Detailed Description

Defines Deep Neural Network (DNN) module for performing inference using NVIDIA^® TensorRT^™ models.

Data Structures
struct	dwDNNMetaData
	Specifies TensorRT model header. More...

Modules
	DNN Types
	Defines structures used by DNN and DNN related modules.

Typedefs
typedef struct dwDNNObject const *	dwConstDNNHandle_t

typedef struct dwDNNObject *	dwDNNHandle_t
	Handles representing Deep Neural Network interface. More...

Functions
DW_API_PUBLIC dwStatus	dwDNN_getCUDAStream (cudaStream_t *stream, dwDNNHandle_t network)
	Gets the CUDA stream used by the feature list. More...

DW_API_PUBLIC dwStatus	dwDNN_getInputBlobCount (uint16_t *count, dwDNNHandle_t network)
	Gets the input blob count. More...

DW_API_PUBLIC dwStatus	dwDNN_getInputIndex (uint16_t blobIndex, const char blobName, dwDNNHandle_t network)
	Gets the index of an input blob with a given blob name. More...

DW_API_PUBLIC dwStatus	dwDNN_getInputSize (dwBlobSize *blobSize, uint16_t blobIndex, dwDNNHandle_t network)
	Gets the input blob size at blobIndex. More...

DW_API_PUBLIC dwStatus	dwDNN_getMetaData (dwDNNMetaData *metaData, dwDNNHandle_t network)
	Returns the metadata for the associated network model. More...

DW_API_PUBLIC dwStatus	dwDNN_getOutputBlobCount (uint16_t *count, dwDNNHandle_t network)
	Gets the output blob count. More...

DW_API_PUBLIC dwStatus	dwDNN_getOutputIndex (uint16_t blobIndex, const char blobName, dwDNNHandle_t network)
	Gets the index of an output blob with a given blob name. More...

DW_API_PUBLIC dwStatus	dwDNN_getOutputSize (dwBlobSize *blobSize, uint16_t blobIndex, dwDNNHandle_t network)
	Gets the output blob size at blobIndex. More...

DW_API_PUBLIC dwStatus	dwDNN_infer (float32_t d_output, float32_t d_input, dwDNNHandle_t network)
	Forwards pass from all input blobs to all output blobs. More...

DW_API_PUBLIC dwStatus	dwDNN_inferSIO (float32_t d_output, float32_t d_input, dwDNNHandle_t network)
	Forwards pass from the first input blob to the first output blob (a shortcut for a single input - single output network). More...

DW_API_PUBLIC dwStatus	dwDNN_initializeTensorRTFromFile (dwDNNHandle_t network, dwContextHandle_t context, const char modelFilename)
	Creates and initializes a TensorRT Network from file. More...

DW_API_PUBLIC dwStatus	dwDNN_initializeTensorRTFromMemory (dwDNNHandle_t network, dwContextHandle_t context, const char modelContent, uint32_t modelContentSize)
	Creates and initializes a TensorRT Network from memory. More...

DW_API_PUBLIC dwStatus	dwDNN_release (dwDNNHandle_t *network)
	Releases a given network. More...

DW_API_PUBLIC dwStatus	dwDNN_reset (dwDNNHandle_t network)
	Resets a given network. More...

DW_API_PUBLIC dwStatus	dwDNN_setCUDAStream (cudaStream_t stream, dwDNNHandle_t network)
	Sets the CUDA stream for infer operations. More...

Data Structure Documentation

◆ dwDNNMetaData

struct dwDNNMetaData

Data Fields
dwDataConditionerParams	dataConditionerParams	DataConditioner parameters for running this network.
dwTonemapType	tonemapType

Typedef Documentation

◆ dwConstDNNHandle_t

typedef struct dwDNNObject const* dwConstDNNHandle_t

Definition at line 64 of file DNN.h.

