nms_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
 * limitations under the License.
 *****************************************************************************/
 
/*
 * 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
 
// heders in STL
#include <iostream>
#include <vector>
 
// headers in local files
#include "modules/perception/lidar_detection/detector/point_pillars_detection/common.h"
 
namespace apollo {
namespace perception {
namespace lidar {
 
class NmsCuda {
 private:
  const int num_threads_;
  const int num_box_corners_;
  const float nms_overlap_threshold_;
 
 public:
  NmsCuda(const int num_threads, const int num_box_corners,
          const float nms_overlap_threshold);
 
  void DoNmsCuda(const int host_filter_count, float* dev_sorted_box_for_nms,
                 int* out_keep_inds, int* out_num_to_keep);
};
 
}  // namespace lidar
}  // namespace perception
}  // namespace apollo