FreeSpaceDetector.h

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#ifndef DW_FREESPACEDETECTOR_H__
#define DW_FREESPACEDETECTOR_H__

#include <dw/core/Context.h>
#include <dw/core/Types.h>
#include <dw/image/Image.h>
#include <dw/dnn/DNN.h>
#include <dw/rigconfiguration/RigConfiguration.h>
#include <dw/rigconfiguration/Camera.h>



#ifdef __cplusplus
extern "C" {
#endif

#pragma pack(push,1) // Make sure we have consistent structure packings

typedef enum
{
    DW_BOUNDARY_TYPE_OTHER                  = 0, 
    DW_BOUNDARY_TYPE_CURB                   = 1, 
    DW_BOUNDARY_TYPE_VEHICLE                = 2, 
    DW_BOUNDARY_TYPE_PERSON                 = 3, 
    DW_BOUNDARY_TYPE_UNDEFINED              = 4, 
} dwFreeSpaceBoundaryType;

typedef struct {
    uint32_t numberOfBoundaryPoints;

    const dwFreeSpaceBoundaryType *boundaryType;

    const dwVector2f *boundaryImagePoint;

    const dwVector2f *boundaryWorldPoint;

} dwFreeSpaceDetection;

typedef struct dwFreeSpaceDetectorObject *dwFreeSpaceDetectorHandle_t;

DW_API_PUBLIC
dwStatus dwFreeSpaceDetector_initializeFreeSpaceNet(dwFreeSpaceDetectorHandle_t *obj,
                                                    uint32_t frameWidth,
                                                    uint32_t frameHeight,
                                                    cudaStream_t stream,
                                                    dwContextHandle_t ctx);

DW_API_PUBLIC
dwStatus dwFreeSpaceDetector_initializeCalibratedFreeSpaceNet(dwFreeSpaceDetectorHandle_t *obj,
                                                              uint32_t frameWidth,
                                                              uint32_t frameHeight,
                                                              cudaStream_t stream,
                                                              dwTransformation cam2rig,
                                                              float32_t maxDistance,
                                                              dwCalibratedCameraHandle_t cam,
                                                              dwContextHandle_t ctx);

DW_API_PUBLIC
dwStatus dwFreeSpaceDetector_reset(dwFreeSpaceDetectorHandle_t obj);

DW_API_PUBLIC
dwStatus dwFreeSpaceDetector_release(dwFreeSpaceDetectorHandle_t *obj);

DW_API_PUBLIC
dwStatus dwFreeSpaceDetector_processDeviceAsync(const dwImageCUDA* frame, dwFreeSpaceDetectorHandle_t obj);

DW_API_PUBLIC
dwStatus dwFreeSpaceDetector_interpretHost(dwFreeSpaceDetectorHandle_t obj);

DW_API_PUBLIC
dwStatus dwFreeSpaceDetector_getBoundaryDetection(dwFreeSpaceDetection *boundary, dwFreeSpaceDetectorHandle_t obj);

DW_API_PUBLIC
dwStatus dwFreeSpaceDetector_setCUDAStream(cudaStream_t stream, dwFreeSpaceDetectorHandle_t obj);

DW_API_PUBLIC
dwStatus dwFreeSpaceDetector_getCUDAStream(cudaStream_t *stream, dwFreeSpaceDetectorHandle_t obj);

DW_API_PUBLIC
dwStatus dwFreeSpaceDetector_setDetectionROI(const dwRect* roi,
                                             dwFreeSpaceDetectorHandle_t obj);

DW_API_PUBLIC
dwStatus dwFreeSpaceDetector_getDetectionROI(dwRect* roi, dwFreeSpaceDetectorHandle_t obj);

DW_API_PUBLIC
dwStatus dwFreeSpaceDetector_setTemporalSmoothFactor(float32_t factor, dwFreeSpaceDetectorHandle_t obj);

DW_API_PUBLIC
dwStatus dwFreeSpaceDetector_setSpatialSmoothFilterWidth(uint32_t width, dwFreeSpaceDetectorHandle_t obj);

DW_API_PUBLIC
dwStatus dwFreeSpaceDetector_getDNNMetaData(dwDNNMetaData* metaData, dwFreeSpaceDetectorHandle_t obj);

#pragma pack(pop)

#ifdef __cplusplus
}
#endif

#endif // DW_FREESPACEDETECTOR_H__