◆ dwDNNHandle_t

typedef struct dwDNNObject* dwDNNHandle_t

Handles representing Deep Neural Network interface.

Definition at line 63 of file DNN.h.

Function Documentation

◆ dwDNN_getCUDAStream()

DW_API_PUBLIC dwStatus dwDNN_getCUDAStream	(	cudaStream_t *	stream,
		dwDNNHandle_t	network
	)

Gets the CUDA stream used by the feature list.

Parameters

[out]	stream	The CUDA stream currently used.
[in]	network	A handle to the DNN module.

Returns: DW_INVALID_HANDLE if the given network handle or the stream are NULL.
DW_SUCCESS otherwise.

◆ dwDNN_getInputBlobCount()

DW_API_PUBLIC dwStatus dwDNN_getInputBlobCount	(	uint16_t *	count,
		dwDNNHandle_t	network
	)

Gets the input blob count.

Parameters

[out]	count	A pointer to the number of input blobs.
[in]	network	Network handle created with dwDNN_initialize().

Returns: DW_INVALID_ARGUMENT - if provided network handle or count are NULL.
DW_SUCCESS otherwise.

◆ dwDNN_getInputIndex()

DW_API_PUBLIC dwStatus dwDNN_getInputIndex	(	uint16_t *	blobIndex,
		const char *	blobName,
		dwDNNHandle_t	network
	)

Gets the index of an input blob with a given blob name.

Parameters

[out]	blobIndex	A pointer to the index of the blob with the given name.
[in]	blobName	A pointer to the name of an input blob.
[in]	network	Network handle created with dwDNN_initialize().

Returns: DW_INVALID_ARGUMENT - if provided network handle, blobIndex or blobName are null or an input blob with the given name is not found.
DW_SUCCESS otherwise.

◆ dwDNN_getInputSize()

DW_API_PUBLIC dwStatus dwDNN_getInputSize	(	dwBlobSize *	blobSize,
		uint16_t	blobIndex,
		dwDNNHandle_t	network
	)

Gets the input blob size at blobIndex.

Parameters

[out]	blobSize	A pointer to the where the input blob size is returned.
[in]	blobIndex	Specifies the blob index; must be in the range [0 dwDNN_getInputBlobCount()-1].
[in]	network	Network handle created with dwDNN_initialize().

Returns: DW_INVALID_ARGUMENT - if provided network handle or the blob size are NULL or blobIndex is not in range [0 dwDNN_getInputBlobCount()-1].
DW_SUCCESS otherwise.

◆ dwDNN_getMetaData()

DW_API_PUBLIC dwStatus dwDNN_getMetaData	(	dwDNNMetaData *	metaData,
		dwDNNHandle_t	network
	)

Returns the metadata for the associated network model.

Parameters

[out]	metaData	A pointer to a metadata structure.
[in]	network	Network handle created with dwDNN_initialize().

Returns: DW_INVALID_ARGUMENT - if provided network handle or metaData are NULL.
DW_SUCCESS otherwise.

◆ dwDNN_getOutputBlobCount()

DW_API_PUBLIC dwStatus dwDNN_getOutputBlobCount	(	uint16_t *	count,
		dwDNNHandle_t	network
	)

Gets the output blob count.

Parameters

[out]	count	A pointer to the number of output blobs.
[in]	network	Network handle created with dwDNN_initialize().

Returns: DW_INVALID_ARGUMENT - if provided network handle or count are NULL.
DW_SUCCESS otherwise.

◆ dwDNN_getOutputIndex()

DW_API_PUBLIC dwStatus dwDNN_getOutputIndex	(	uint16_t *	blobIndex,
		const char *	blobName,
		dwDNNHandle_t	network
	)

Gets the index of an output blob with a given blob name.

Parameters

[out]	blobIndex	A pointer to the index of the blob with the given name.
[in]	blobName	A pointer to the name of an output blob.
[in]	network	Network handle created with dwDNN_initialize().

