DriveNet.h

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#ifndef DW_DRIVENET_H_
#define DW_DRIVENET_H_

#include <dw/core/Context.h>
#include <dw/dnn/DNN.h>
#include <dw/world/Object.h>

#ifdef __cplusplus
extern "C" {
#endif


typedef struct dwDriveNetObject* dwDriveNetHandle_t;

typedef enum dwDriveNetModel {
    DW_DRIVENET_MODEL_FRONT = 0,
    DW_DRIVENET_MODEL_SIDE = 1,
    DW_STATEFUL_TEMPORAL_DRIVENET_MODEL = 2,
    DW_STATELESS_TEMPORAL_DRIVENET_MODEL = 3,
    DW_DRIVENET_NUM_MODELS,
    DW_DRIVENET_MODEL_CUSTOM = -1
} dwDriveNetModel;

typedef enum dwDriveNetBatchSize {
    DW_DRIVENET_BATCH_SIZE_1 = 0, 
    DW_DRIVENET_BATCH_SIZE_2 = 1, 
    DW_DRIVENET_BATCH_SIZE_4 = 2  
} dwDriveNetBatchSize;

typedef enum dwDriveNetCameraType {
    DW_DRIVENET_CAMERA_60FOV,  // Camera with 60 degree field of view
    DW_DRIVENET_CAMERA_120FOV, // Camera with 120 degree field of view
    DW_DRIVENET_CAMERA_30FOV   // Camera with 30 degree field of view
} dwDriveNetCameraType;

typedef struct dwDriveNetParams
{
    uint32_t maxProposalsPerClass;
    uint32_t maxClustersPerClass;
    dwProcessorType processorType;
    dwDriveNetModel networkModel;
    dwPrecision networkPrecision;
    dwDriveNetBatchSize batchSize;
    DW_DEPRECATED("replaced by `hasObjectDepth`")
    bool hasDepth;
    bool hasObjectDepth;
    bool hasObjectUrgency;
    dwDriveNetCameraType cameraType;
    const void* networkCustomData;
    bool suppressRiderInCar;
} dwDriveNetParams;

typedef struct dwDriveNetClassProperties
{
    bool hasDepth;
    bool hasOrientation;
    bool hasVisibility;
    bool hasUrgency;
} dwDriveNetClassProperties;

DW_API_PUBLIC
dwStatus dwDriveNet_initDefaultParams(dwDriveNetParams* params, dwContextHandle_t ctx);

DW_API_PUBLIC
dwStatus dwDriveNet_initialize(dwDriveNetHandle_t* drivenetHandle,
                               const dwDriveNetParams* drivenetParams,
                               dwContextHandle_t ctx);

DW_API_PUBLIC
dwStatus dwDriveNet_reset(dwDriveNetHandle_t obj);

DW_API_PUBLIC
dwStatus dwDriveNet_release(dwDriveNetHandle_t obj);

DW_API_PUBLIC
dwStatus dwDriveNet_getAvailableClasses(const dwObjectClass** objectClasses, uint32_t* numObjectClasses, dwDriveNetHandle_t obj);

DW_API_PUBLIC
dwStatus dwDriveNet_getProcessorType(dwProcessorType* processorType, dwDriveNetHandle_t obj);

DW_API_PUBLIC
dwStatus dwDriveNet_getInputBlobsize(dwBlobSize* inputBlobsize, dwDriveNetHandle_t obj);

DW_API_PUBLIC
dwStatus dwDriveNet_getDNNMetaData(dwDNNMetaData* metaData, dwDriveNetHandle_t obj);

DW_API_PUBLIC
dwStatus dwDriveNet_getClassProperties(dwDriveNetClassProperties* properties, dwObjectClass objectClass,
                                       dwDriveNetHandle_t obj);

#ifdef __cplusplus
}
#endif

#endif // DW_DRIVENET_H_