ObjectDetector.h

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#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/perception/base/AutoNet.h>
#include <dw/image/Image.h>
#include <dw/core/Context.h>

#ifdef __cplusplus
extern "C" {
#endif

#define DW_OBJECT_DETECTOR_MAX_IMAGES 2


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_initializeFromAutoNet(dwObjectDetectorHandle_t* obj,
                                                uint32_t imageWidth,
                                                uint32_t imageHeight,
                                                dwAutoNetHandle_t autonet,
                                                const dwObjectDetectorParams* detectorParams,
                                                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);

DW_API_PUBLIC
dwStatus dwObjectDetector_detectObjectsAutoNet(dwObjectArray* detections,
                                               dwAutoNetOutputHandle_t input,
                                               dwObjectDetectorHandle_t obj);

#ifdef __cplusplus
}
#endif

#endif // DW_OBJECTPERCEPTION_DETECTOR_H_