detectNet.h

/*
 * Copyright (c) 2017, NVIDIA CORPORATION. All rights reserved.
 *
 * Permission is hereby granted, free of charge, to any person obtaining a
 * copy of this software and associated documentation files (the "Software"),
 * to deal in the Software without restriction, including without limitation
 * the rights to use, copy, modify, merge, publish, distribute, sublicense,
 * and/or sell copies of the Software, and to permit persons to whom the
 * Software is furnished to do so, subject to the following conditions:
 *
 * The above copyright notice and this permission notice shall be included in
 * all copies or substantial portions of the Software.
 *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.  IN NO EVENT SHALL
 * THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
 * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
 * DEALINGS IN THE SOFTWARE.
 */
 
#ifndef __DETECT_NET_H__
#define __DETECT_NET_H__


#include "tensorNet.h"


/**
 * Name of default input blob for DetectNet caffe model.
 * @ingroup detectNet
 */
#define DETECTNET_DEFAULT_INPUT   "data"

/**
 * Name of default output blob of the coverage map for DetectNet caffe model.
 * @ingroup detectNet
 */
#define DETECTNET_DEFAULT_COVERAGE  "coverage"

/**
 * Name of default output blob of the grid of bounding boxes for DetectNet caffe model.
 * @ingroup detectNet
 */
#define DETECTNET_DEFAULT_BBOX  "bboxes"

/**
 * Default value of the minimum detection threshold
 * @ingroup detectNet
 */
#define DETECTNET_DEFAULT_THRESHOLD 0.5f

/**
 * Default alpha blending value used during overlay
 * @ingroup detectNet
 */
#define DETECTNET_DEFAULT_ALPHA 120

/**
 * Standard command-line options able to be passed to detectNet::Create()
 * @ingroup imageNet
 */
#define DETECTNET_USAGE_STRING  "detectNet arguments: \n" 								\
		  "  --network=NETWORK     pre-trained model to load, one of the following:\n" 		\
		  "                            * ssd-mobilenet-v1\n" 							\
		  "                            * ssd-mobilenet-v2 (default)\n" 					\
		  "                            * ssd-inception-v2\n" 							\
		  "                            * pednet\n" 									\
		  "                            * multiped\n" 								\
		  "                            * facenet\n" 									\
		  "                            * coco-airplane\n" 							\
		  "                            * coco-bottle\n" 								\
		  "                            * coco-chair\n" 								\
		  "                            * coco-dog\n" 								\
		  "  --model=MODEL         path to custom model to load (caffemodel, uff, or onnx)\n" 					\
		  "  --prototxt=PROTOTXT   path to custom prototxt to load (for .caffemodel only)\n" 					\
		  "  --labels=LABELS       path to text file containing the labels for each class\n" 					\
		  "  --input-blob=INPUT    name of the input layer (default is '" DETECTNET_DEFAULT_INPUT "')\n" 			\
		  "  --output-cvg=COVERAGE name of the coverge output layer (default is '" DETECTNET_DEFAULT_COVERAGE "')\n" 	\
		  "  --output-bbox=BOXES   name of the bounding output layer (default is '" DETECTNET_DEFAULT_BBOX "')\n" 	\
		  "  --mean-pixel=PIXEL    mean pixel value to subtract from input (default is 0.0)\n"					\
		  "  --batch-size=BATCH    maximum batch size (default is 1)\n"										\
		  "  --threshold=THRESHOLD minimum threshold for detection (default is 0.5)\n"							\
            "  --alpha=ALPHA         overlay alpha blending value, range 0-255 (default: 120)\n"					\
		  "  --overlay=OVERLAY     detection overlay flags (e.g. --overlay=box,labels,conf)\n"					\
		  "                        valid combinations are:  'box', 'labels', 'conf', 'none'\n"					\
		  "  --profile             enable layer profiling in TensorRT\n\n"


/**
 * Object recognition and localization networks with TensorRT support.
 * @ingroup detectNet
 */
class detectNet : public tensorNet
{
public:
	/**
	 * Object Detection result.
	 */
	struct Detection
	{
		// Object Info
		uint32_t Instance;	/**< Index of this unique object instance */
		uint32_t ClassID;	/**< Class index of the detected object. */
		float Confidence;	/**< Confidence value of the detected object. */

