sources/gst-plugins/gst-nvdsvideotemplate/ds-sparse4d/postprocess/display_bbox3d.h

Go to the documentation of this file.

/*
 * SPDX-FileCopyrightText: Copyright (c) 2025-2026 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 DISPLAY_BBOX3D_H
#define DISPLAY_BBOX3D_H
 
#include <string>
#include <vector>
#include <torch/torch.h>
#include "gstnvdsmeta.h"
// Forward declaration to avoid circular dependency
struct DecodedResult;
 
#include "../utils/log_utils.h"
 
struct ClassThreshold {
    std::string label;        
    float threshold;          
};
 
std::vector<ClassThreshold> fetch_class_labels_with_thresholds(
    const std::string& labels_file,
    PrettyLogger* logger
);
 
std::vector<std::string> extract_class_labels(
    const std::vector<ClassThreshold>& class_thresholds
);
 
void attach_bbox3d_to_display(
    NvDsBatchMeta* batch_meta,
    NvDsFrameMeta* frame_meta,
    const torch::Tensor& camera_frames,
    const torch::Tensor& boxes_3d,
    const torch::Tensor& labels_3d,
    const torch::Tensor& instance_ids,
    const torch::Tensor& scores_3d,
    int img_width,
    int img_height,
    const std::vector<std::string>& class_labels,
    const std::string& bbox_color_mode,
    const bool& display_class_labels,
    const bool& display_instance_ids,
    const bool& display_class_score,
    PrettyLogger* logger
);
 
void clamp_point(float* x, float* y, int img_width, int img_height);
 
void calculate_centroid(const float* points, float* centroid);
 
void get_color_from_label(const std::string& label, float* red, float* green, float* blue, int num_classes);
 
void get_color_from_instance_id(int64_t instance_id, float* red, float* green, float* blue);
 
bool count_visible_corners(const float* points, int num_corners, int img_width, int img_height);
 
 void attach_bbox2d_to_objectmeta(
    NvDsBatchMeta* batch_meta,
    NvDsFrameMeta* frame_meta,
    const torch::Tensor& bbox2d,
    const torch::Tensor& boxes_3d,
    const torch::Tensor& labels_3d,
    const torch::Tensor& instance_ids,
    const torch::Tensor& scores_3d,
    const std::vector<std::string>& class_labels,
    const std::string& bbox_color_mode,
    const bool& display_2d_bbox,
    PrettyLogger* logger
);
 
#endif // DISPLAY_BBOX3D_H