ParkNetDetector.h

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#ifndef DW_PARKNET_DETECTOR_H_
#define DW_PARKNET_DETECTOR_H_

#include <dw/perception/parking/camera/ParkNet.h>
#include <dw/dnn/DNN.h>
#include <dw/dnn/DataConditioner.h>
#include <dw/image/Image.h>
#include <dw/core/Context.h>
#include <dw/calibration/cameramodel/CameraModel.h>
#include <dw/world/ObjectArray.h>

#ifdef __cplusplus
extern "C" {
#endif

#define DW_PARK_DETECTION_MAX_COUNT 5000
#define DW_PARK_DETECTION_N_COORDINATES_2D 8
#define DW_PARK_DETECTION_N_COORDINATES_3D 12

typedef struct dwParkNetDetectorObject* dwParkNetDetectorHandle_t;

typedef struct
{
    // Detected parking space object on image coordinates.
    float32_t box2D[DW_PARK_DETECTION_N_COORDINATES_2D];
    // Detected parking space object on rig coordinates.
    float32_t box3D[DW_PARK_DETECTION_N_COORDINATES_3D];
    // Detected parking space confidence score.
    float32_t boxConfidence;
    // Index of the entry line.
    uint32_t entryLine;
} dwParkObject;

typedef struct
{
    dwTime_t timestamp;
    // Number of detected park spaces.
    uint32_t numDetection;
    // Detected parking spaces array.
    dwParkObject parkSpace[DW_PARK_DETECTION_MAX_COUNT];
    // Size of the image for the output detections.
    // Needed when the structure is passed around without access to camera information (like renderer).
    uint32_t imageWidth;
    uint32_t imageHeight;
} dwParkDetection;

typedef struct
{
    uint32_t maxNumImages;
    dwRect ROI;
    dwCameraModelHandle_t cam;
    dwTransformation3f cam2Rig;
    float32_t scaleOriginalToInput;
    // Size of the image for the output detections.
    // Needed when the structure is passed around without access to camera information (like renderer).
    uint32_t imageWidth;
    uint32_t imageHeight;
} dwParkNetDetectorParams;

// dwParkNetDetector

DW_API_PUBLIC
dwStatus dwParkNetDetector_initDefaultParams(dwParkNetDetectorParams* detectorParams);

DW_API_PUBLIC
dwStatus dwParkNetDetector_initializeFromParkNet(dwParkNetDetectorHandle_t* obj,
                                                 const dwParkNetDetectorParams* detectorParams,
                                                 dwParkNetHandle_t parknet,
                                                 dwContextHandle_t ctx);

DW_API_PUBLIC
dwStatus dwParkNetDetector_reset(dwParkNetDetectorHandle_t obj);

DW_API_PUBLIC
dwStatus dwParkNetDetector_release(dwParkNetDetectorHandle_t obj);

DW_API_PUBLIC
dwStatus dwParkNetDetector_inferDeviceAsync(dwParkNetDetectorHandle_t obj);

DW_API_PUBLIC
dwStatus dwParkNetDetector_interpret(dwParkNetDetectorHandle_t obj);

DW_API_PUBLIC
dwStatus dwParkNetDetector_getParkDetections(dwParkDetection* parkingSpaces, dwParkNetDetectorHandle_t obj);

DW_API_PUBLIC
dwStatus dwParkNetDetector_setCUDAStream(const cudaStream_t stream, dwParkNetDetectorHandle_t obj);

DW_API_PUBLIC
dwStatus dwParkNetDetector_getCUDAStream(cudaStream_t* stream, dwParkNetDetectorHandle_t obj);

DW_API_PUBLIC
dwStatus dwParkNetDetector_setCameraExtrinsics(dwTransformation3f cam2rig, dwParkNetDetectorHandle_t obj);

#ifdef __cplusplus
}
#endif

#endif // DW_PARKNET_DETECTOR_H_