		// Bounding Box Coordinates
		float Left;		/**< Left bounding box coordinate (in pixels) */
		float Right;		/**< Right bounding box coordinate (in pixels) */
		float Top;		/**< Top bounding box cooridnate (in pixels) */
		float Bottom;		/**< Bottom bounding box coordinate (in pixels) */

		/**< Calculate the width of the object */
		inline float Width() const											{ return Right - Left; }

		/**< Calculate the height of the object */
		inline float Height() const											{ return Bottom - Top; }

		/**< Calculate the area of the object */
		inline float Area() const											{ return Width() * Height(); }

		/**< Calculate the width of the bounding box */
		static inline float Width( float x1, float x2 )							{ return x2 - x1; }

		/**< Calculate the height of the bounding box */
		static inline float Height( float y1, float y2 )							{ return y2 - y1; }

		/**< Calculate the area of the bounding box */
		static inline float Area( float x1, float y1, float x2, float y2 )			{ return Width(x1,x2) * Height(y1,y2); }

		/**< Return the center of the object */
		inline void Center( float* x, float* y ) const							{ if(x) *x = Left + Width() * 0.5f; if(y) *y = Top + Height() * 0.5f; }

		/**< Return true if the coordinate is inside the bounding box */
		inline bool Contains( float x, float y ) const							{ return x >= Left && x <= Right && y >= Top && y <= Bottom; }
		
		/**< Return true if the bounding boxes intersect and exceeds area % threshold */	
		inline bool Intersects( const Detection& det, float areaThreshold=0.0f ) const  { return (IntersectionArea(det) / fmaxf(Area(), det.Area()) > areaThreshold); }
	
		/**< Return true if the bounding boxes intersect and exceeds area % threshold */	
		inline bool Intersects( float x1, float y1, float x2, float y2, float areaThreshold=0.0f ) const  { return (IntersectionArea(x1,y1,x2,y2) / fmaxf(Area(), Area(x1,y1,x2,y2)) > areaThreshold); }
	
		/**< Return the area of the bounding box intersection */
		inline float IntersectionArea( const Detection& det ) const					{ return IntersectionArea(det.Left, det.Top, det.Right, det.Bottom); }

		/**< Return the area of the bounding box intersection */
		inline float IntersectionArea( float x1, float y1, float x2, float y2 ) const	{ if(!Overlaps(x1,y1,x2,y2)) return 0.0f; return (fminf(Right, x2) - fmaxf(Left, x1)) * (fminf(Bottom, y2) - fmaxf(Top, y1)); }

		/**< Return true if the bounding boxes overlap */
		inline bool Overlaps( const Detection& det ) const						{ return !(det.Left > Right || det.Right < Left || det.Top > Bottom || det.Bottom < Top); }
		
		/**< Return true if the bounding boxes overlap */
		inline bool Overlaps( float x1, float y1, float x2, float y2 ) const			{ return !(x1 > Right || x2 < Left || y1 > Bottom || y2 < Top); }
		
		/**< Expand the bounding box if they overlap (return true if so) */
		inline bool Expand( float x1, float y1, float x2, float y2 ) 	     		{ if(!Overlaps(x1, y1, x2, y2)) return false; Left = fminf(x1, Left); Top = fminf(y1, Top); Right = fmaxf(x2, Right); Bottom = fmaxf(y2, Bottom); return true; }
		
		/**< Expand the bounding box if they overlap (return true if so) */
		inline bool Expand( const Detection& det )      							{ if(!Overlaps(det)) return false; Left = fminf(det.Left, Left); Top = fminf(det.Top, Top); Right = fmaxf(det.Right, Right); Bottom = fmaxf(det.Bottom, Bottom); return true; }

		/**< Reset all member variables to zero */
		inline void Reset()													{ Instance = 0; ClassID = 0; Confidence = 0; Left = 0; Right = 0; Top = 0; Bottom = 0; } 								

		/**< Default constructor */
		inline Detection()													{ Reset(); }
	};

