anchor_mask_cuda.h

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 * Copyright 2020 The Apollo Authors. All Rights Reserved.
 *
 * 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
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 * 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
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/*
 * Copyright 2018-2019 Autoware Foundation. All rights reserved.
 *
 * 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.
 */

#pragma once

namespace apollo {
namespace perception {
namespace lidar {

class AnchorMaskCuda {
 private:
  const int num_threads_;
  const int num_inds_for_scan_;
  const int num_anchor_;
  const float min_x_range_;
  const float min_y_range_;
  const float pillar_x_size_;
  const float pillar_y_size_;
  const int grid_x_size_;
  const int grid_y_size_;

 public:
  AnchorMaskCuda(const int num_threads, const int num_inds_for_scan,
                 const int num_anchor, const float min_x_range,
                 const float min_y_range, const float pillar_x_size,
                 const float pillar_y_size, const int grid_x_size,
                 const int grid_y_size);

  void DoAnchorMaskCuda(int* dev_sparse_pillar_map, int* dev_cumsum_along_x,
                        int* dev_cumsum_along_y,
                        const float* dev_box_anchors_min_x,
                        const float* dev_box_anchors_min_y,
                        const float* dev_box_anchors_max_x,
                        const float* dev_box_anchors_max_y,
                        int* dev_anchor_mask);
};

}  // namespace lidar
}  // namespace perception
}  // namespace apollo