dwFeatureDetectorPVANode.hpp

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#ifndef DWFRAMEWORK_DWNODES_IMAGEPROCESSING_DWFEATUREDETECTORNODE_DWFEATUREDETECTORPVANODE_HPP_
#define DWFRAMEWORK_DWNODES_IMAGEPROCESSING_DWFEATUREDETECTORNODE_DWFEATUREDETECTORPVANODE_HPP_
 
#include <dwframework/dwnodes/imageprocessing/dwfeaturedetectornode/dwFeatureDetectorNode.hpp>
 
namespace dw
{
namespace framework
{
 
class dwFeatureDetectorPVANode : public dwFeatureDetectorNodeBase, public IChannelsConnectedListener
{
 
public:
    // TODO(csketch): FP -- This is used when the logger is called and not just at assignment.
    // coverity[autosar_cpp14_a0_1_1_violation] FP: nvbugs/2980283
    // coverity[autosar_cpp14_m0_1_4_violation] FP: nvbugs/2980283
    static constexpr char8_t LOG_TAG[]{"dwFeatureDetectorPVANode"};
 
    // coverity[autosar_cpp14_a7_1_5_violation] RFD Accepted: TID-2201
    static constexpr auto describePasses()
    {
        return describePassCollection(
            describePass(StringView{"SETUP"}, DW_PROCESSOR_TYPE_CPU),
            describePass(StringView{"DETECT_NEW_FEATURE"}, DW_PROCESSOR_TYPE_PVA_0),
            describePass(StringView{"TEARDOWN"}, DW_PROCESSOR_TYPE_CPU));
    };
 
    static std::unique_ptr<dwFeatureDetectorPVANode> create(ParameterProvider& provider);
 
    // coverity[autosar_cpp14_a7_1_5_violation] RFD Accepted: TID-2201
    static constexpr auto describeParameters()
    {
        // TODO(csketch): RFD --  user defined literal being interpreted as c style cast.
        // coverity[autosar_cpp14_a5_2_2_violation] RFD Pending: TID-1983
        return describeConstructorArguments(
            describeConstructorArgument<dwFeatureDetectorNodeParams>(
                DW_DESCRIBE_PARAMETER(
                    bool,
                    "initForCamera"_sv,
                    &dwFeatureDetectorNodeParams::initForCamera),
                DW_DESCRIBE_INDEX_PARAMETER(
                    dwCameraModelHandle_t,
                    "cameraIndex"_sv,
                    &dwFeatureDetectorNodeParams::intrinsic),
                DW_DESCRIBE_INDEX_PARAMETER_WITH_SEMANTIC(
                    dwTransformation3f,
                    semantic_parameter_types::CameraExtrinsic,
                    "cameraIndex"_sv,
                    &dwFeatureDetectorNodeParams::extrinsic),
                DW_DESCRIBE_PARAMETER(
                    dwFeature2DDetectorType,
                    "featureDetectorType"_sv,
                    &dwFeatureDetectorNodeParams::dwDetectorParams, &dwFeature2DDetectorConfig::type),
                DW_DESCRIBE_INDEX_PARAMETER_WITH_SEMANTIC(
                    cupvaStream_t,
                    semantic_parameter_types::CupvaStream,
                    "pvaStreamIndexFD"_sv,
                    &dwFeatureDetectorNodeParams::cupvastream),
                DW_DESCRIBE_INDEX_PARAMETER_WITH_SEMANTIC(
                    uint32_t,
                    semantic_parameter_types::ImageWidth,
                    "cameraIndex"_sv,
                    &dwFeatureDetectorNodeParams::dwDetectorParams, &dwFeature2DDetectorConfig::imageWidth),
                DW_DESCRIBE_INDEX_PARAMETER_WITH_SEMANTIC(
                    uint32_t,
                    semantic_parameter_types::ImageHeight,
                    "cameraIndex"_sv,
                    &dwFeatureDetectorNodeParams::dwDetectorParams, &dwFeature2DDetectorConfig::imageHeight),
                DW_DESCRIBE_PARAMETER(
                    uint32_t,
                    "maxFeatureCount"_sv,
                    &dwFeatureDetectorNodeParams::dwDetectorParams, &dwFeature2DDetectorConfig::maxFeatureCount)),
            describeConstructorArgument<dwFeatureDetectorNodeRuntimeParams>(
                DW_DESCRIBE_INDEX_PARAMETER(
                    cudaStream_t,
                    "streamIndex"_sv,
                    &dwFeatureDetectorNodeRuntimeParams::cudaStream)),
            describeConstructorArgument<dwContextHandle_t>(
                DW_DESCRIBE_UNNAMED_PARAMETER(
                    dwContextHandle_t)));
    }
 
    dwFeatureDetectorPVANode(const dwFeatureDetectorNodeParams& params,
                             const dwFeatureDetectorNodeRuntimeParams& runtimeParams,
                             const dwContextHandle_t ctx);
 
    dwStatus setRuntimeParams(const dwFeatureDetectorNodeRuntimeParams& runtimeParams);
    void onChannelsConnected() override;
};
} // namespace framework
} // namespace dw
 
#endif // DWFRAMEWORK_DWNODES_IMAGEPROCESSING_DWFEATUREDETECTORNODE_DWFEATUREDETECTORPVANODE_HPP_