Returns: DW_INVALID_HANDLE - if provided network handle, blobIndex or blobName are NULL or an output blob with the given name is not found.
DW_SUCCESS otherwise.

◆ dwDNN_getOutputSize()

DW_API_PUBLIC dwStatus dwDNN_getOutputSize	(	dwBlobSize *	blobSize,
		uint16_t	blobIndex,
		dwDNNHandle_t	network
	)

Gets the output blob size at blobIndex.

Parameters

[out]	blobSize	A pointer to the where the output blob size is returned.
[in]	blobIndex	Specifies the blob index; must be in the range [0 dwDNN_getOutputBlobCount()-1].
[in]	network	Network handle created with dwDNN_initialize().

Returns: DW_INVALID_ARGUMENT - if provided network handle is or blobSize are NULL or blobIndex is not in range [0 dwDNN_getOutputBlobCount()-1].
DW_SUCCESS otherwise.

◆ dwDNN_infer()

DW_API_PUBLIC dwStatus dwDNN_infer	(	float32_t **	d_output,
		float32_t **	d_input,
		dwDNNHandle_t	network
	)

Forwards pass from all input blobs to all output blobs.

Note: : The size of the output blob and input blob must match the respective sizes returned by dwDNN_getOutputSize() and dwDNN_getInputSize().; : The umber of blobs must match the respective number of blobs returned by dwDNN_getInputBlobCount() and dwDNN_getOutputBlobCount().

Parameters

[out]	d_output	A pointer to an array of pointers to the input blobs in GPU Memory.
[in]	d_input	A pointer to an array of pointers to the output blobs in GPU Memory.
[in]	network	Network handle created with dwDNN_initialize().

Returns: DW_INVALID_ARGUMENT - if provided network handle , output or input are NULL.
DW_INTERNAL_ERROR - if DNN engine cannot execute inference on the given network.
DW_SUCCESS otherwise.

◆ dwDNN_inferSIO()

DW_API_PUBLIC dwStatus dwDNN_inferSIO	(	float32_t *	d_output,
		float32_t *	d_input,
		dwDNNHandle_t	network
	)

Forwards pass from the first input blob to the first output blob (a shortcut for a single input - single output network).

Note: This method requires the network to be single input - single output.; The size of the output blob and input blob must match the respective sizes returned by dwDNN_getOutputSize() and dwDNN_getInputSize().

Parameters

[out]	d_output	A pointer to the output blob in GPU memory.
[in]	d_input	A pointer to the input blob in GPU memory.
[in]	network	Network handle created with dwDNN_initialize().

Returns: DW_INVALID_ARGUMENT - if provided network handle, output or input are NULL or if provided network is not a single input - single output network.
DW_INTERNAL_ERROR - if DNN engine cannot execute inference on the given network.
DW_SUCCESS otherwise.

◆ dwDNN_initializeTensorRTFromFile()

DW_API_PUBLIC dwStatus dwDNN_initializeTensorRTFromFile	(	dwDNNHandle_t *	network,
		dwContextHandle_t	context,
		const char *	modelFilename
	)

Creates and initializes a TensorRT Network from file.

Parameters

[out]	network	A pointer to network handle that will be initialized from parameters.
[in]	context	Specifies the handle to the context under which the DNN module is created.
[in]	modelFilename	A pointer to the name of the TensorRT model file.

Returns: DW_INVALID_ARGUMENT - if pointer to the network handle or the model filename are NULL.
DW_DNN_INVALID_MODEL - if the provided model is invalid.
DW_CUDA_ERROR - if compute capability does not met the network type's requirements.
DW_FILE_NOT_FOUND - if given model file does not exist.
DW_SUCCESS otherwise.

Note

The network file must be created by the TensorRT_optimization tool. If the network has been created by other means or by an older version of DriveWorks than 0.3.0, the required conversion can be done using TensorRT_metadata tool.

