FreespaceDetector.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) 2017-2019 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_FREESPACEDETECTOR_H_
#define DW_FREESPACEDETECTOR_H_

#include <dw/core/Context.h>
#include <dw/core/Types.h>
#include <dw/image/Image.h>
#include <dw/rig/Rig.h>
#include <dw/calibration/cameramodel/CameraModel.h>
#include <dw/perception/base/AutoNet.h>
#include <dw/dnn/DNN.h>
#include <dw/perception/freespace/camera/OpenRoadNet.h>

#ifdef __cplusplus
extern "C" {
#endif

#define DW_FREESPACE_IMAGE_MAX_COUNT 6
#define DW_FREESPACE_POINT_MAX_COUNT 960

typedef struct
{
    uint32_t numberOfBoundaryPoints;

    dwFreespaceBoundaryType boundaryType[DW_FREESPACE_POINT_MAX_COUNT];

    dwVector2f boundaryImagePoint[DW_FREESPACE_POINT_MAX_COUNT];

    dwVector2f boundaryWorldPoint[DW_FREESPACE_POINT_MAX_COUNT];

    dwTime_t timestamp;

    uint32_t sensorId;
} dwFreespaceDetection;

typedef struct
{
    dwOpenRoadNetHandle_t openroadnet;

    uint32_t frameWidth;

    uint32_t frameHeight;

    uint32_t maxNumImages
        DW_DEPRECATED("This structure variable is deprecated and will be removed in the next major release.");

    cudaStream_t stream;

    dwCameraModelHandle_t cam
        DW_DEPRECATED("This structure variable is deprecated and will be removed in the next major release. Please consider "
                      "replacing it with cam_new");

    dwRect roi[DW_FREESPACE_IMAGE_MAX_COUNT];

    dwCameraModelHandle_t cam_new[DW_FREESPACE_IMAGE_MAX_COUNT];

    float32_t maxDistance[DW_FREESPACE_IMAGE_MAX_COUNT];

    uint32_t sensorId[DW_FREESPACE_IMAGE_MAX_COUNT];
} dwFreespaceDetectorInitParams;

typedef struct dwFreespaceDetectorRuntimeParams
{
    dwRect roi;

    float32_t maxDistance;

    float32_t temporalSmoothingFactor;

    uint32_t spatialSmoothingWidth;

} dwFreespaceDetectorRuntimeParams
    DW_DEPRECATED("This structure is deprecated and will be removed in the next major release. Please consider "
                  "replacing it with dwFreespaceDetectorInitParams");

typedef struct dwFreespaceDetectorObject* dwFreespaceDetectorHandle_t;

DW_API_PUBLIC
dwStatus dwFreespaceDetector_initializeFromAutoNet(dwFreespaceDetectorHandle_t* obj,
                                                   dwAutoNetHandle_t autonet,
                                                   const dwFreespaceDetectorInitParams* initParams,
                                                   dwContextHandle_t ctx);

DW_API_PUBLIC
dwStatus dwFreespaceDetector_initializeFromOpenRoadNet(dwFreespaceDetectorHandle_t* obj,
                                                       dwOpenRoadNetHandle_t openroadnet,
                                                       uint32_t frameWidth,
                                                       uint32_t frameHeight,
                                                       cudaStream_t stream,
                                                       dwContextHandle_t ctx)
    DW_DEPRECATED("This API is deprecated and will be removed in the next major release. Please consider "
                  "replacing it with dwFreespaceDetector_initializeFromOpenRoadNet_new");

DW_API_PUBLIC
dwStatus dwFreespaceDetector_initializeFromOpenRoadNet_new(dwFreespaceDetectorHandle_t* obj,
                                                           const dwFreespaceDetectorInitParams* initParams,
                                                           dwContextHandle_t ctx);

DW_API_PUBLIC
dwStatus dwFreespaceDetector_detectBoundary(dwFreespaceDetection* boundary,
                                            const dwImageCUDA* frame,
                                            dwFreespaceDetectorHandle_t obj);

DW_API_PUBLIC
dwStatus dwFreespaceDetector_detectBoundaryAutoNet(dwFreespaceDetection* boundary,
                                                   dwAutoNetOutputHandle_t input,
                                                   dwFreespaceDetectorHandle_t obj);

DW_API_PUBLIC
dwStatus dwFreespaceDetector_setRuntimeParams(const dwFreespaceDetectorRuntimeParams* rtParams,
                                              dwFreespaceDetectorHandle_t obj)
    DW_DEPRECATED("This API is deprecated and will be removed in the next major release. Please consider "
                  "replacing it with dwFreespaceDetector_initializeFromOpenRoadNet_release_2_2");

DW_API_PUBLIC
dwStatus dwFreespaceDetector_getRuntimeParams(dwFreespaceDetectorRuntimeParams* rtParams,
                                              dwFreespaceDetectorHandle_t obj)
    DW_DEPRECATED("This API is deprecated and will be removed in the next major release. Please consider "
                  "getting member RuntimeParams via the corresponding get APIs");

