BlindnessDetector.h

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#ifndef DW_BLINDNESSDETECTOR_H_
#define DW_BLINDNESSDETECTOR_H_

#include <dw/core/Context.h>
#include <dw/core/Types.h>
#include <dw/image/Image.h>
#include <dw/imageprocessing/features/FeatureList.h>
#include <dw/perception/safety/camera/ClearSightNet.h>

#ifdef __cplusplus
extern "C" {
#endif

#define DW_CLEARSIGHTNET_DETECTOR_MAX_IMAGES 16

#define DW_CLEARSIGHTNET_NUM_OUTPUT_CHANNELS 3

#define DW_CLEARSIGHTNET_NUM_MAX_REGIONS 8

#define DW_CLEARSIGHTNET_MASK_TYPE DW_IMAGE_CUDA

#define DW_CLEARSIGHTNET_MASK_HEIGHT 76

#define DW_CLEARSIGHTNET_MASK_WIDTH 120

#define DW_CLEARSIGHTNET_MASK_FORMAT DW_IMAGE_FORMAT_RGBA_UINT8

typedef struct
{
    float32_t blindnessRatio;
    float32_t fullBlindRatio;
    float32_t partBlindRatio;

    dwImageHandle_t mask;

    uint8_t numRegionsX;
    uint8_t numRegionsY;
    float32_t regionDividersX[DW_CLEARSIGHTNET_NUM_MAX_REGIONS - 1];
    float32_t regionDividersY[DW_CLEARSIGHTNET_NUM_MAX_REGIONS - 1];
    float32_t regionBlindnessRatio[DW_CLEARSIGHTNET_NUM_MAX_REGIONS][DW_CLEARSIGHTNET_NUM_MAX_REGIONS];
    float32_t regionFullBlindRatio[DW_CLEARSIGHTNET_NUM_MAX_REGIONS][DW_CLEARSIGHTNET_NUM_MAX_REGIONS];
    float32_t regionPartBlindRatio[DW_CLEARSIGHTNET_NUM_MAX_REGIONS][DW_CLEARSIGHTNET_NUM_MAX_REGIONS];
} dwBlindnessDetectionOutput;

typedef struct dwBlindnessDetectorObject* dwBlindnessDetectorHandle_t;

typedef struct
{
    uint32_t temporalFilterWindow;
    dwClearSightNetHandle_t clearSightNetHandle;
    uint8_t numRegionsX;
    uint8_t numRegionsY;
    float32_t regionDividersX[DW_CLEARSIGHTNET_NUM_MAX_REGIONS - 1];
    float32_t regionDividersY[DW_CLEARSIGHTNET_NUM_MAX_REGIONS - 1];
} dwBlindnessDetectorParams;

DW_API_PUBLIC
dwStatus dwBlindnessDetector_initDefaultParams(dwBlindnessDetectorParams* params);

DW_API_PUBLIC
dwStatus dwBlindnessDetector_initialize(dwBlindnessDetectorHandle_t* handle,
                                        const dwBlindnessDetectorParams* params,
                                        dwContextHandle_t ctx);

DW_API_PUBLIC
dwStatus dwBlindnessDetector_reset(dwBlindnessDetectorHandle_t handle);

DW_API_PUBLIC
dwStatus dwBlindnessDetector_release(dwBlindnessDetectorHandle_t handle);

DW_API_PUBLIC
dwStatus dwBlindnessDetector_setCUDAStream(cudaStream_t stream, dwBlindnessDetectorHandle_t handle);

DW_API_PUBLIC
dwStatus dwBlindnessDetector_getCUDAStream(cudaStream_t* stream, dwBlindnessDetectorHandle_t handle);

DW_API_PUBLIC
DW_DEPRECATED("WARNING: dwBlindnessDetector_getOutput() will be deprecated from future releases "
              "Use BlindnessDetector_processPipeline apis instead.")
dwStatus dwBlindnessDetector_getOutput(dwBlindnessDetectionOutput* output,
                                       dwBlindnessDetectorHandle_t handle);

DW_API_PUBLIC
DW_DEPRECATED("WARNING: dwBlindnessDetector_detect() will be deprecated from future releases "
              "Use BlindnessDetector_processPipeline apis instead.")
dwStatus dwBlindnessDetector_detect(const dwImageCUDA* inputImage,
                                    dwBlindnessDetectorHandle_t handle);

#ifdef __cplusplus
}
#endif

#endif // DW_BLINDNESSDETECTOR_H_