ObjectDetector.h

Go to the documentation of this file.

// This code contains NVIDIA Confidential Information and is disclosed
// under the Mutual Non-Disclosure Agreement.
//
// Notice
// ALL NVIDIA DESIGN SPECIFICATIONS AND CODE ("MATERIALS") ARE PROVIDED "AS IS" NVIDIA MAKES
// NO REPRESENTATIONS, WARRANTIES, EXPRESSED, IMPLIED, STATUTORY, OR OTHERWISE WITH RESPECT TO
// THE MATERIALS, AND EXPRESSLY DISCLAIMS ANY IMPLIED WARRANTIES OF NONINFRINGEMENT,
// MERCHANTABILITY, OR FITNESS FOR A PARTICULAR PURPOSE.
//
// NVIDIA Corporation assumes no responsibility for the consequences of use of such
// information or for any infringement of patents or other rights of third parties that may
// result from its use. No license is granted by implication or otherwise under any patent
// or patent rights of NVIDIA Corporation. No third party distribution is allowed unless
// expressly authorized by NVIDIA.  Details are subject to change without notice.
// This code supersedes and replaces all information previously supplied.
// NVIDIA Corporation products are not authorized for use as critical
// components in life support devices or systems without express written approval of
// NVIDIA Corporation.
//
// Copyright (c) 2016-2019 NVIDIA Corporation. All rights reserved.
//
// NVIDIA Corporation and its licensors retain all intellectual property and proprietary
// rights in and to this software and related documentation and any modifications thereto.
// Any use, reproduction, disclosure or distribution of this software and related
// documentation without an express license agreement from NVIDIA Corporation is
// strictly prohibited.
//

#ifndef DW_OBJECTPERCEPTION_DETECTOR_H_
#define DW_OBJECTPERCEPTION_DETECTOR_H_

#include <dw/world/Object.h>
#include <dw/world/ObjectArray.h>
#include <dw/perception/object/camera/DriveNet.h>
#include <dw/dnn/DNN.h>
#include <dw/dnn/DataConditioner.h>
#include <dw/image/Image.h>
#include <dw/core/Context.h>

#ifdef __cplusplus
extern "C" {
#endif

#define DW_OBJECT_DETECTOR_MAX_IMAGES 4


typedef struct dwObjectDetectorObject* dwObjectDetectorHandle_t;

typedef struct
{
    uint32_t sensorId;

    uint32_t maxNumImages;

    dwRect ROIs[DW_OBJECT_DETECTOR_MAX_IMAGES];

    dwTransformation2f transformations[DW_OBJECT_DETECTOR_MAX_IMAGES];

    bool enableFuseObjects;

    bool enableBoundingBoxClipping;
} dwObjectDetectorParams;

typedef enum {
    DW_OBJECT_DETECTOR_OUTPUT_TYPE_PROPOSAL,
    DW_OBJECT_DETECTOR_OUTPUT_TYPE_DETECTION
} dwObjectDetectorOutputType;

// dwObjectDetector

DW_API_PUBLIC
dwStatus dwObjectDetector_initDefaultParams(dwObjectDetectorParams* detectorParams);

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

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 dwTransformation2f* outputToObject, dwObjectDetectorHandle_t obj);

DW_API_PUBLIC
dwStatus dwObjectDetector_getROI(dwRect* ROI, dwTransformation2f* outputToObject, uint32_t imageIdx,
                                 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(bool* enabled, dwObjectDetectorHandle_t obj);

DW_API_PUBLIC
dwStatus dwObjectDetector_setEnableFuseObjects(bool enable, dwObjectDetectorHandle_t obj);

DW_API_PUBLIC
dwStatus dwObjectDetector_getCoverageThreshold(float32_t* covThreshold, dwObjectClass objectClass,
                                               dwObjectDetectorHandle_t obj);

DW_API_PUBLIC
dwStatus dwObjectDetector_setCoverageThreshold(float32_t covThreshold, dwObjectClass objectClass,
                                               dwObjectDetectorHandle_t obj);

DW_API_PUBLIC
DW_DEPRECATED("Replaced with dwObjectDetector_isObjectDepthEnabled")
dwStatus dwObjectDetector_isDistanceEnabled(bool* enabled, dwObjectDetectorHandle_t obj);

DW_API_PUBLIC
dwStatus dwObjectDetector_isObjectDepthEnabled(bool* enabled, dwObjectDetectorHandle_t obj);

DW_API_PUBLIC
dwStatus dwObjectDetector_isObjectUrgencyEnabled(bool* enabled, dwObjectDetectorHandle_t obj);

DW_API_PUBLIC
dwStatus dwObjectDetector_setOutputMask(const uint8_t* mask, uint32_t maskWidth, uint32_t maskHeight,
                                        dwObjectClass objectClass, dwObjectDetectorHandle_t obj);

DW_API_PUBLIC
dwStatus dwObjectDetector_clearOutputMask(dwObjectClass objectClass, dwObjectDetectorHandle_t obj);

DW_API_PUBLIC
dwStatus dwObjectDetector_getOutputMaskDimensions(uint32_t* width, uint32_t* height,
                                                  dwObjectDetectorHandle_t obj);
DW_API_PUBLIC
dwStatus dwObjectDetector_detectObjects(dwObjectArray* detections, const dwImageCUDA* image,
                                        dwObjectDetectorHandle_t obj);
#ifdef __cplusplus
}
#endif

#endif // DW_OBJECTPERCEPTION_DETECTOR_H_