dwSelfCalibrationCameraBasedIMUNode.hpp

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#ifndef DWFRAMEWORK_DWNODES_SELFCALIBRATION_DWSELFCALIBRATIONCAMERAIMUNODE_DWSELFCALIBRATIONCAMERAIMUNODE_HPP_
#define DWFRAMEWORK_DWNODES_SELFCALIBRATION_DWSELFCALIBRATIONCAMERAIMUNODE_DWSELFCALIBRATIONCAMERAIMUNODE_HPP_
 
#include <dw/calibration/cameramodel/CameraModel.h>
#include <dwcgf/channel/ChannelPacketTypes.hpp>
#include <dwcgf/node/Node.hpp>
#include <dwcgf/parameter/ParameterDescriptor.hpp>
#include <dwcgf/pass/PassDescriptor.hpp>
#include <dwcgf/port/Port.hpp>
#include <dwcgf/port/PortDescriptor.hpp>
#include <dwframework/dwnodes/common/channelpackets/EgomotionState.hpp>
#include <dwframework/dwnodes/common/channelpackets/FeatureList.hpp>
#include <dwframework/dwnodes/common/channelpackets/IMU.hpp>
#include <dwframework/dwnodes/common/channelpackets/SelfCalibrationTypes.hpp>
#include <dwframework/dwnodes/common/channelpackets/SensorCommonTypes.hpp>
#include <dwframework/dwnodes/common/channelpackets/VehicleIOValStructures.hpp>
#include <dwframework/dwnodes/common/SelfCalibrationTypes.hpp>
#include <dwframework/dwnodes/selfcalibration/common/NodeCommonParams.hpp>
 
namespace dw
{
namespace framework
{
 
struct dwSelfCalibrationCameraBasedIMUNodeParam
{
    dwConstRigHandle_t rigHandle;
    size_t cameraSensorIndex;
    // TODO(snavin): AVC-3339 Add IMU rig sensor rig index to the camera based IMU node params.
    uint32_t imuSensorIndex;
    bool enableCalibration;
    uint32_t channelFifoSize;
    dwSelfCalibrationNodeCameraParams cameraParams;
    uint32_t histogramMaxOutlierFailureCount;
    cudaStream_t cudaStream;
};
 
class dwSelfCalibrationCameraBasedIMUNode : public ExceptionSafeProcessNode
{
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[]{"dwSelfCalibrationCameraBasedIMUNode"};
 
    // coverity[autosar_cpp14_a7_1_5_violation] RFD Accepted: TID-1984
    static constexpr auto describeInputPorts()
    {
        // TODO(csketch): RFD --  user defined literal being interpreted as c style cast.
        // coverity[autosar_cpp14_a5_2_2_violation] RFD Pending: TID-1983
        return describePortCollection(
            DW_DESCRIBE_PORT(dwEgomotionStateHandle_t, "EGOMOTION_STATE_ODO_IMU"_sv, PortBinding::REQUIRED),
            DW_DESCRIBE_PORT(dwVehicleIONonSafetyState, "VEHICLE_IO_NON_SAFETY_STATE"_sv, PortBinding::REQUIRED),
            DW_DESCRIBE_PORT(dwVehicleIOActuationFeedback, "VEHICLE_IO_ACTUATION_FEEDBACK"_sv, PortBinding::REQUIRED),
            DW_DESCRIBE_PORT(dwFeatureHistoryArray, "CAMERA_FEATURE_DETECTION"_sv, PortBinding::REQUIRED),
            DW_DESCRIBE_PORT(dwTime_t, "CAMERA_TIMESTAMP"_sv, PortBinding::REQUIRED),
            DW_DESCRIBE_PORT(dwCameraIntrinsics, "CAMERA_INTRINSICS"_sv, PortBinding::REQUIRED),
            DW_DESCRIBE_PORT(dwCameraTwoViewTransformation, "CAMERA_TWO_VIEW_TRANSFORMATION"_sv, PortBinding::OPTIONAL),
            DW_DESCRIBE_PORT(dwIMUFrame, "IMU_FRAME"_sv, PortBinding::REQUIRED),
            DW_DESCRIBE_PORT(bool, "SERVICE_CALIB_ENABLE"_sv, PortBinding::OPTIONAL));
    };
 
