postprocess_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
 *
 * 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

// headers in STL
#include <iostream>
#include <memory>
#include <vector>

// headers in local files
#include "modules/perception/lidar/lib/detector/point_pillars_detection/nms_cuda.h"

namespace apollo {
namespace perception {
namespace lidar {

class PostprocessCuda {
 private:
  const float float_min_;
  const float float_max_;
  const int num_anchor_;
  const int num_class_;
  const float score_threshold_;
  const int num_threads_;
  const float nms_overlap_threshold_;
  const int num_box_corners_;
  const int num_output_box_feature_;

  std::unique_ptr<NmsCuda> nms_cuda_ptr_;

 public:
  PostprocessCuda(const float float_min, const float float_max,
                  const int num_anchor, const int num_class,
                  const float score_threshold, const int num_threads,
                  const float nms_overlap_threshold, const int num_box_corners,
                  const int num_output_box_feature);

  void DoPostprocessCuda(
      const float* rpn_box_output, const float* rpn_cls_output,
      const float* rpn_dir_output, int* dev_anchor_mask,
      const float* dev_anchors_px, const float* dev_anchors_py,
      const float* dev_anchors_pz, const float* dev_anchors_dx,
      const float* dev_anchors_dy, const float* dev_anchors_dz,
      const float* dev_anchors_ro, float* dev_filtered_box,
      float* dev_filtered_score, int* dev_filtered_label, int* dev_filtered_dir,
      float* dev_box_for_nms, int* dev_filter_count,
      std::vector<float>* out_detection, std::vector<int>* out_label);
};

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