	/**
	 * Overlay flags (can be OR'd together).
	 */
	enum OverlayFlags
	{
		OVERLAY_NONE       = 0,			/**< No overlay. */
		OVERLAY_BOX        = (1 << 0),	/**< Overlay the object bounding boxes */
		OVERLAY_LABEL 	    = (1 << 1),	/**< Overlay the class description labels */
		OVERLAY_CONFIDENCE = (1 << 2),	/**< Overlay the detection confidence values */
	};
	
	/**
	 * Network choice enumeration.
	 */
	enum NetworkType
	{
		CUSTOM = 0,		/**< Custom model from user */
		COCO_AIRPLANE,		/**< MS-COCO airplane class */
		COCO_BOTTLE,		/**< MS-COCO bottle class */
		COCO_CHAIR,		/**< MS-COCO chair class */
		COCO_DOG,			/**< MS-COCO dog class */
		FACENET,			/**< Human facial detector trained on FDDB */
		PEDNET,			/**< Pedestrian / person detector */
		PEDNET_MULTI,		/**< Multi-class pedestrian + baggage detector */

#if NV_TENSORRT_MAJOR > 4
		SSD_MOBILENET_V1,	/**< SSD Mobilenet-v1 UFF model, trained on MS-COCO */
		SSD_MOBILENET_V2,	/**< SSD Mobilenet-v2 UFF model, trained on MS-COCO */
		SSD_INCEPTION_V2	/**< SSD Inception-v2 UFF model, trained on MS-COCO */
#endif
	};

	/**
	 * Parse a string to one of the built-in pretrained models.
	 * Valid names are "pednet", "multiped", "facenet", "face", "coco-airplane", "airplane",
	 * "coco-bottle", "bottle", "coco-chair", "chair", "coco-dog", or "dog".
	 * @returns one of the detectNet::NetworkType enums, or detectNet::CUSTOM on invalid string.
	 */
	static NetworkType NetworkTypeFromStr( const char* model_name );

	/**
	 * Parse a string sequence into OverlayFlags enum.
	 * Valid flags are "none", "box", "label", and "conf" and it is possible to combine flags
	 * (bitwise OR) together with commas or pipe (|) symbol.  For example, the string sequence
	 * "box,label,conf" would return the flags `OVERLAY_BOX|OVERLAY_LABEL|OVERLAY_CONFIDENCE`.
	 */
	static uint32_t OverlayFlagsFromStr( const char* flags );

	/**
	 * Load a new network instance
	 * @param networkType type of pre-supported network to load
	 * @param threshold default minimum threshold for detection
	 * @param maxBatchSize The maximum batch size that the network will support and be optimized for.
	 */
	static detectNet* Create( NetworkType networkType=PEDNET_MULTI, float threshold=DETECTNET_DEFAULT_THRESHOLD, 
						 uint32_t maxBatchSize=DEFAULT_MAX_BATCH_SIZE, precisionType precision=TYPE_FASTEST, 
						 deviceType device=DEVICE_GPU, bool allowGPUFallback=true );
	
	/**
	 * Load a custom network instance
	 * @param prototxt_path File path to the deployable network prototxt
	 * @param model_path File path to the caffemodel
	 * @param mean_binary File path to the mean value binary proto
	 * @param class_labels File path to list of class name labels
	 * @param threshold default minimum threshold for detection
	 * @param input Name of the input layer blob.
	 * @param coverage Name of the output coverage classifier layer blob, which contains the confidence values for each bbox.
	 * @param bboxes Name of the output bounding box layer blob, which contains a grid of rectangles in the image.
	 * @param maxBatchSize The maximum batch size that the network will support and be optimized for.
	 */
	static detectNet* Create( const char* prototxt_path, const char* model_path, const char* mean_binary, 
						 const char* class_labels, float threshold=DETECTNET_DEFAULT_THRESHOLD, 
						 const char* input = DETECTNET_DEFAULT_INPUT, 
						 const char* coverage = DETECTNET_DEFAULT_COVERAGE, 
						 const char* bboxes = DETECTNET_DEFAULT_BBOX,
						 uint32_t maxBatchSize=DEFAULT_MAX_BATCH_SIZE, 
						 precisionType precision=TYPE_FASTEST,
				   		 deviceType device=DEVICE_GPU, bool allowGPUFallback=true );
							  