DW_API_PUBLIC
dwStatus dwFreespaceDetector_setCameraHandle(dwCameraModelHandle_t cam, dwFreespaceDetectorHandle_t obj)
    DW_DEPRECATED("This API is deprecated and will be removed in the next major release. Please consider "
                  "setting calibrated cameras with dwFreespaceDetector_initializeFromOpenRoadNet_release_2_2");

DW_API_PUBLIC
dwStatus dwFreespaceDetector_setCameraExtrinsics(dwTransformation3f cam2rig, dwFreespaceDetectorHandle_t obj)
    DW_DEPRECATED("This API is deprecated and will be removed in the next major release. Please consider "
                  "setting calibrated cameras with dwFreespaceDetector_setCameraExtrinsics_new");

DW_API_PUBLIC
dwStatus dwFreespaceDetector_setCameraExtrinsics_new(uint32_t imageIdx, dwTransformation3f cam2rig, dwFreespaceDetectorHandle_t obj);

DW_API_PUBLIC
dwStatus dwFreespaceDetector_setMaxFreespaceDistance(float32_t maxDistance, dwFreespaceDetectorHandle_t obj)
    DW_DEPRECATED("This API is deprecated and will be removed in the next major release. Please consider "
                  "replacing it with dwFreespaceDetector_setMaxFreespaceDistance_new");

DW_API_PUBLIC
dwStatus dwFreespaceDetector_setMaxFreespaceDistance_new(uint32_t imageIdx, float32_t maxDistance, dwFreespaceDetectorHandle_t obj);

DW_API_PUBLIC
dwStatus dwFreespaceDetector_reset(dwFreespaceDetectorHandle_t obj);

DW_API_PUBLIC
dwStatus dwFreespaceDetector_release(dwFreespaceDetectorHandle_t obj);

DW_API_PUBLIC
dwStatus dwFreespaceDetector_processDeviceAsync(const dwImageCUDA* frame, dwFreespaceDetectorHandle_t obj)
    DW_DEPRECATED("This API is deprecated and will be removed in the next major release. Please consider "
                  "replacing it with dwFreespaceDetector_detectBoundary");

DW_API_PUBLIC
dwStatus dwFreespaceDetector_interpretHost(dwFreespaceDetectorHandle_t obj)
    DW_DEPRECATED("This API is deprecated and will be removed in the next major release. Please consider "
                  "replacing it with dwFreespaceDetector_detectBoundary");

DW_API_PUBLIC
dwStatus dwFreespaceDetector_getBoundaryDetection(dwFreespaceDetection* boundary, dwFreespaceDetectorHandle_t obj)
    DW_DEPRECATED("This API is deprecated and will be removed in the next major release. Please consider "
                  "replacing it with dwFreespaceDetector_detectBoundary");

DW_API_PUBLIC
dwStatus dwFreespaceDetector_setCUDAStream(cudaStream_t stream, dwFreespaceDetectorHandle_t obj);

DW_API_PUBLIC
dwStatus dwFreespaceDetector_getCUDAStream(cudaStream_t* stream, dwFreespaceDetectorHandle_t obj);

DW_API_PUBLIC
dwStatus dwFreespaceDetector_setDetectionROI(const dwRect* roi,
                                             dwFreespaceDetectorHandle_t obj)
    DW_DEPRECATED("This API is deprecated and will be removed in the next major release. Please consider "
                  "replacing it with dwFreespaceDetector_setDetectionROI_new");

DW_API_PUBLIC
dwStatus dwFreespaceDetector_setDetectionROI_new(uint32_t imageIdx,
                                                 const dwRect* roi,
                                                 dwFreespaceDetectorHandle_t obj);

DW_API_PUBLIC
dwStatus dwFreespaceDetector_getDetectionROI(dwRect* roi, dwFreespaceDetectorHandle_t obj)
    DW_DEPRECATED("This API is deprecated and will be removed in the next major release. Please consider "
                  "replacing it with dwFreespaceDetector_getDetectionROI_new");

DW_API_PUBLIC
dwStatus dwFreespaceDetector_getDetectionROI_new(uint32_t imageIdx, dwRect* roi, dwFreespaceDetectorHandle_t obj);

DW_API_PUBLIC
dwStatus dwFreespaceDetector_setTemporalSmoothFactor(float32_t factor, dwFreespaceDetectorHandle_t obj);

DW_API_PUBLIC
dwStatus dwFreespaceDetector_setSpatialSmoothFilterWidth(uint32_t width, dwFreespaceDetectorHandle_t obj);

DW_API_PUBLIC
dwStatus dwFreespaceDetector_getDNNMetaData(dwDNNMetaData* metaData, dwFreespaceDetectorHandle_t obj)
    DW_DEPRECATED("This API is deprecated and will be removed in the next major release. Please consider "
                  "replacing it with dwOpenRoadNet_getDNNMetaData");

#ifdef __cplusplus
}
#endif

#endif // DW_FREESPACEDETECTOR_H_