ObjectInPathAnalyzer.h

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#ifndef DW_OBJECT_OBJECTINPATHANALYZER_H__
#define DW_OBJECT_OBJECTINPATHANALYZER_H__

#include <dw/core/Context.h>
#include <dw/core/Types.h>
#include <dw/object/Object.h>
#include <dw/lanes/LaneDetector.h>
#include <dw/freespace/FreeSpaceDetector.h>

#ifdef __cplusplus
extern "C" {
#endif

typedef struct dwObjectInPathAnalyzerObject *dwObjectInPathAnalyzerHandle_t;

typedef struct {
    uint32_t imageWidth;
    uint32_t imageHeight;
    float32_t intersectionThreshold;
    dwBool normalizePixelCount;
    dwCalibratedCameraHandle_t calibratedCamera;
    dwTransformation cameraToRig;
    dwBool useFreeSpace;
} dwObjectInPathAnalyzerParams;

// TODO: Unify with LaneDetector.h
typedef enum {
    DW_LANE_TYPE_LEFT      = 0,
    DW_LANE_TYPE_EGO       = 1,
    DW_LANE_TYPE_RIGHT     = 2,
    DW_LANE_TYPE_OTHER     = 3,
    DW_LANE_TYPE_MAX_COUNT = 4
} dwLaneType;

typedef struct {
    float32_t intersectionAmount;
    uint32_t intersectionPixelCount;
    uint32_t objectAreaPixelCount;
    dwLaneType lane;
    dwObject object;
} dwObjectInPathAnalyzerIntersection;

typedef struct {
    const dwObjectInPathAnalyzerIntersection *objects;
    uint32_t count;
    dwLaneType lane;
} dwObjectInPathAnalyzerObjects;

DW_API_PUBLIC dwStatus dwObjectInPathAnalyzer_getDefaultInitParams(dwObjectInPathAnalyzerParams *params);

DW_API_PUBLIC dwStatus dwObjectInPathAnalyzer_initialize(dwObjectInPathAnalyzerHandle_t *analyzer,
                                                         const dwObjectInPathAnalyzerParams *params,
                                                         dwContextHandle_t context);

DW_API_PUBLIC dwStatus dwObjectInPathAnalyzer_release(dwObjectInPathAnalyzerHandle_t *analyzer);

DW_API_PUBLIC dwStatus dwObjectInPathAnalyzer_reset(dwObjectInPathAnalyzerHandle_t analyzer);

DW_API_PUBLIC dwStatus dwObjectInPathAnalyzer_setLanes(const dwLaneDetection *laneList,
                                                       dwObjectInPathAnalyzerHandle_t analyzer);

DW_API_PUBLIC dwStatus dwObjectInPathAnalyzer_setFreeSpace(const dwFreeSpaceDetection *detection,
                                                           dwObjectInPathAnalyzerHandle_t analyzer);

DW_API_PUBLIC dwStatus dwObjectInPathAnalyzer_setObjectTracks(const dwObjectList *objects, uint32_t count,
                                                              dwObjectInPathAnalyzerHandle_t analyzer);

DW_API_PUBLIC dwStatus dwObjectInPathAnalyzer_setObjects(const dwObject *objectList, uint32_t count,
                                                         dwObjectInPathAnalyzerHandle_t analyzer);

DW_API_PUBLIC dwStatus dwObjectInPathAnalyzer_setTimesteps(float32_t timesteps,
                                                           dwObjectInPathAnalyzerHandle_t analyzer);

DW_API_PUBLIC dwStatus dwObjectInPathAnalyzer_processDeviceAsync(dwObjectInPathAnalyzerHandle_t analyzer);

DW_API_PUBLIC dwStatus dwObjectInPathAnalyzer_processHost(dwObjectInPathAnalyzerHandle_t analyzer);

DW_API_PUBLIC dwStatus dwObjectInPathAnalyzer_getObjectsInLane(dwObjectInPathAnalyzerObjects *objects,
                                                               dwLaneType lane,
                                                               dwObjectInPathAnalyzerHandle_t analyzer);

#ifdef __cplusplus
}
#endif

#endif // DW_OBJECT_OBJECTINPATHANALYZER_H__