Detailed Description

Defines free space detector module based on FreeSpaceNet, i.e., DNN based free space detector.

Data Structures
struct	dwFreeSpaceDetection
	Holds the defintion of a boundary in one image. More...

Typedefs
typedef struct dwFreeSpaceDetectorObject *	dwFreeSpaceDetectorHandle_t
	Handle to a DataConditioner. More...

Enumerations
enum	dwFreeSpaceBoundaryType { DW_BOUNDARY_TYPE_OTHER = 0, DW_BOUNDARY_TYPE_CURB = 1, DW_BOUNDARY_TYPE_VEHICLE = 2, DW_BOUNDARY_TYPE_PERSON = 3, DW_BOUNDARY_TYPE_UNDEFINED = 4 }
	Category of free space boundary. More...

Functions
DW_API_PUBLIC dwStatus	dwFreeSpaceDetector_getBoundaryDetection (dwFreeSpaceDetection *boundary, dwFreeSpaceDetectorHandle_t obj)
	Gets the latest computed results. More...

DW_API_PUBLIC dwStatus	dwFreeSpaceDetector_getCUDAStream (cudaStream_t *stream, dwFreeSpaceDetectorHandle_t obj)
	Gets CUDA stream used by the free space detection. More...

DW_API_PUBLIC dwStatus	dwFreeSpaceDetector_getDetectionROI (dwRect *roi, dwFreeSpaceDetectorHandle_t obj)
	Gets the detection Region of Interest (ROI) for the detector. More...

DW_API_PUBLIC dwStatus	dwFreeSpaceDetector_getDNNMetaData (dwDNNMetaData *metaData, dwFreeSpaceDetectorHandle_t obj)
	Returns the DNN metadata. More...

DW_API_PUBLIC dwStatus	dwFreeSpaceDetector_initializeCalibratedFreeSpaceNet (dwFreeSpaceDetectorHandle_t *obj, uint32_t frameWidth, uint32_t frameHeight, cudaStream_t stream, dwTransformation cam2rig, float32_t maxDistance, dwCalibratedCameraHandle_t cam, dwContextHandle_t ctx)
	Initializes a free space detector module based on FreeSpaceNet with a calibrated camera. More...

DW_API_PUBLIC dwStatus	dwFreeSpaceDetector_initializeFreeSpaceNet (dwFreeSpaceDetectorHandle_t *obj, uint32_t frameWidth, uint32_t frameHeight, cudaStream_t stream, dwContextHandle_t ctx)
	Initializes a free space detector module based on FreeSpaceNet. More...

DW_API_PUBLIC dwStatus	dwFreeSpaceDetector_interpretHost (dwFreeSpaceDetectorHandle_t obj)
	Runs the interpretation of the processed results on the CPU. More...

DW_API_PUBLIC dwStatus	dwFreeSpaceDetector_processDeviceAsync (const dwImageCUDA *frame, dwFreeSpaceDetectorHandle_t obj)
	Processes the given frame on the GPU asynchronously. More...

DW_API_PUBLIC dwStatus	dwFreeSpaceDetector_release (dwFreeSpaceDetectorHandle_t *obj)
	Releases the detector module. More...

DW_API_PUBLIC dwStatus	dwFreeSpaceDetector_reset (dwFreeSpaceDetectorHandle_t obj)
	Resets the free space detector module. More...

DW_API_PUBLIC dwStatus	dwFreeSpaceDetector_setCUDAStream (cudaStream_t stream, dwFreeSpaceDetectorHandle_t obj)
	Sets the CUDA stream for CUDA related operations. More...

DW_API_PUBLIC dwStatus	dwFreeSpaceDetector_setDetectionROI (const dwRect *roi, dwFreeSpaceDetectorHandle_t obj)
	Sets the detection Region of Interest (ROI) for the detector. More...

DW_API_PUBLIC dwStatus	dwFreeSpaceDetector_setSpatialSmoothFilterWidth (uint32_t width, dwFreeSpaceDetectorHandle_t obj)
	Sets the spatial smoothing filter width. More...