	/**
	 * Load a custom network instance
	 * @param prototxt_path File path to the deployable network prototxt
	 * @param model_path File path to the caffemodel
	 * @param mean_pixel Input transform subtraction value (use 0.0 if the network already does this)
	 * @param class_labels File path to list of class name labels
	 * @param threshold default minimum threshold for detection
	 * @param input Name of the input layer blob.
	 * @param coverage Name of the output coverage classifier layer blob, which contains the confidence values for each bbox.
	 * @param bboxes Name of the output bounding box layer blob, which contains a grid of rectangles in the image.
	 * @param maxBatchSize The maximum batch size that the network will support and be optimized for.
	 */
	static detectNet* Create( const char* prototxt_path, const char* model_path, float mean_pixel=0.0f, 
						 const char* class_labels=NULL, float threshold=DETECTNET_DEFAULT_THRESHOLD, 
						 const char* input = DETECTNET_DEFAULT_INPUT, 
						 const char* coverage = DETECTNET_DEFAULT_COVERAGE, 
						 const char* bboxes = DETECTNET_DEFAULT_BBOX,
						 uint32_t maxBatchSize=DEFAULT_MAX_BATCH_SIZE, 
						 precisionType precision=TYPE_FASTEST,
				   		 deviceType device=DEVICE_GPU, bool allowGPUFallback=true );
	
	/**
	 * Load a custom network instance of a UFF model
	 * @param model_path File path to the UFF model
	 * @param class_labels File path to list of class name labels
	 * @param threshold default minimum threshold for detection
	 * @param input Name of the input layer blob.
	 * @param inputDims Dimensions of the input layer blob.
	 * @param output Name of the output layer blob containing the bounding boxes, ect.
	 * @param numDetections Name of the output layer blob containing the detection count.
	 * @param maxBatchSize The maximum batch size that the network will support and be optimized for.
	 */
	static detectNet* Create( const char* model_path, const char* class_labels, float threshold, 
						 const char* input, const Dims3& inputDims, 
						 const char* output, const char* numDetections,
						 uint32_t maxBatchSize=DEFAULT_MAX_BATCH_SIZE, 
						 precisionType precision=TYPE_FASTEST,
				   		 deviceType device=DEVICE_GPU, bool allowGPUFallback=true );

	/**
	 * Load a new network instance by parsing the command line.
	 */
	static detectNet* Create( int argc, char** argv );
	
	/**
	 * Load a new network instance by parsing the command line.
	 */
	static detectNet* Create( const commandLine& cmdLine );
	
	/**
	 * Usage string for command line arguments to Create()
	 */
	static inline const char* Usage() 		{ return DETECTNET_USAGE_STRING; }

	/**
	 * Destory
	 */
	virtual ~detectNet();
	
	/**
	 * Detect object locations from an image, returning an array containing the detection results.
	 * @param[in]  input input image in CUDA device memory (uchar3/uchar4/float3/float4)
	 * @param[in]  width width of the input image in pixels.
	 * @param[in]  height height of the input image in pixels.
	 * @param[out] detections pointer that will be set to array of detection results (residing in shared CPU/GPU memory)
	 * @param[in]  overlay bitwise OR combination of overlay flags (@see OverlayFlags and @see Overlay()), or OVERLAY_NONE.
	 * @returns    The number of detected objects, 0 if there were no detected objects, and -1 if an error was encountered.
	 */
	template<typename T> int Detect( T* image, uint32_t width, uint32_t height, Detection** detections, uint32_t overlay=OVERLAY_BOX )		{ return Detect((void*)image, width, height, imageFormatFromType<T>(), detections, overlay); }
	
	/**
	 * Detect object locations in an image, into an array of the results allocated by the user.
	 * @param[in]  input input image in CUDA device memory (uchar3/uchar4/float3/float4)
	 * @param[in]  width width of the input image in pixels.
	 * @param[in]  height height of the input image in pixels.
	 * @param[out] detections pointer to user-allocated array that will be filled with the detection results.
	 *                        @see GetMaxDetections() for the number of detection results that should be allocated in this buffer.
	 * @param[in]  overlay bitwise OR combination of overlay flags (@see OverlayFlags and @see Overlay()), or OVERLAY_NONE.
	 * @returns    The number of detected objects, 0 if there were no detected objects, and -1 if an error was encountered.
	 */
	template<typename T> int Detect( T* image, uint32_t width, uint32_t height, Detection* detections, uint32_t overlay=OVERLAY_BOX )			{ return Detect((void*)image, width, height, imageFormatFromType<T>(), detections, overlay); }
	
