PathDetector.h

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#ifndef DW_PATHDETECTOR_H_
#define DW_PATHDETECTOR_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/dnn/DNN.h>
#include <dw/perception/path/camera/PathNet.h>
#include <dw/perception/base/AutoNet.h>

#ifdef __cplusplus
extern "C" {
#endif

#define DW_PATH_MAX_COUNT 8
#define DW_PATH_POINT_MAX_COUNT 128

typedef struct dwPathNetPath
{

    dwPathPositionType positionType;

    dwPathAttributeType pathAttributeType;

    uint32_t numPoints;

    float32_t confidence;

    float32_t pathAttributeConfidence;

    float32_t confidenceValues[DW_PATH_POINT_MAX_COUNT];

    dwVector2f leftEdgePoints[DW_PATH_POINT_MAX_COUNT];

    dwVector2f rightEdgePoints[DW_PATH_POINT_MAX_COUNT];

    dwVector2f centerRailPoints[DW_PATH_POINT_MAX_COUNT];

    float32_t pathWidth[DW_PATH_POINT_MAX_COUNT];

    float32_t pathAngle[DW_PATH_POINT_MAX_COUNT];

} dwPathNetPath;

typedef struct dwPathNetPath3D
{

    dwPathPositionType positionType;

    dwPathAttributeType pathAttributeType;

    uint32_t numPoints;

    float32_t confidence;

    float32_t pathAttributeConfidence;

    float32_t confidenceValues[DW_PATH_POINT_MAX_COUNT];

    dwVector3f leftEdgePoints[DW_PATH_POINT_MAX_COUNT];

    dwVector3f rightEdgePoints[DW_PATH_POINT_MAX_COUNT];

    dwVector3f centerRailPoints[DW_PATH_POINT_MAX_COUNT];

    float32_t pathWidth[DW_PATH_POINT_MAX_COUNT];

    float32_t pathAngle[DW_PATH_POINT_MAX_COUNT];

} dwPathNetPath3D;

typedef struct dwPathDetection
{
    uint32_t numPathsImage;

    uint32_t numPathsWorld;

    dwPathNetPath pathsImage[DW_PATH_MAX_COUNT];

    dwPathNetPath3D pathsWorld[DW_PATH_MAX_COUNT];

    dwTime_t timestamp;

} dwPathDetection;

typedef struct dwPathDetectorFoveaParams
{
    bool enableFovea;
    dwRect ROI;
} dwPathDetectorFoveaParams;

typedef struct dwPathDetectorObject* dwPathDetectorHandle_t;

DW_API_PUBLIC
dwStatus dwPathDetector_initializeFromPathNet(dwPathDetectorHandle_t* obj,
                                              dwPathNetHandle_t pathnet,
                                              uint32_t frameWidth,
                                              uint32_t frameHeight,
                                              dwPathDetectorFoveaParams foveaParams,
                                              cudaStream_t stream,
                                              dwContextHandle_t ctx);

DW_API_PUBLIC
dwStatus dwPathDetector_initializeFromPathNetWithCameraRig(dwPathDetectorHandle_t* obj,
                                                           dwPathNetHandle_t pathnet,
                                                           uint32_t frameWidth,
                                                           uint32_t frameHeight,
                                                           dwPathDetectorFoveaParams foveaParams,
                                                           dwCameraModelHandle_t cam,
                                                           dwTransformation3f cam2rig,
                                                           cudaStream_t stream,
                                                           dwContextHandle_t ctx);

DW_API_PUBLIC
dwStatus dwPathDetector_initializeFromAutoNet(dwPathDetectorHandle_t* obj,
                                              dwAutoNetHandle_t autonet,
                                              uint32_t frameWidth,
                                              uint32_t frameHeight,
                                              cudaStream_t stream,
                                              dwContextHandle_t ctx);

DW_API_PUBLIC
dwStatus dwPathDetector_reset(dwPathDetectorHandle_t obj);

DW_API_PUBLIC
dwStatus dwPathDetector_release(dwPathDetectorHandle_t obj);

DW_API_PUBLIC
dwStatus dwPathDetector_processDeviceAsync(const dwImageCUDA* frame, dwPathDetectorHandle_t obj);

DW_API_PUBLIC
dwStatus dwPathDetector_interpretHost(dwPathDetectorHandle_t obj);

DW_API_PUBLIC
dwStatus dwPathDetector_getPathDetections(dwPathDetection* paths, dwPathDetectorHandle_t obj);

DW_API_PUBLIC
dwStatus dwPathDetector_setCUDAStream(cudaStream_t stream, dwPathDetectorHandle_t obj);

DW_API_PUBLIC
dwStatus dwPathDetector_getCUDAStream(cudaStream_t* stream, dwPathDetectorHandle_t obj);

DW_API_PUBLIC
dwStatus dwPathDetector_setCameraExtrinsics(const dwTransformation3f* cam2Rig,
                                            dwPathDetectorHandle_t obj);

DW_API_PUBLIC
dwStatus dwPathDetector_setDetectionROI(const dwRect* roi, dwPathDetectorHandle_t obj);

DW_API_PUBLIC
dwStatus dwPathDetector_getDetectionROI(dwRect* roi, dwPathDetectorHandle_t obj);

DW_API_PUBLIC
dwStatus dwPathDetector_setDetectionThreshold(float32_t threshold, dwPathDetectorHandle_t obj);

DW_API_PUBLIC
dwStatus dwPathDetector_getDetectionThreshold(float32_t* threshold, dwPathDetectorHandle_t obj);

DW_API_PUBLIC
dwStatus dwPathDetector_setOppositeTrafficDetectionThreshold(float32_t threshold, dwPathDetectorHandle_t obj);

DW_API_PUBLIC
dwStatus dwPathDetector_getOppositeTrafficDetectionThreshold(float32_t* threshold, dwPathDetectorHandle_t obj);

DW_API_PUBLIC
dwStatus dwPathDetector_setTemporalSmoothingFactor(float32_t factor, dwPathDetectorHandle_t obj);

DW_API_PUBLIC
dwStatus dwPathDetector_getTemporalSmoothingFactor(float32_t* factor, dwPathDetectorHandle_t obj);

DW_API_PUBLIC
dwStatus dwPathDetector_getDNNMetaData(dwDNNMetaData* metaData, dwPathDetectorHandle_t obj);

DW_API_PUBLIC
dwStatus dwPathDetector_setComputeCenterRailFrom3D(bool computeCenterRailFrom3D, dwPathDetectorHandle_t obj);

DW_API_PUBLIC
dwStatus dwPathDetector_getComputeCenterRailFrom3D(bool* computeCenterRailFrom3D, dwPathDetectorHandle_t obj);

DW_API_PUBLIC
dwStatus dwPathDetector_setUseFovea(bool useFovea, dwPathDetectorHandle_t obj);

DW_API_PUBLIC
dwStatus dwPathDetector_getUseFovea(bool* useFovea, dwPathDetectorHandle_t obj);

DW_API_PUBLIC
dwStatus dwPathDetector_detectPathsAutoNet(dwPathDetection* paths, dwAutoNetOutputHandle_t input, dwPathDetectorHandle_t obj);

DW_API_PUBLIC
dwStatus dwPathDetector_detectPaths(dwPathDetection* paths,
                                    const dwImageCUDA* frame,
                                    dwPathDetectorHandle_t obj);

#ifdef __cplusplus
}
#endif

#endif // DW_PATHDETECTOR_H_