LaneDetector.h

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#ifndef DW_LANEDETECTOR_H__
#define DW_LANEDETECTOR_H__

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

#ifdef __cplusplus
extern "C" {
#endif

#define DW_LANEMARK_MAX_COUNT 16
#define DW_LANEMARK_POINT_MAX_COUNT 128


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

typedef enum
{
    DW_LANEMARK_TYPE_UNDEFINED              = 0, 
} dwLaneMarkType;

typedef enum
{
    DW_LANEMARK_POSITION_ADJACENT_LEFT      = -2,   
    DW_LANEMARK_POSITION_EGO_LEFT           = -1,   
    DW_LANEMARK_POSITION_EGO_RIGHT          =  1,   
    DW_LANEMARK_POSITION_ADJACENT_RIGHT     =  2,   

    DW_LANEMARK_POSITION_UNDEFINED          =  999  
} dwLanePositionType;

typedef struct {

    dwLanePositionType positionType;

    dwLaneMarkType lineType;

    uint32_t numPoints;

    dwVector2f imagePoints[DW_LANEMARK_POINT_MAX_COUNT];

} dwLaneMarking;

typedef struct dwLaneDetection {

    uint32_t numLaneMarkings;

    dwLaneMarking laneMarkings[DW_LANEMARK_MAX_COUNT];

} dwLaneDetection;

typedef struct dwLaneDetectorObject *dwLaneDetectorHandle_t;

DW_API_PUBLIC
dwStatus dwLaneDetector_initializeLaneNet(dwLaneDetectorHandle_t *obj,
                                          uint32_t frameWidth,
                                          uint32_t frameHeight,
                                          dwContextHandle_t ctx);

DW_API_PUBLIC
dwStatus dwLaneDetector_reset(dwLaneDetectorHandle_t obj);

DW_API_PUBLIC
dwStatus dwLaneDetector_release(dwLaneDetectorHandle_t *obj);

DW_API_PUBLIC
dwStatus dwLaneDetector_processDeviceAsync(const dwImageCUDA* frame, dwLaneDetectorHandle_t obj);

DW_API_PUBLIC
dwStatus dwLaneDetector_interpretHost(dwLaneDetectorHandle_t obj);


DW_API_PUBLIC
dwStatus dwLaneDetector_setCUDAStream(cudaStream_t stream, dwLaneDetectorHandle_t obj);

DW_API_PUBLIC
dwStatus dwLaneDetector_getCUDAStream(cudaStream_t *stream, dwLaneDetectorHandle_t obj);

DW_API_PUBLIC
dwStatus dwLaneDetector_setDetectionROI(const dwRect* roi,
                                        dwLaneDetectorHandle_t obj);

DW_API_PUBLIC
dwStatus dwLaneDetector_getDetectionROI(dwRect* roi, dwLaneDetectorHandle_t obj);

DW_API_PUBLIC
dwStatus dwLaneDetector_getLaneDetections(dwLaneDetection *lanes, dwLaneDetectorHandle_t obj);

DW_API_PUBLIC
dwStatus dwLaneDetector_setCameraHandle(dwCalibratedCameraHandle_t cam,  dwLaneDetectorHandle_t obj);

DW_API_PUBLIC
dwStatus dwLaneDetector_setCameraExtrinsics(dwTransformation cam2rig, dwLaneDetectorHandle_t obj);

DW_API_PUBLIC
dwStatus dwLaneDetector_setMaxLaneDistance(float32_t maxDistance, dwLaneDetectorHandle_t obj);


// ------------ LaneNet specific methods -------------------------------
DW_API_PUBLIC
dwStatus dwLaneDetectorLaneNet_setDetectionThreshold(float32_t threshold, dwLaneDetectorHandle_t obj);

DW_API_PUBLIC
dwStatus dwLaneDetectorLaneNet_setTemporalSmoothFactor(float32_t factor, dwLaneDetectorHandle_t obj);

DW_API_PUBLIC
dwStatus dwLaneDetectorLaneNet_getTemporalSmoothFactor(float32_t* factor, dwLaneDetectorHandle_t obj);

DW_API_PUBLIC
dwStatus dwLaneDetectorLaneNet_setHorizontalFOV(float32_t hfov, dwLaneDetectorHandle_t obj);

DW_API_PUBLIC
dwStatus dwLaneDetectorLaneNet_getDNNMetaData(dwDNNMetaData* metaData, dwLaneDetectorHandle_t obj);

#pragma pack(pop)

#ifdef __cplusplus
}
#endif

#endif // DW_LANEDETECTOR_H__