DW_API_PUBLIC dwStatus	dwFreeSpaceDetector_setTemporalSmoothFactor (float32_t factor, dwFreeSpaceDetectorHandle_t obj)
	Sets the temporal smoothing factor. More...

Data Structure Documentation

◆ dwFreeSpaceDetection

struct dwFreeSpaceDetection

Data Fields
const dwVector2f *	boundaryImagePoint	Boundary point location in image space (pixels).
const dwFreeSpaceBoundaryType *	boundaryType	Category of the boundary.
const dwVector2f *	boundaryWorldPoint	Boundary point location in car domain (meter).
uint32_t	numberOfBoundaryPoints

Typedef Documentation

◆ dwFreeSpaceDetectorHandle_t

typedef struct dwFreeSpaceDetectorObject* dwFreeSpaceDetectorHandle_t

Handle to a DataConditioner.

Definition at line 91 of file FreeSpaceDetector.h.

Enumeration Type Documentation

◆ dwFreeSpaceBoundaryType

enum dwFreeSpaceBoundaryType

Category of free space boundary.

Enumerator
DW_BOUNDARY_TYPE_OTHER	boundary with other objects
DW_BOUNDARY_TYPE_CURB	boundary with curb
DW_BOUNDARY_TYPE_VEHICLE	boundary with vehicle
DW_BOUNDARY_TYPE_PERSON	boundary with person
DW_BOUNDARY_TYPE_UNDEFINED	undefined boundary

Definition at line 64 of file FreeSpaceDetector.h.

Function Documentation

◆ dwFreeSpaceDetector_getBoundaryDetection()

DW_API_PUBLIC dwStatus dwFreeSpaceDetector_getBoundaryDetection	(	dwFreeSpaceDetection *	boundary,
		dwFreeSpaceDetectorHandle_t	obj
	)

Gets the latest computed results.

This method has to be executed after dwFreeSpaceDetector_interpretHost() to get the current output of the detector.

Note: The dwFreeSpaceDetection component pointers are only valid till the next proccesDeviceAsync method

Parameters

[out]	boundary	A user pointer to be filled with information about detected boundary points.
[in]	obj	A free space detector handle.

Returns: DW_SUCCESS, DW_INVALID_HANDLE, DW_BAD_CAST

◆ dwFreeSpaceDetector_getCUDAStream()

DW_API_PUBLIC dwStatus dwFreeSpaceDetector_getCUDAStream	(	cudaStream_t *	stream,
		dwFreeSpaceDetectorHandle_t	obj
	)

Gets CUDA stream used by the free space detection.

Parameters

[out]	stream	The CUDA stream currently used.
[in]	obj	A handle to the free space detection module.

Returns: DW_INVALID_HANDLE if the given context handle is invalid,
or DW_SUCCESS otherwise.

◆ dwFreeSpaceDetector_getDetectionROI()

DW_API_PUBLIC dwStatus dwFreeSpaceDetector_getDetectionROI	(	dwRect *	roi,
		dwFreeSpaceDetectorHandle_t	obj
	)

Gets the detection Region of Interest (ROI) for the detector.

Parameters

[out]	roi	ROI of frame to be processed by the detector, default to full frame
[in]	obj	A free space detector handle

Returns: dwRect&

◆ dwFreeSpaceDetector_getDNNMetaData()

DW_API_PUBLIC dwStatus dwFreeSpaceDetector_getDNNMetaData	(	dwDNNMetaData *	metaData,
		dwFreeSpaceDetectorHandle_t	obj
	)

Returns the DNN metadata.

Parameters

[out]	metaData	Pointer to metaData struct.
[in]	obj	Specifies the FreeSpace handle.

