LspDetector.h

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#ifndef DW_LIGHTSOURCENET_DETECTOR_H_
#define DW_LIGHTSOURCENET_DETECTOR_H_

#include <dw/perception/object/camera/LightSourceNet.h>
#include <dw/dnn/DNN.h>
#include <dw/dnn/DataConditioner.h>
#include <dw/image/Image.h>
#include <dw/core/Context.h>
#include <dw/perception/base/AutoNet.h>

#ifdef __cplusplus
extern "C" {
#endif


typedef struct dwLightSourceDetectorObject* dwLightSourceDetectorHandle_t;

typedef enum {
    DW_LIGHTSOURCE_CLASS_CAR = 0,
    DW_LIGHTSOURCE_CLASS_STREET_LIGHT = 1,
    DW_LIGHTSOURCE_CLASS_OTHER_LIGHT = 2,
    DW_LIGHTSOURCE_CLASS_COUNT = 3
} dwLightSourceDetectorClass;

typedef struct
{
    dwRect ROI;

    float32_t classThreshold[DW_LIGHTSOURCE_CLASS_COUNT];

    uint32_t glareThreshold;

} dwLightSourceDetectorParams;

typedef struct
{
    bool flag;

} dwLightSourceDetectorAutoBeamStatus;

typedef struct dwLightSourceDetectorMask
{
    uint8_t carMask[DW_LIGHTSOURCENET_DNN_OUTPUT_HEIGHT][DW_LIGHTSOURCENET_DNN_OUTPUT_WIDTH];

    uint8_t streetLightMask[DW_LIGHTSOURCENET_DNN_OUTPUT_HEIGHT][DW_LIGHTSOURCENET_DNN_OUTPUT_WIDTH];

    uint8_t otherLightMask[DW_LIGHTSOURCENET_DNN_OUTPUT_HEIGHT][DW_LIGHTSOURCENET_DNN_OUTPUT_WIDTH];

    uint32_t size;   // assume this is equal to DW_LIGHTSOURCENET_DNN_OUTPUT_WIDTH * DW_LIGHTSOURCENET_DNN_OUTPUT_HEIGHT
    uint32_t width;  // assume this is equal to DW_LIGHTSOURCENET_DNN_OUTPUT_WIDTH
    uint32_t height; // assume this is equal to DW_LIGHTSOURCENET_DNN_OUTPUT_HEIGHT
} dwLightSourceDetectorMask;

// dwLightSourceDetector

DW_API_PUBLIC
dwStatus dwLightSourceDetector_initDefaultParams(dwLightSourceDetectorParams* detectorParams);

DW_API_PUBLIC
dwStatus dwLightSourceDetector_initialize(dwLightSourceDetectorHandle_t* obj,
                                          dwLightSourceNetHandle_t lspnet,
                                          const dwLightSourceDetectorParams* detectorParams,
                                          dwContextHandle_t ctx);

DW_API_PUBLIC
dwStatus dwLightSourceDetector_initializeFromAutoNet(dwLightSourceDetectorHandle_t* obj,
                                                     dwAutoNetHandle_t autonet,
                                                     const dwLightSourceDetectorParams* detectorParams,
                                                     dwContextHandle_t ctx);

DW_API_PUBLIC
dwStatus dwLightSourceDetector_processLightSourcePipeline(dwLightSourceDetectorAutoBeamStatus* output,
                                                          const dwImageCUDA* imgRGB,
                                                          const dwImageCUDA* imgBayer,
                                                          dwLightSourceDetectorHandle_t obj);

dwStatus dwLightSourceDetector_detectAutoNet(dwLightSourceDetectorAutoBeamStatus* beamStatus, dwLightSourceDetectorMask* mask, const dwImageCUDA* imgBayer,
                                             dwAutoNetOutputHandle_t netOutput,
                                             dwLightSourceDetectorHandle_t obj);

DW_API_PUBLIC
dwStatus dwLightSourceDetector_setCUDAStream(cudaStream_t stream, dwLightSourceDetectorHandle_t obj);

DW_API_PUBLIC
dwStatus dwLightSourceDetector_getCUDAStream(cudaStream_t* stream, dwLightSourceDetectorHandle_t obj);

DW_API_PUBLIC
dwStatus dwLightSourceDetector_reset(dwLightSourceDetectorHandle_t obj);

DW_API_PUBLIC
dwStatus dwLightSourceDetector_release(dwLightSourceDetectorHandle_t obj);

#ifdef __cplusplus
}
#endif

#endif // DW_LIGHTSOURCENET_DETECTOR_H_