Clustering.h

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#ifndef DW_OBJECT_CLUSTERING_H__
#define DW_OBJECT_CLUSTERING_H__

#include <dw/object/Object.h>
#include <dw/core/Context.h>
#include <dw/core/Types.h>

#ifdef __cplusplus
extern "C" {
#endif

typedef enum {
    DW_CLUSTERING_DBSCAN,
} dwObjectClusteringAlgorithm;

typedef struct dwDBScanClusteringParams {
    float32_t epsilon;
    uint32_t minBoxes;
    float32_t minSumOfConfidences;
} dwDBScanClusteringParams;

typedef struct dwObjectClusteringParams {
    dwDBScanClusteringParams dbScanClusteringParams;
    uint32_t maxProposals;
    uint32_t maxClusters;
    dwObjectClusteringAlgorithm algorithm;
    dwBool enableATHRFilter;
    float32_t thresholdATHR;
    dwBool enable2_5D;
    float32_t minHeight;
} dwObjectClusteringParams;

typedef struct dwObjectClusteringObject *dwObjectClusteringHandle_t;

DW_API_PUBLIC
dwStatus dwObjectClustering_initDefaultParams(dwObjectClusteringParams *clusteringParams);

DW_API_PUBLIC
dwStatus dwObjectClustering_initialize(dwObjectClusteringHandle_t *obj, dwContextHandle_t ctx,
                                       const dwObjectClusteringParams *clusteringParams);

DW_API_PUBLIC
dwStatus dwObjectClustering_reset(dwObjectClusteringHandle_t obj);

DW_API_PUBLIC
dwStatus dwObjectClustering_release(dwObjectClusteringHandle_t* obj);

DW_API_PUBLIC
dwStatus dwObjectClustering_cluster(dwObject *clusters, size_t *numClusters, const dwObject *detections,
                                    size_t numDetections, dwObjectClusteringHandle_t obj);

DW_API_PUBLIC
dwStatus dwObjectClustering_getDBScanParameters(dwDBScanClusteringParams *dbscanParams,
                                                dwObjectClusteringHandle_t obj);

DW_API_PUBLIC
dwStatus dwObjectClustering_setDBScanParameters(const dwDBScanClusteringParams *dbscanParams,
                                                dwObjectClusteringHandle_t obj);

DW_API_PUBLIC
dwStatus dwObjectClustering_setATHRThreshold(float32_t threshold, dwObjectClusteringHandle_t obj);

DW_API_PUBLIC
dwStatus dwObjectClustering_getATHRThreshold(float32_t *threshold, dwObjectClusteringHandle_t obj);

DW_API_PUBLIC
dwStatus dwObjectClustering_isATHREnabled(dwBool *enabled, dwObjectClusteringHandle_t obj);

DW_API_PUBLIC
dwStatus dwObjectClustering_enableATHR(dwBool enable, dwObjectClusteringHandle_t obj);

#ifdef __cplusplus
}
#endif

#endif // DW_OBJECT_CLUSTERING_H__