Detailed Description

Defines lane detector module based on LaneNet, i.e., DNN based lane detector.

Data Structures
struct	dwLaneDetection
	The output format of detected lanes. More...

struct	dwLaneMarking
	A defintion of one lane. More...

Macros
#define	DW_LANEMARK_MAX_COUNT 16

#define	DW_LANEMARK_POINT_MAX_COUNT 128

Typedefs
typedef struct dwLaneDetectorObject *	dwLaneDetectorHandle_t
	Handle to a DataConditioner. More...

Enumerations
enum	dwLaneMarkType { DW_LANEMARK_TYPE_UNDEFINED = 0 }
	Type of a lane mark. More...

enum	dwLanePositionType { DW_LANEMARK_POSITION_ADJACENT_LEFT = -2, DW_LANEMARK_POSITION_EGO_LEFT = -1, DW_LANEMARK_POSITION_EGO_RIGHT = 1, DW_LANEMARK_POSITION_ADJACENT_RIGHT = 2, DW_LANEMARK_POSITION_UNDEFINED = 999 }
	Defintion of the position of a lane marking in respect to the ego lane. More...

Functions
DW_API_PUBLIC dwStatus	dwLaneDetector_getCUDAStream (cudaStream_t *stream, dwLaneDetectorHandle_t obj)
	Gets CUDA stream used by the lane detection. More...

DW_API_PUBLIC dwStatus	dwLaneDetector_getDetectionROI (dwRect *roi, dwLaneDetectorHandle_t obj)
	Get detection Region of Interest (ROI) for the detector. More...

DW_API_PUBLIC dwStatus	dwLaneDetector_getLaneDetections (dwLaneDetection *lanes, dwLaneDetectorHandle_t obj)
	Gets the latest computed results in image coordinates. More...

DW_API_PUBLIC dwStatus	dwLaneDetector_initializeLaneNet (dwLaneDetectorHandle_t *obj, uint32_t frameWidth, uint32_t frameHeight, dwContextHandle_t ctx)
	Initializes a lane detector module based on LaneNet. More...

DW_API_PUBLIC dwStatus	dwLaneDetector_interpretHost (dwLaneDetectorHandle_t obj)
	Runs the interpretation of the processed results on the CPU. More...

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

DW_API_PUBLIC dwStatus	dwLaneDetector_release (dwLaneDetectorHandle_t *obj)
	Releases the detector module. More...

DW_API_PUBLIC dwStatus	dwLaneDetector_reset (dwLaneDetectorHandle_t obj)
	Resets the lane detector module. More...

DW_API_PUBLIC dwStatus	dwLaneDetector_setCameraExtrinsics (dwTransformation cam2rig, dwLaneDetectorHandle_t obj)
	Set the transformation from camera to rig. More...

DW_API_PUBLIC dwStatus	dwLaneDetector_setCameraHandle (dwCalibratedCameraHandle_t cam, dwLaneDetectorHandle_t obj)
	Set the handle to the calibrated front looking camera. More...

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

DW_API_PUBLIC dwStatus	dwLaneDetector_setDetectionROI (const dwRect *roi, dwLaneDetectorHandle_t obj)
	Set detection Region of Interest (ROI) for the detector. More...

DW_API_PUBLIC dwStatus	dwLaneDetector_setMaxLaneDistance (float32_t maxDistance, dwLaneDetectorHandle_t obj)
	Set the maximum distance in meters at which lane markings can be detected. More...

DW_API_PUBLIC dwStatus	dwLaneDetectorLaneNet_getDNNMetaData (dwDNNMetaData *metaData, dwLaneDetectorHandle_t obj)
	Returns the DNN metadata. More...

DW_API_PUBLIC dwStatus	dwLaneDetectorLaneNet_getTemporalSmoothFactor (float32_t *factor, dwLaneDetectorHandle_t obj)
	Gets the temporal smoothing factor for the LaneNet based detector. More...

DW_API_PUBLIC dwStatus	dwLaneDetectorLaneNet_setDetectionThreshold (float32_t threshold, dwLaneDetectorHandle_t obj)
	Sets the detection confidence threshold for the LaneNet based detector. More...

DW_API_PUBLIC dwStatus	dwLaneDetectorLaneNet_setHorizontalFOV (float32_t hfov, dwLaneDetectorHandle_t obj)
	Sets the input camera horizontal Field Of View (FOV) in degree for the LaneNet-based detector. More...