    // coverity[autosar_cpp14_a7_1_5_violation] RFD Accepted: TID-1984
    static constexpr auto describeOutputPorts()
    {
        // TODO(csketch): RFD --  user defined literal being interpreted as c style cast.
        // coverity[autosar_cpp14_a5_2_2_violation] RFD Pending: TID-1983
        return describePortCollection(
            DW_DESCRIBE_PORT(dwCalibratedExtrinsics, "IMU_EXTRINSICS"_sv, PortBinding::REQUIRED),
            DW_DESCRIBE_PORT(bool, "SERVICE_CALIB_ACTIVE"_sv, PortBinding::OPTIONAL));
    }
 
    // coverity[autosar_cpp14_a7_1_5_violation] RFD Accepted: TID-1984
    static constexpr auto describePasses()
    {
        return describePassCollection(
            describePass(StringView{"SETUP"}, DW_PROCESSOR_TYPE_CPU),
            describePass(StringView{"PROCESS_NONCAMERA"}, DW_PROCESSOR_TYPE_CPU),
            describePass(StringView{"PROCESS_CAMERA_GPU_ASYNC"}, DW_PROCESSOR_TYPE_GPU),
            describePass(StringView{"PROCESS_CAMERA_CPU_SYNC"}, DW_PROCESSOR_TYPE_CPU),
            describePass(StringView{"TEARDOWN"}, DW_PROCESSOR_TYPE_CPU));
    }
 
    static std::unique_ptr<dwSelfCalibrationCameraBasedIMUNode> create(ParameterProvider& provider);
 
    // coverity[autosar_cpp14_a7_1_5_violation] RFD Accepted: TID-1984
    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<dwSelfCalibrationCameraBasedIMUNodeParam>(
                DW_DESCRIBE_UNNAMED_PARAMETER(
                    dwConstRigHandle_t,
                    &dwSelfCalibrationCameraBasedIMUNodeParam::rigHandle),
                DW_DESCRIBE_PARAMETER(
                    size_t,
                    "cameraSensorIndex"_sv,
                    &dwSelfCalibrationCameraBasedIMUNodeParam::cameraSensorIndex),
                DW_DESCRIBE_PARAMETER(
                    uint32_t,
                    "imuSensorIndex"_sv,
                    &dwSelfCalibrationCameraBasedIMUNodeParam::imuSensorIndex),
                DW_DESCRIBE_PARAMETER(
                    bool,
                    "enableCalibration"_sv,
                    &dwSelfCalibrationCameraBasedIMUNodeParam::enableCalibration),
                DW_DESCRIBE_PARAMETER(
                    uint32_t,
                    "cameraCalibrationMethod"_sv,
                    &dwSelfCalibrationCameraBasedIMUNodeParam::cameraParams, &dwSelfCalibrationNodeCameraParams::calibrationMethod),
                DW_DESCRIBE_PARAMETER(
                    uint32_t,
                    "cameraCalibrationSignals"_sv,
                    &dwSelfCalibrationCameraBasedIMUNodeParam::cameraParams, &dwSelfCalibrationNodeCameraParams::calibrationSignals),
                DW_DESCRIBE_PARAMETER(
                    float32_t,
                    "rotationHistogramRangeDeg"_sv,
                    &dwSelfCalibrationCameraBasedIMUNodeParam::cameraParams, &dwSelfCalibrationNodeCameraParams::rotationHistogramRangeDeg),
                DW_DESCRIBE_PARAMETER(
                    uint32_t,
                    "histogramMaxOutlierFailureCount"_sv,
                    &dwSelfCalibrationCameraBasedIMUNodeParam::histogramMaxOutlierFailureCount),
                DW_DESCRIBE_PARAMETER(
                    uint32_t,
                    "channelFifoSize"_sv,
                    &dwSelfCalibrationCameraBasedIMUNodeParam::channelFifoSize),
                DW_DESCRIBE_INDEX_PARAMETER(
                    cudaStream_t,
                    "cameraSensorStreamIndex"_sv,
                    &dwSelfCalibrationCameraBasedIMUNodeParam::cudaStream)),
            describeConstructorArgument<dwContextHandle_t>(
                DW_DESCRIBE_UNNAMED_PARAMETER(
                    dwContextHandle_t)));
    }
 
    dwSelfCalibrationCameraBasedIMUNode(dwSelfCalibrationCameraBasedIMUNodeParam const& param, dwContextHandle_t const ctx);
};
 
} // namespace framework
} // namespace dw
 
#endif // DWFRAMEWORK_DWNODES_SELFCALIBRATION_DWSELFCALIBRATIONCAMERAIMUNODE_DWSELFCALIBRATIONCAMERAIMUNODE_HPP_