	/**
	 * Detect object locations from an image, returning an array containing the detection results.
	 * @param[in]  input input image in CUDA device memory (uchar3/uchar4/float3/float4)
	 * @param[in]  width width of the input image in pixels.
	 * @param[in]  height height of the input image in pixels.
	 * @param[out] detections pointer that will be set to array of detection results (residing in shared CPU/GPU memory)
	 * @param[in]  overlay bitwise OR combination of overlay flags (@see OverlayFlags and @see Overlay()), or OVERLAY_NONE.
	 * @returns    The number of detected objects, 0 if there were no detected objects, and -1 if an error was encountered.
	 */
	int Detect( void* input, uint32_t width, uint32_t height, imageFormat format, Detection** detections, uint32_t overlay=OVERLAY_BOX );

	/**
	 * Detect object locations from an image, into an array of the results allocated by the user.
	 * @param[in]  input input image in CUDA device memory (uchar3/uchar4/float3/float4)
	 * @param[in]  width width of the input image in pixels.
	 * @param[in]  height height of the input image in pixels.
	 * @param[out] detections pointer to user-allocated array that will be filled with the detection results.
	 *                        @see GetMaxDetections() for the number of detection results that should be allocated in this buffer.
	 * @param[in]  overlay bitwise OR combination of overlay flags (@see OverlayFlags and @see Overlay()), or OVERLAY_NONE.
	 * @returns    The number of detected objects, 0 if there were no detected objects, and -1 if an error was encountered.
	 */
	int Detect( void* input, uint32_t width, uint32_t height, imageFormat format, Detection* detections, uint32_t overlay=OVERLAY_BOX );
	
	/**
	 * Detect object locations from an RGBA image, returning an array containing the detection results.
      * @deprecated this overload of Detect() provides legacy compatibility with `float*` type (RGBA32F). 
	 * @param[in]  input float4 RGBA input image in CUDA device memory.
	 * @param[in]  width width of the input image in pixels.
	 * @param[in]  height height of the input image in pixels.
	 * @param[out] detections pointer that will be set to array of detection results (residing in shared CPU/GPU memory)
	 * @param[in]  overlay bitwise OR combination of overlay flags (@see OverlayFlags and @see Overlay()), or OVERLAY_NONE.
	 * @returns    The number of detected objects, 0 if there were no detected objects, and -1 if an error was encountered.
	 */
	int Detect( float* input, uint32_t width, uint32_t height, Detection** detections, uint32_t overlay=OVERLAY_BOX );

	/**
	 * Detect object locations in an RGBA image, into an array of the results allocated by the user.
	 * @deprecated this overload of Detect() provides legacy compatibility with `float*` type (RGBA32F). 
	 * @param[in]  input float4 RGBA input image in CUDA device memory.
	 * @param[in]  width width of the input image in pixels.
	 * @param[in]  height height of the input image in pixels.
	 * @param[out] detections pointer to user-allocated array that will be filled with the detection results.
	 *                        @see GetMaxDetections() for the number of detection results that should be allocated in this buffer.
	 * @param[in]  overlay bitwise OR combination of overlay flags (@see OverlayFlags and @see Overlay()), or OVERLAY_NONE.
	 * @returns    The number of detected objects, 0 if there were no detected objects, and -1 if an error was encountered.
	 */
	int Detect( float* input, uint32_t width, uint32_t height, Detection* detections, uint32_t overlay=OVERLAY_BOX );
	
	/**
	 * Draw the detected bounding boxes overlayed on an RGBA image.
	 * @note Overlay() will automatically be called by default by Detect(), if the overlay parameter is true 
	 * @param input input image in CUDA device memory.
	 * @param output output image in CUDA device memory.
	 * @param detections Array of detections allocated in CUDA device memory.
	 */
	template<typename T> bool Overlay( T* input, T* output, uint32_t width, uint32_t height, Detection* detections, uint32_t numDetections, uint32_t flags=OVERLAY_BOX )			{ return Overlay(input, output, width, height, imageFormatFromType<T>(), detections, flags); }
	