DW_API_PUBLIC dwStatus	dwLaneDetectorLaneNet_setTemporalSmoothFactor (float32_t factor, dwLaneDetectorHandle_t obj)
	Sets the temporal smoothing factor for the LaneNet-based detector. More...

Data Structure Documentation

◆ dwLaneDetection

struct dwLaneDetection

Data Fields
dwLaneMarking	laneMarkings[DW_LANEMARK_MAX_COUNT]	Detected lane markings.
uint32_t	numLaneMarkings	Number of detected lane markings.

◆ dwLaneMarking

struct dwLaneMarking

Data Fields
dwVector2f	imagePoints[DW_LANEMARK_POINT_MAX_COUNT]	Lane marking point location in image domain (pixel).
dwLaneMarkType	lineType	Category of the line type of lane marking.
uint32_t	numPoints	Number of points in the array.
dwLanePositionType	positionType	Category of the position of lane marking.

Macro Definition Documentation

◆ DW_LANEMARK_MAX_COUNT

#define DW_LANEMARK_MAX_COUNT 16

Definition at line 58 of file LaneDetector.h.

◆ DW_LANEMARK_POINT_MAX_COUNT

#define DW_LANEMARK_POINT_MAX_COUNT 128

Definition at line 59 of file LaneDetector.h.

Typedef Documentation

◆ dwLaneDetectorHandle_t

typedef struct dwLaneDetectorObject* dwLaneDetectorHandle_t

Handle to a DataConditioner.

Definition at line 112 of file LaneDetector.h.

Enumeration Type Documentation

◆ dwLaneMarkType

enum dwLaneMarkType

Type of a lane mark.

Enumerator
DW_LANEMARK_TYPE_UNDEFINED	all detected lane markings are treated the same type

Definition at line 65 of file LaneDetector.h.

◆ dwLanePositionType

enum dwLanePositionType

Defintion of the position of a lane marking in respect to the ego lane.

Enumerator
DW_LANEMARK_POSITION_ADJACENT_LEFT	lane marking on the left side next to ego lane
DW_LANEMARK_POSITION_EGO_LEFT	left lane marking of the ego lane
DW_LANEMARK_POSITION_EGO_RIGHT	right lane marking of the ego lane
DW_LANEMARK_POSITION_ADJACENT_RIGHT	lane marking on the right side next to ego lane
DW_LANEMARK_POSITION_UNDEFINED	lane marking has been identifed but has not been categorized

Definition at line 71 of file LaneDetector.h.

Function Documentation

◆ dwLaneDetector_getCUDAStream()

DW_API_PUBLIC dwStatus dwLaneDetector_getCUDAStream	(	cudaStream_t *	stream,
		dwLaneDetectorHandle_t	obj
	)

Gets CUDA stream used by the lane detection.

Parameters

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

Returns: DW_INVALID_HANDLE - If the given context handle is invalid.
DW_SUCCESS

◆ dwLaneDetector_getDetectionROI()

DW_API_PUBLIC dwStatus dwLaneDetector_getDetectionROI	(	dwRect *	roi,
		dwLaneDetectorHandle_t	obj
	)

Get 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 lane detector handle

Returns: DW_INVALID_HANDLE - If the given context handle is invalid.
DW_BAD_CAST - If cannot cast the given handle to the expected type.
DW_SUCCESS

◆ dwLaneDetector_getLaneDetections()

DW_API_PUBLIC dwStatus dwLaneDetector_getLaneDetections	(	dwLaneDetection *	lanes,
		dwLaneDetectorHandle_t	obj
	)

Gets the latest computed results in image coordinates.

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

Parameters

[out]	lanes	A user pointer to be filled with information about detected lanes.
[in]	obj	A lane detector handle.

Returns: DW_INVALID_HANDLE - If the given context handle is invalid.
DW_BAD_CAST - If cannot cast the given handle to the expected type.
DW_SUCCESS

Note: Lanes are ordered from bottom to top of the image.

◆ dwLaneDetector_initializeLaneNet()

DW_API_PUBLIC dwStatus dwLaneDetector_initializeLaneNet	(	dwLaneDetectorHandle_t *	obj,
		uint32_t	frameWidth,
		uint32_t	frameHeight,
		dwContextHandle_t	ctx
	)

Initializes a lane detector module based on LaneNet.

