const pyramid_patch_descriptor_t & pyramid_patch_sizes,
                      const int * d_indir_data,
                      const unsigned char * d_patch_data,
                      const float * d_hessian_data,
                      const float2 * d_in_first_px,
                      float2 * d_in_cur_px,
                      float2 * d_in_cur_alpha_beta,
                      float4 * d_in_cur_f,
                      float  * d_in_cur_disparity,
                      cudaStream_t stream);
  
  } // namespace feature_tracker_cuda_tools
  } // namespace vilib
  