pbod_postprocess.hpp

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// Copyright Institute for Automotive Engineering (ika), RWTH Aachen University
// SPDX-License-Identifier: Apache-2.0
 
#pragma once
 
#include <string>
#include <vector>
 
#include "pcod_common/bounding_box.hpp"
#include "pcod_common/pillar_grid.hpp"
 
namespace pcod_common {
 
struct PbodPostprocessConfig {
  std::vector<std::string> class_names;  
  std::vector<float> score_thresholds;   
};
 
struct PbodOutputsView {
  const float* focal_logits = nullptr;    
  const float* size_posterior = nullptr;  
  const float* class_logits = nullptr;    
  const float* reg_logits = nullptr;      
  int num_pillars = 0;                    
  int num_classes = 0;                    
  int reg_dim = 0;                        
};
 
std::vector<BoundingBox> DecodePbod(const PbodOutputsView& outputs, const PillarGrid& grid, const PbodPostprocessConfig& config);
 
}  // namespace pcod_common