LandmarkDetector.h

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#ifndef DW_PERCEPTION_LANDMARKS_CAMERA_LANDMARKDETECTOR_H_
#define DW_PERCEPTION_LANDMARKS_CAMERA_LANDMARKDETECTOR_H_

#include <dw/core/Context.h>
#include <dw/core/Types.h>

#include <dw/dnn/DNN.h>
#include <dw/perception/landmarks/camera/MapNet.h>

#include <dw/perception/landmarks/camera/LandmarkDetectorTypes.h>
#include <dw/perception/base/AutoNet.h>
#include <dw/calibration/cameramodel/CameraModel.h>
#include <dw/image/Image.h>

#ifdef __cplusplus
extern "C" {
#endif

#pragma pack(push, 1) // Make sure we have consistent structure packings

typedef enum {
    DW_LANDMARK_SELECTION_MASK_LANE_MARKING  = (1 << DW_LANDMARK_TYPE_LANE_MARKINGS),
    DW_LANDMARK_SELECTION_MASK_POLES         = (1 << DW_LANDMARK_TYPE_POLES),
    DW_LANDMARK_SELECTION_MASK_INTERSECTIONS = (1 << DW_LANDMARK_TYPE_INTERSECTIONS),
    DW_LANDMARK_SELECTION_MASK_ROADMARK      = (1 << DW_LANDMARK_TYPE_ROADMARK),
    DW_LANDMARK_SELECTION_MASK_ALL           = (DW_LANDMARK_SELECTION_MASK_LANE_MARKING | DW_LANDMARK_SELECTION_MASK_POLES | DW_LANDMARK_SELECTION_MASK_INTERSECTIONS | DW_LANDMARK_SELECTION_MASK_ROADMARK)
} dwLandmarkSelectionMask;

typedef struct
{
    float32_t landmarkDetectionThreshold[DW_LANDMARK_TYPE_COUNT];
    uint32_t landmarkTypesEnabled;
    bool isModelParameterFitting[DW_LANDMARK_TYPE_COUNT];
    dwRect detectionROI;
} dwLandmarkDetectorParams;

typedef struct dwLandmarkDetectorObject* dwLandmarkDetectorHandle_t;

typedef struct dwRoadMarkingPolygonDetectionParam
{
    bool enableRoadMarkingPolygons;
    bool enableDistanceCorrection;
} dwRoadMarkingPolygonDetectionParam;
typedef struct dwLRNPostProcessingParam
{
    float32_t differentClassPenalty;
    float32_t unitDist;
    float32_t betaForDistanceTerm;
    float32_t betaForAnglesInSmoothnessTerm;
    float32_t betaForDistanceInSmoothnessTerm;
    float32_t minProbAnglesInSmoothnessTerm;
    float32_t minProbZigZagInSmoothnessTerm;
    float32_t diminishingFactorForNearLineZigZag;

    float32_t minValidDNNMaskThreshold;
    uint8_t minimumVotesThreshold;
    uint8_t nonMaxSuppressionRadius;
    dwRoadMarkingPolygonDetectionParam roadMarkingDetectionTerm;
} dwLRNPostProcessingParam;

DW_API_PUBLIC
dwStatus dwLandmarkDetector_initializeDefaultParams(dwLandmarkDetectorParams* params, uint32_t frameWidth, uint32_t frameHeight);

DW_API_PUBLIC
dwStatus dwLandmarkDetector_initializeDefaultRegressorParams(dwLRNPostProcessingParam* params);

DW_API_PUBLIC
dwStatus dwLandmarkDetector_initializeFromMapNet(dwLandmarkDetectorHandle_t* obj,
                                                 dwMapNetHandle_t mapnet,
                                                 dwLandmarkDetectorParams params,
                                                 uint32_t frameWidth,
                                                 uint32_t frameHeight,
                                                 dwContextHandle_t ctx);

DW_API_PUBLIC
dwStatus dwLandmarkDetector_initializeFromAutoNet(dwLandmarkDetectorHandle_t* obj,
                                                  dwAutoNetHandle_t autonet,
                                                  dwLandmarkDetectorParams params,
                                                  uint32_t frameWidth,
                                                  uint32_t frameHeight,
                                                  dwContextHandle_t ctx);

dwStatus dwLandmarkDetector_detectLandmarks(dwLaneDetection* lanes,
                                            dwLandmarkDetection* landmarks,
                                            dwRoadmarkDetection* roadmarks,
                                            const dwImageCUDA* frame,
                                            dwLandmarkDetectorHandle_t obj);

dwStatus dwLandmarkDetector_detectLandmarksAutoNet(dwLaneDetection* lanes,
                                                   dwLandmarkDetection* landmarks,
                                                   dwRoadmarkDetection* roadmarks,
                                                   dwAutoNetOutputHandle_t netOutput,
                                                   dwLandmarkDetectorHandle_t obj);

DW_API_PUBLIC
dwStatus dwLandmarkDetector_reset(dwLandmarkDetectorHandle_t obj);

DW_API_PUBLIC
dwStatus dwLandmarkDetector_release(dwLandmarkDetectorHandle_t obj);

DW_API_PUBLIC
dwStatus dwLandmarkDetector_setCamera(dwCameraModelHandle_t camera,
                                      const dwTransformation3f* cameraToRig,
                                      dwLandmarkDetectorHandle_t obj);

DW_API_PUBLIC
dwStatus dwLandmarkDetector_setCUDAStream(cudaStream_t stream, dwLandmarkDetectorHandle_t obj);

DW_API_PUBLIC
dwStatus dwLandmarkDetector_getCUDAStream(cudaStream_t* stream, dwLandmarkDetectorHandle_t obj);

DW_API_PUBLIC
dwStatus dwLandmarkDetector_getDetectionROI(dwRect* roi, dwLandmarkDetectorHandle_t obj);

DW_API_PUBLIC
dwStatus dwLandmarkDetector_getLaneDetections(dwLaneDetection* lanes, dwLandmarkDetectorHandle_t obj);

DW_API_PUBLIC
dwStatus dwLandmarkDetector_getLandmarkDetections(dwLandmarkDetection* landmarkDetection, dwLandmarkDetectorHandle_t obj);

DW_API_PUBLIC
dwStatus dwLandmarkDetector_getRoadmarkDetections(dwRoadmarkDetection* roadmarkDetection, dwLandmarkDetectorHandle_t obj);

DW_API_PUBLIC
dwStatus dwLandmarkDetector_getPostProcessingParam(dwLRNPostProcessingParam* param, dwLandmarkDetectorHandle_t obj);

DW_API_PUBLIC
dwStatus dwLandmarkDetector_setPostProcessingParam(const dwLRNPostProcessingParam param, dwLandmarkDetectorHandle_t obj);

DW_API_PUBLIC
dwStatus dwLandmarkDetector_setROI(dwRect detectionROI, dwLandmarkDetectorHandle_t obj);

#pragma pack(pop)

#ifdef __cplusplus
}
#endif

#endif // DW_PERCEPTION_LANDMARKS_CAMERA_LANDMARKDETECTOR_H_