read_exported_keypoints()

std::vector< Kinesis::Vision::Keypoint > MayaFlux::Yantra::VisionGpuExecutor::read_exported_keypoints ( const Kinesis::Vision::VisionResult &  result )

static

Host keypoints decoded from result.buffers.keypoints, or empty.

Independent of VisionResult::structured. For occasional host access, not per-frame use. Valid for one more run after the result was delivered.

Definition at line 170 of file VisionFeatureDispatch.cpp.

{
    const auto& handle = result.buffers.keypoints;
    const auto count = exported_record_count(handle, 1);
    if (!count)
        return {};
 
    const auto* records = static_cast<const glm::vec4*>(handle->mapped_ptr) + 1;
    std::vector<Kinesis::Vision::Keypoint> out;
    out.reserve(*count);
    for (uint32_t i = 0; i < *count; ++i) {
        out.push_back({
            .position = { records[i].x, records[i].y },
            .response = records[i].z,
            .scale = 1.0F,
            .angle = 0.0F,
        });
    }
    return out;
}

References MayaFlux::Kinesis::Vision::VisionResult::buffers, count, MayaFlux::Yantra::VisionInternal::exported_record_count(), MayaFlux::Kinesis::Vision::BufferOutputs::keypoints, and out.

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