Parameters

[out]	obj	A pointer to the LaneNet handle for the created module.
[in]	frameWidth	Width of camera frames to apply lane detector later.
[in]	frameHeight	Height of camera frames to apply lane detector later.
[in]	ctx	Specifies the handler to the context to create LaneNet.

Returns: DW_INVALID_ARGUMENT - If provided context handle is invalid.
DW_SUCCESS

◆ dwLaneDetector_interpretHost()

DW_API_PUBLIC dwStatus dwLaneDetector_interpretHost ( dwLaneDetectorHandle_t obj )

Runs the interpretation of the processed results on the CPU.

To get the actual output of the detector, this method must be executed after dwLaneDetector_processDeviceAsync().

Parameters

[in] obj A lane detector handle.

Returns: DW_INVALID_HANDLE - If the given context handle is invalid.
DW_BAD_CAST - If cannot cast the given handle to the expected type.
DW_SUCCESS

◆ dwLaneDetector_processDeviceAsync()

DW_API_PUBLIC dwStatus dwLaneDetector_processDeviceAsync	(	const dwImageCUDA *	frame,
		dwLaneDetectorHandle_t	obj
	)

Processes the given frame on the GPU asynchronously.

Parameters

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

Returns: DW_INVALID_HANDLE - If the given context handle is invalid.
DW_BAD_CAST - If cannot cast the given handle to the expected type.
DW_SUCCESS

◆ dwLaneDetector_release()

DW_API_PUBLIC dwStatus dwLaneDetector_release ( dwLaneDetectorHandle_t * obj )

Releases the detector module.

Parameters

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

Returns: DW_INVALID_HANDLE - If the given context handle is invalid.
DW_BAD_CAST - If cannot cast the given handle to the expected type.
DW_SUCCESS

Note: This method renders the handle unusable.

◆ dwLaneDetector_reset()

DW_API_PUBLIC dwStatus dwLaneDetector_reset ( dwLaneDetectorHandle_t obj )

Resets the lane detector module.

Parameters

[in] obj Specifies the detector to reset.

Returns: DW_INVALID_HANDLE - If the given context handle is invalid.
DW_BAD_CAST - If cannot cast the given handle to the expected type.
DW_SUCCESS

◆ dwLaneDetector_setCameraExtrinsics()

DW_API_PUBLIC dwStatus dwLaneDetector_setCameraExtrinsics	(	dwTransformation	cam2rig,
		dwLaneDetectorHandle_t	obj
	)

Set the transformation from camera to rig.

Only set after dwLaneDetector_setCameraHandle

Parameters

[in]	cam2rig	Specifies the transformation from camera to rig.
[in]	obj	A lane detector handle.

Returns: DW_INVALID_HANDLE - If the given context handle is invalid.
DW_BAD_CAST - If cannot cast the given handle to the expected type.
DW_SUCCESS

◆ dwLaneDetector_setCameraHandle()

DW_API_PUBLIC dwStatus dwLaneDetector_setCameraHandle	(	dwCalibratedCameraHandle_t	cam,
		dwLaneDetectorHandle_t	obj
	)

Set the handle to the calibrated front looking camera.

Parameters

[in]	cam	Specifies the handle to the calibrated front looking camera.
[in]	obj	A lane detector handle.

Returns: DW_INVALID_HANDLE - If the given context handle is invalid.
DW_BAD_CAST - If cannot cast the given handle to the expected type.
DW_SUCCESS

◆ dwLaneDetector_setCUDAStream()

DW_API_PUBLIC dwStatus dwLaneDetector_setCUDAStream	(	cudaStream_t	stream,
		dwLaneDetectorHandle_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 lane detector module for which to set CUDA stream.

Returns: DW_INVALID_HANDLE - If the given context handle is invalid.
DW_SUCCESS

◆ dwLaneDetector_setDetectionROI()

DW_API_PUBLIC dwStatus dwLaneDetector_setDetectionROI	(	const dwRect *	roi,
		dwLaneDetectorHandle_t	obj
	)

Set 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 lane detector handle

Returns: DW_INVALID_HANDLE - If the given context handle is invalid.
DW_BAD_CAST - If cannot cast the given handle to the expected type.
DW_SUCCESS

◆ dwLaneDetector_setMaxLaneDistance()

DW_API_PUBLIC dwStatus dwLaneDetector_setMaxLaneDistance	(	float32_t	maxDistance,
		dwLaneDetectorHandle_t	obj
	)

Set the maximum distance in meters at which lane markings can be detected.