Returns: DW_SUCCESS, DW_INVALID_HANDLE, DW_BAD_CAST, DW_INVALID_ARGUMENT

◆ dwFreeSpaceDetector_initializeCalibratedFreeSpaceNet()

DW_API_PUBLIC dwStatus dwFreeSpaceDetector_initializeCalibratedFreeSpaceNet	(	dwFreeSpaceDetectorHandle_t *	obj,
		uint32_t	frameWidth,
		uint32_t	frameHeight,
		cudaStream_t	stream,
		dwTransformation	cam2rig,
		float32_t	maxDistance,
		dwCalibratedCameraHandle_t	cam,
		dwContextHandle_t	ctx
	)

Initializes a free space detector module based on FreeSpaceNet with a calibrated camera.

Calibrated camera is used to estimate boundary points in car space.

Parameters

[out]	obj	A pointer to the free space detector handle for the created module.
[in]	frameWidth	Width of camera frames to apply free space detector later.
[in]	frameHeight	Height of camera frames to apply free space detector later.
[in]	stream	CUDA stream on which to perform all operations.
[in]	cam2rig	Specifies the transformation from camera to rig.
[in]	maxDistance	Maximum distance in meters at which free space boundary should be detected.
[in]	cam	Specifies the handle to the calibrated front looking camera.
[in]	ctx	Specifies the handler to the context to create FreeSpaceNet.

Returns: DW_INVALID_ARGUMENT, DW_SUCCESS

Note: Extrinsic parameters of the camera must take rig as the origin of World Coordinate System.

◆ dwFreeSpaceDetector_initializeFreeSpaceNet()

DW_API_PUBLIC dwStatus dwFreeSpaceDetector_initializeFreeSpaceNet	(	dwFreeSpaceDetectorHandle_t *	obj,
		uint32_t	frameWidth,
		uint32_t	frameHeight,
		cudaStream_t	stream,
		dwContextHandle_t	ctx
	)

Initializes a free space detector module based on FreeSpaceNet.

By default it runs on stream 0

Parameters

[out]	obj	A pointer to the free space detector handle for the created module.
[in]	frameWidth	Width of camera frames to apply free space detector later.
[in]	frameHeight	Height of camera frames to apply free space detector later.
[in]	stream	CUDA stream on which to perform all operations.
[in]	ctx	Specifies the handler to the context to create FreeSpaceNet.

Returns: DW_INVALID_ARGUMENT, DW_SUCCESS

◆ dwFreeSpaceDetector_interpretHost()

DW_API_PUBLIC dwStatus dwFreeSpaceDetector_interpretHost ( dwFreeSpaceDetectorHandle_t obj )

Runs the interpretation of the processed results on the CPU.

This method has to be executed after dwFreeSpaceDetector_processDeviceAsync() to get the actual output of the detector.

Parameters

[in] obj A free space detector handle.

Returns: DW_SUCCESS, DW_INVALID_HANDLE, DW_BAD_CAST

◆ dwFreeSpaceDetector_processDeviceAsync()

DW_API_PUBLIC dwStatus dwFreeSpaceDetector_processDeviceAsync	(	const dwImageCUDA *	frame,
		dwFreeSpaceDetectorHandle_t	obj
	)

Processes the given frame on the GPU asynchronously.

Parameters

[in]	frame	CUDA frame to be processed for detection.
[in]	obj	A free space detector handle.

Returns: DW_SUCCESS, DW_INVALID_HANDLE, DW_BAD_CAST

◆ dwFreeSpaceDetector_release()

DW_API_PUBLIC dwStatus dwFreeSpaceDetector_release ( dwFreeSpaceDetectorHandle_t * obj )

Releases the detector module.

Parameters

[in] obj A pointer to the object handle to release.

Returns: DW_SUCCESS, DW_INVALID_HANDLE, DW_BAD_CAST

Note: This method renders the handle unusable.

◆ dwFreeSpaceDetector_reset()

DW_API_PUBLIC dwStatus dwFreeSpaceDetector_reset ( dwFreeSpaceDetectorHandle_t obj )

Resets the free space detector module.

Parameters

[in] obj Specifies the detector to reset.

