roipooling_layer.h

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#pragma once

#include <limits>
#include <memory>
#include <vector>

#include "modules/perception/inference/layer.h"

namespace apollo {
namespace perception {
namespace inference {

template <typename Dtype>
class ROIPoolingLayer : public Layer<Dtype> {
 public:
  ROIPoolingLayer(int pooled_h, int pooled_w, bool use_floor,
                  float spatial_scale, int channels, int max_objs = 1000)
      : channels_(0),
        height_(0),
        width_(0),
        pooled_height_(pooled_h),
        pooled_width_(pooled_w),
        use_floor_(use_floor),
        float_max_(std::numeric_limits<float>::max()),
        spatial_scale_(spatial_scale) {
    max_idx_.Reshape(max_objs, channels, pooled_height_, pooled_width_);
  }
  void ForwardGPU(const std::vector<std::shared_ptr<base::Blob<Dtype>>> &bottom,
                  const std::vector<std::shared_ptr<base::Blob<Dtype>>> &top);
  void ForwardCPU(const std::vector<std::shared_ptr<base::Blob<Dtype>>> &bottom,
                  const std::vector<std::shared_ptr<base::Blob<Dtype>>> &top);

 private:
  base::Blob<int> max_idx_;
  int channels_;
  int height_;
  int width_;
  int pooled_height_;
  int pooled_width_;
  bool use_floor_;
  const float float_max_;
  float spatial_scale_;
};

}  // namespace inference
}  // namespace perception
}  // namespace apollo