DNN module will look for metadata file named <modelFilename>.json in the same folder. If it is present, metadata will be loaded from that file. Otherwise, it will be filled with default values. Example metadata:

{
    "dataConditionerParams" : {
        "meanValue" : [0.0, 0.0, 0.0],
        "splitPlanes" : true,
        "pixelScaleCoefficient": 1.0,
        "preprocessor": "none",
        "__comment": "preprocessor can be one of {none, logwb, agtm}",
        "ignoreAspectRatio" : false,
        "doPerPlaneMeanNormalization" : false
    }
}

\

◆ dwDNN_initializeTensorRTFromMemory()

DW_API_PUBLIC dwStatus dwDNN_initializeTensorRTFromMemory	(	dwDNNHandle_t *	network,
		dwContextHandle_t	context,
		const char *	modelContent,
		uint32_t	modelContentSize
	)

Creates and initializes a TensorRT Network from memory.

Parameters

[out]	network	A pointer to network handle that is initialized from parameters.
[in]	context	Specifies a handle to the context under which the DNN module is created.
[in]	modelContent	A pointer to network content in the memory.
[in]	modelContentSize	Specifies the size of network content in memory, in bytes.

Returns: DW_INVALID_ARGUMENT - if pointer to the network handle or the model content are NULL.
DW_DNN_INVALID_MODEL - if the provided model is invalid.
DW_CUDA_ERROR - if compute capability does not met the network type's requirements.
DW_SUCCESS otherwise.

Note: The network file must be created by the TensorRT_optimization tool. If the network has been created by other means or by an older version of DriveWorks than 0.3.0, the required conversion can be done using TensorRT_metadata tool.; DNN module will fill metadata with default values.

◆ dwDNN_release()

DW_API_PUBLIC dwStatus dwDNN_release ( dwDNNHandle_t * network )

Releases a given network.

Parameters

[in] network A pointer to the network handle to release.

Returns: DW_INVALID_ARGUMENT - if provided network handle is NULL.
DW_SUCCESS otherwise.

◆ dwDNN_reset()

DW_API_PUBLIC dwStatus dwDNN_reset ( dwDNNHandle_t network )

Resets a given network.

Parameters

[in] network Network handle to reset.

Returns: DW_INVALID_ARGUMENT - if provided network handle is null.
DW_SUCCESS otherwise.

◆ dwDNN_setCUDAStream()

DW_API_PUBLIC dwStatus dwDNN_setCUDAStream	(	cudaStream_t	stream,
		dwDNNHandle_t	network
	)

Sets the CUDA stream for infer operations.

Note: The ownership of the stream remains by the callee.

Parameters

[in]	stream	The CUDA stream to be used. Default is the stream 0, resulting in synchronous operations.
[in]	network	A handle to the DNN module to set CUDA stream for.

Returns: DW_INVALID_ARGUMENT if the given network handle is NULL.
DW_SUCCESS otherwise.

DriveWorks SDK Reference

| 0.6.67 Release

Detailed Description

Data Structures

Modules

Typedefs

Functions

Data Structure Documentation

◆ dwDNNMetaData

Typedef Documentation

◆ dwConstDNNHandle_t

◆ dwDNNHandle_t

Function Documentation

◆ dwDNN_getCUDAStream()

◆ dwDNN_getInputBlobCount()

◆ dwDNN_getInputIndex()

◆ dwDNN_getInputSize()

◆ dwDNN_getMetaData()

◆ dwDNN_getOutputBlobCount()

◆ dwDNN_getOutputIndex()

◆ dwDNN_getOutputSize()

◆ dwDNN_infer()

◆ dwDNN_inferSIO()

◆ dwDNN_initializeTensorRTFromFile()

◆ dwDNN_initializeTensorRTFromMemory()

◆ dwDNN_release()

◆ dwDNN_reset()

◆ dwDNN_setCUDAStream()