Returns: DW_SUCCESS, DW_INVALID_HANDLE, DW_BAD_CAST

◆ dwFreeSpaceDetector_setCUDAStream()

DW_API_PUBLIC dwStatus dwFreeSpaceDetector_setCUDAStream	(	cudaStream_t	stream,
		dwFreeSpaceDetectorHandle_t	obj
	)

Sets the CUDA stream for CUDA related operations.

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

Parameters

[in]	stream	The CUDA stream to be used. Default is the one passed during initialization.
[in]	obj	A handle to the free space detector module for which to set CUDA stream.

Returns: DW_INVALID_HANDLE if the given context handle is invalid,
or DW_SUCCESS otherwise.

◆ dwFreeSpaceDetector_setDetectionROI()

DW_API_PUBLIC dwStatus dwFreeSpaceDetector_setDetectionROI	(	const dwRect *	roi,
		dwFreeSpaceDetectorHandle_t	obj
	)

Sets the detection Region of Interest (ROI) for the detector.

Parameters

[in]	roi	ROI of frame to be processed by the detector, default to full frame.
[in]	obj	A free space detector handle.

Returns: DW_SUCCESS, DW_INVALID_HANDLE, DW_BAD_CAST

◆ dwFreeSpaceDetector_setSpatialSmoothFilterWidth()

DW_API_PUBLIC dwStatus dwFreeSpaceDetector_setSpatialSmoothFilterWidth	(	uint32_t	width,
		dwFreeSpaceDetectorHandle_t	obj
	)

Sets the spatial smoothing filter width.

Note: Filter width must be an odd integer within (1, numberOfBoundaryPoints/10). The boundary of the 1-D Gaussian filter is set to 2.5* standard deviation.

Parameters

[in]	width	Width of an 1-D Gaussian filter used to spatially smooth the boundary points. Default to 1 and no spatial smoothing.
[in]	obj	A free space detector handle (must be of type FreeSpaceNet).

Returns: DW_SUCCESS, DW_INVALID_HANDLE, DW_BAD_CAST

◆ dwFreeSpaceDetector_setTemporalSmoothFactor()

DW_API_PUBLIC dwStatus dwFreeSpaceDetector_setTemporalSmoothFactor	(	float32_t	factor,
		dwFreeSpaceDetectorHandle_t	obj
	)

Sets the temporal smoothing factor.

Parameters

[in]	factor	Average previous and current free space boundary points. smoothed point = factorprevious point + (1.0-factor)current point To turn off temporal smoothing, set factor to zero (0).
[in]	obj	A free space detector handle (must be of type FreeSpaceNet).

Returns: DW_SUCCESS, DW_INVALID_HANDLE, DW_BAD_CAST

DriveWorks SDK Reference

| 0.6.67 Release

Detailed Description

Data Structures

Typedefs

Enumerations

Functions

Data Structure Documentation

◆ dwFreeSpaceDetection

Typedef Documentation

◆ dwFreeSpaceDetectorHandle_t

Enumeration Type Documentation

◆ dwFreeSpaceBoundaryType

Function Documentation

◆ dwFreeSpaceDetector_getBoundaryDetection()

◆ dwFreeSpaceDetector_getCUDAStream()

◆ dwFreeSpaceDetector_getDetectionROI()

◆ dwFreeSpaceDetector_getDNNMetaData()

◆ dwFreeSpaceDetector_initializeCalibratedFreeSpaceNet()

◆ dwFreeSpaceDetector_initializeFreeSpaceNet()

◆ dwFreeSpaceDetector_interpretHost()

◆ dwFreeSpaceDetector_processDeviceAsync()

◆ dwFreeSpaceDetector_release()

◆ dwFreeSpaceDetector_reset()

◆ dwFreeSpaceDetector_setCUDAStream()

◆ dwFreeSpaceDetector_setDetectionROI()

◆ dwFreeSpaceDetector_setSpatialSmoothFilterWidth()

◆ dwFreeSpaceDetector_setTemporalSmoothFactor()