	/**
	 * Draw the detected bounding boxes overlayed on an RGBA image.
	 * @note Overlay() will automatically be called by default by Detect(), if the overlay parameter is true 
	 * @param input input image in CUDA device memory.
	 * @param output output image in CUDA device memory.
	 * @param detections Array of detections allocated in CUDA device memory.
	 */
	bool Overlay( void* input, void* output, uint32_t width, uint32_t height, imageFormat format, Detection* detections, uint32_t numDetections, uint32_t flags=OVERLAY_BOX );
	
	/**
	 * Retrieve the minimum threshold for detection.
	 * TODO:  change this to per-class in the future
	 */
	inline float GetThreshold() const							{ return mCoverageThreshold; }

	/**
	 * Set the minimum threshold for detection.
	 */
	inline void SetThreshold( float threshold ) 					{ mCoverageThreshold = threshold; }

	/**
	 * Retrieve the maximum number of simultaneous detections the network supports.
	 * Knowing this is useful for allocating the buffers to store the output detection results.
	 */
	inline uint32_t GetMaxDetections() const					{ return mMaxDetections; } 
		
	/**
	 * Retrieve the number of object classes supported in the detector
	 */
	inline uint32_t GetNumClasses() const						{ return mNumClasses; }

	/**
	 * Retrieve the description of a particular class.
	 */
	inline const char* GetClassDesc( uint32_t index )	const		{ return mClassDesc[index].c_str(); }
	
	/**
	 * Retrieve the class synset category of a particular class.
	 */
	inline const char* GetClassSynset( uint32_t index ) const		{ return mClassSynset[index].c_str(); }
	
	/**
 	 * Retrieve the path to the file containing the class descriptions.
	 */
	inline const char* GetClassPath() const						{ return mClassPath.c_str(); }

	/**
	 * Retrieve the RGBA visualization color a particular class.
	 */
	inline float* GetClassColor( uint32_t classIndex ) const		{ return mClassColors[0] + (classIndex*4); }

	/**
	 * Set the visualization color of a particular class of object.
	 */
	void SetClassColor( uint32_t classIndex, float r, float g, float b, float a=255.0f );
	
	/**
 	 * Set overlay alpha blending value for all classes (between 0-255).
	 */
	void SetOverlayAlpha( float alpha );

	/**
	 * Load class descriptions from a label file.
	 */
	static bool LoadClassInfo( const char* filename, std::vector<std::string>& descriptions, int expectedClasses=-1 );

	/**
	 * Load class descriptions and synset strings from a label file.
	 */
	static bool LoadClassInfo( const char* filename, std::vector<std::string>& descriptions, std::vector<std::string>& synsets, int expectedClasses=-1 );

	/**
	 * Procedurally generate a bounding box color for a class index.
	 */
	static void GenerateColor( uint32_t classID, uint8_t* rgb ); 
	
protected:

	// constructor
	detectNet( float meanPixel=0.0f );

	bool allocDetections();
	bool defaultColors();
	bool loadClassInfo( const char* filename );

	bool init( const char* prototxt_path, const char* model_path, const char* mean_binary, const char* class_labels, 
			 float threshold, const char* input, const char* coverage, const char* bboxes, uint32_t maxBatchSize, 
			 precisionType precision, deviceType device, bool allowGPUFallback );
	
	int clusterDetections( Detection* detections, uint32_t width, uint32_t height );
	int clusterDetections( Detection* detections, int n, float threshold=0.75f );

	void sortDetections( Detection* detections, int numDetections );

	float  mCoverageThreshold;
	float* mClassColors[2];
	float  mMeanPixel;

	std::vector<std::string> mClassDesc;
	std::vector<std::string> mClassSynset;

	std::string mClassPath;
	uint32_t	  mNumClasses;

	Detection* mDetectionSets[2];	// list of detections, mNumDetectionSets * mMaxDetections
	uint32_t   mDetectionSet;	// index of next detection set to use
	uint32_t	 mMaxDetections;	// number of raw detections in the grid

	static const uint32_t mNumDetectionSets = 16; // size of detection ringbuffer
};


#endif