sources/libs/ds3d/inference_custom_lib/ds3d_v2x_infer_custom_preprocess/pillars-scatter.h

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/*
 * 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 _PillarsScatter_H_
#define _PillarsScatter_H_
 
#include <NvInferPlugin.h>
 
#include <numeric>
#include <string>
#include <vector>
 
namespace nvinfer1 {
namespace plugin {
 
class PillarsScatterPlugin : public nvinfer1::IPluginV2DynamicExt {
 public:
  PillarsScatterPlugin() = delete;
  PillarsScatterPlugin(const void* data, size_t length);
  PillarsScatterPlugin(size_t h, size_t w);
  // IPluginV2DynamicExt Methods
  nvinfer1::IPluginV2DynamicExt* clone() const noexcept override;
  nvinfer1::DimsExprs getOutputDimensions(int outputIndex, const nvinfer1::DimsExprs* inputs, int nbInputs,
                                          nvinfer1::IExprBuilder& exprBuilder) noexcept override;
  bool supportsFormatCombination(int pos, const nvinfer1::PluginTensorDesc* inOut, int nbInputs, int nbOutputs) noexcept override;
  void configurePlugin(const nvinfer1::DynamicPluginTensorDesc* in, int nbInputs, const nvinfer1::DynamicPluginTensorDesc* out,
                       int nbOutputs) noexcept override;
  size_t getWorkspaceSize(const nvinfer1::PluginTensorDesc* inputs, int nbInputs, const nvinfer1::PluginTensorDesc* outputs,
                          int nbOutputs) const noexcept override;
  int enqueue(const nvinfer1::PluginTensorDesc* inputDesc, const nvinfer1::PluginTensorDesc* outputDesc,
              const void* const* inputs, void* const* outputs, void* workspace, cudaStream_t stream) noexcept override;
  // IPluginV2Ext Methods
  nvinfer1::DataType getOutputDataType(int index, const nvinfer1::DataType* inputTypes, int nbInputs) const noexcept override;
  // IPluginV2 Methods
  const char* getPluginType() const noexcept override;
  const char* getPluginVersion() const noexcept override;
  int getNbOutputs() const noexcept override;
  int initialize() noexcept override;
  void terminate() noexcept override;
  size_t getSerializationSize() const noexcept override;
  void serialize(void* buffer) const noexcept override;
  void destroy() noexcept override;
  void setPluginNamespace(const char* pluginNamespace) noexcept override;
  const char* getPluginNamespace() const noexcept override;
 
 private:
  std::string mNamespace;
  size_t bev_h_;
  size_t bev_w_;
};
 
class PillarsScatterPluginCreator : public nvinfer1::IPluginCreator {
 public:
  PillarsScatterPluginCreator();
  const char* getPluginName() const noexcept override;
  const char* getPluginVersion() const noexcept override;
  const nvinfer1::PluginFieldCollection* getFieldNames() noexcept override;
  nvinfer1::IPluginV2* createPlugin(const char* name, const nvinfer1::PluginFieldCollection* fc) noexcept override;
  nvinfer1::IPluginV2* deserializePlugin(const char* name, const void* serialData, size_t serialLength) noexcept override;
  void setPluginNamespace(const char* pluginNamespace) noexcept override;
  const char* getPluginNamespace() const noexcept override;
 
 private:
  nvinfer1::PluginFieldCollection mFC;
  std::vector<nvinfer1::PluginField> mPluginAttributes;
  std::string mNamespace;
};
 
}  // namespace plugin
}  // namespace nvinfer1
 
#endif