Detector.h

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#ifndef DW_OBJECT_DETECTOR_H__
#define DW_OBJECT_DETECTOR_H__

#include <dw/object/Object.h>
#include <dw/object/DriveNet.h>
#include <dw/dnn/DNN.h>
#include <dw/dataconditioner/DataConditioner.h>
#include <dw/image/Image.h>
#include <dw/core/Context.h>

#ifdef __cplusplus
extern "C" {
#endif

#define DW_OBJECT_DETECTOR_MAX_IMAGES 16


typedef struct dwObjectDetectorObject *dwObjectDetectorHandle_t;

typedef struct {
    float32_t boxScaleX1;
    float32_t boxScaleY1;
    float32_t boxScaleX2;
    float32_t boxScaleY2;
    uint32_t maxProposalsPerClass;
    const char *coverageBlobName;
    const char *boundingBoxBlobName;
    const char *bottomVisBlobName;
    const char *horizontalVisBlobName;
    const char *orientationYawBlobName;
    dwBool enable2_5D;
    float32_t coverageThreshold[DW_OBJECT_MAX_CLASSES];
    dwDataConditionerParams dataConditionerParams;
} dwObjectDetectorDNNParams;

typedef struct {
    uint32_t maxNumImages;

    dwRect ROIs[DW_OBJECT_DETECTOR_MAX_IMAGES];

    dwTransformation2D transformations[DW_OBJECT_DETECTOR_MAX_IMAGES];

    dwBool enableFuseObjects;

    dwBool enableBoundingBoxClipping;
} dwObjectDetectorParams;

// dwObjectDetector

DW_API_PUBLIC
dwStatus dwObjectDetector_initDefaultParams(dwObjectDetectorDNNParams *dnnParams,
                                            dwObjectDetectorParams *detectorParams);


DW_API_PUBLIC
dwStatus dwObjectDetector_initialize(dwObjectDetectorHandle_t *obj, dwContextHandle_t ctx,
                                     dwDNNHandle_t dnn,
                                     const dwObjectDetectorDNNParams *dnnParams,
                                     const dwObjectDetectorParams *detectorParams);

DW_API_PUBLIC
dwStatus dwObjectDetector_initializeFromDriveNet(dwObjectDetectorHandle_t *obj, dwContextHandle_t ctx,
                                                 dwDriveNetHandle_t drivenet,
                                                 const dwObjectDetectorParams *detectorParams);

DW_API_PUBLIC
dwStatus dwObjectDetector_reset(dwObjectDetectorHandle_t obj);

DW_API_PUBLIC
dwStatus dwObjectDetector_release(dwObjectDetectorHandle_t *obj);

DW_API_PUBLIC
dwStatus dwObjectDetector_setROI(uint32_t imageIdx, const dwRect *ROI,
                                    const dwTransformation2D *outputToObject, dwObjectDetectorHandle_t obj);

DW_API_PUBLIC
dwStatus dwObjectDetector_getROI(dwRect *ROI, dwTransformation2D *outputToObject, uint32_t imageIdx,
                                 dwObjectDetectorHandle_t obj);

DW_API_PUBLIC
dwStatus dwObjectDetector_inferDeviceAsync(const dwImageCUDA *const *imageArray,
                                           uint32_t numImages, dwObjectDetectorHandle_t obj);

DW_API_PUBLIC
dwStatus dwObjectDetector_interpretHost(uint32_t numImages, dwObjectDetectorHandle_t obj);

DW_API_PUBLIC
dwStatus dwObjectDetector_getDetectedObjects(dwObject *objectList, size_t *numObjects, uint32_t imageIdx,
                                             uint32_t classIdx, dwObjectDetectorHandle_t obj);

DW_API_PUBLIC
dwStatus dwObjectDetector_setCUDAStream(cudaStream_t stream, dwObjectDetectorHandle_t obj);

DW_API_PUBLIC
dwStatus dwObjectDetector_getCUDAStream(cudaStream_t *stream, dwObjectDetectorHandle_t obj);


DW_API_PUBLIC
dwStatus dwObjectDetector_isFuseObjectsEnabled(dwBool *enabled, dwObjectDetectorHandle_t obj);

DW_API_PUBLIC
dwStatus dwObjectDetector_setEnableFuseObjects(dwBool enable, dwObjectDetectorHandle_t obj);

DW_API_PUBLIC
dwStatus dwObjectDetector_getCoverageThreshold(float32_t *covThreshold, uint32_t classIdx,
                                               dwObjectDetectorHandle_t obj);

DW_API_PUBLIC
dwStatus dwObjectDetector_setCoverageThreshold(float32_t covThreshold, uint32_t classIdx,
                                               dwObjectDetectorHandle_t obj);

#ifdef __cplusplus
}
#endif

#endif // DW_OBJECT_DETECTOR_H__