9.1/sdk-api/9_81_2sources_2libs_2ds3d_2inference__custom__lib_2ds3d__v2x__infer__custom__postprocess_2decoder_8hpp_source.html

/*

 * SPDX-FileCopyrightText: Copyright (c) 2022-2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved.

 * SPDX-License-Identifier: Apache-2.0

 *

 * Licensed under the Apache License, Version 2.0 (the "License");

 * you may not use this file except in compliance with the License.

 * You may obtain a copy of the License at

 *

 * http://www.apache.org/licenses/LICENSE-2.0

 *

 * Unless required by applicable law or agreed to in writing, software

 * distributed under the License is distributed on an "AS IS" BASIS,

 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.

 * See the License for the specific language governing permissions and

 * limitations under the License.

 */


#ifndef DECODER_HPP

#define DECODER_HPP


#include <memory>

#include <vector>

#include "dtype.hpp"


namespace bevfusion{

namespace decoder{


struct Position {

  float x, y, z;

};


struct Size {

  float w, l, h;  // x, y, z

};


struct Velocity {

  float vx, vy;

};


struct ThreeDBox {

  Position position;

  Size size;

  Velocity velocity;

  float yaw;

  float score;

  int category;

  int ibatch;

  int id;

};


typedef struct ThreeDBox ThreeDBox;

typedef std::vector<ThreeDBox> ThreeDBoxes;


struct Head{

  void* heatmap;

  void* rotation;

  void* height;

  void* dim;

  void* vel;

  void* reg;

  unsigned int fm_area;

  unsigned int fm_width;

  unsigned int batch;

};


class Decoder {

public:

  struct DecoderParameter {

    float out_size_factor = 4;

    ds3d::Float2 voxel_size{0.075, 0.075};

    ds3d::Float2 pc_range{-54.0f, -54.0f};

    ds3d::Float3 post_center_range_start{-61.2, -61.2, -10.0};

    ds3d::Float3 post_center_range_end{61.2, 61.2, 10.0};

    unsigned int num_classes = 5;

  };


public:

  static std::unique_ptr<Decoder> createDecoder(const DecoderParameter& param);

  virtual bool init(const Decoder::DecoderParameter& param) = 0;

  virtual ThreeDBoxes forward(

    const std::vector<Head>& heads,

    float confidence_threshold, float nms_threshold, void* stream) = 0;

  virtual ~Decoder() = default;

};


};

}; // bevfusion


#endif // DECODER_HPP