Parameters

[in]	maxDistance	Maximum distance in meters at which lane markings can be detected.
[in]	obj	A lane detector handle.

Returns: DW_INVALID_HANDLE - If the given context handle is invalid.
DW_BAD_CAST - If cannot cast the given handle to the expected type.
DW_SUCCESS

◆ dwLaneDetectorLaneNet_getDNNMetaData()

DW_API_PUBLIC dwStatus dwLaneDetectorLaneNet_getDNNMetaData	(	dwDNNMetaData *	metaData,
		dwLaneDetectorHandle_t	obj
	)

Returns the DNN metadata.

Parameters

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

Returns: DW_SUCCESS, DW_INVALID_HANDLE, DW_BAD_CAST, DW_INVALID_ARGUMENT

◆ dwLaneDetectorLaneNet_getTemporalSmoothFactor()

DW_API_PUBLIC dwStatus dwLaneDetectorLaneNet_getTemporalSmoothFactor	(	float32_t *	factor,
		dwLaneDetectorHandle_t	obj
	)

Gets the temporal smoothing factor for the LaneNet based detector.

Parameters

[out]	factor	Average previous and current lane sample points, which is calculated as: smoothed point = factorprevious point + (1.0-factor)current point
[in]	obj	A lane detector handle (must be of type LaneNet)

Returns: DW_INVALID_HANDLE - If the given context handle is invalid.
DW_BAD_CAST - If cannot cast the given handle to the expected type.
DW_SUCCESS

◆ dwLaneDetectorLaneNet_setDetectionThreshold()

DW_API_PUBLIC dwStatus dwLaneDetectorLaneNet_setDetectionThreshold	(	float32_t	threshold,
		dwLaneDetectorHandle_t	obj
	)

Sets the detection confidence threshold for the LaneNet based detector.

Parameters

[in]	threshold	Confidence threshold above which the DNN result is considered valid lane information.
[in]	obj	A lane detector handle (must be of type LaneNet).

Returns: DW_INVALID_HANDLE - If the given context handle is invalid.
DW_BAD_CAST - If cannot cast the given handle to the expected type.
DW_SUCCESS

◆ dwLaneDetectorLaneNet_setHorizontalFOV()

DW_API_PUBLIC dwStatus dwLaneDetectorLaneNet_setHorizontalFOV	(	float32_t	hfov,
		dwLaneDetectorHandle_t	obj
	)

Sets the input camera horizontal Field Of View (FOV) in degree for the LaneNet-based detector.

Parameters

[in]	hfov	Input camera horizontal FOV in degrees. Default: 60.0 degrees.
[in]	obj	A lane detector handle (must be of type LaneNet)

Returns: DW_INVALID_HANDLE - If the given context handle is invalid.
DW_BAD_CAST - If cannot cast the given handle to the expected type.
DW_SUCCESS

◆ dwLaneDetectorLaneNet_setTemporalSmoothFactor()

DW_API_PUBLIC dwStatus dwLaneDetectorLaneNet_setTemporalSmoothFactor	(	float32_t	factor,
		dwLaneDetectorHandle_t	obj
	)

Sets the temporal smoothing factor for the LaneNet-based detector.

Parameters

[in]	factor	Average previous and current lane sample points, which is calculated as: smoothed point = factorprevious point + (1.0-factor)current point Set to 0 to turn off temporal smoothing.
[in]	obj	A lane detector handle (must be of type LaneNet)

Returns: DW_INVALID_HANDLE - If the given context handle is invalid.
DW_BAD_CAST - If cannot cast the given handle to the expected type.
DW_SUCCESS

DriveWorks SDK Reference

| 0.6.67 Release

Detailed Description

Data Structures

Macros

Typedefs

Enumerations

Functions

Data Structure Documentation

◆ dwLaneDetection

◆ dwLaneMarking

Macro Definition Documentation

◆ DW_LANEMARK_MAX_COUNT

◆ DW_LANEMARK_POINT_MAX_COUNT

Typedef Documentation

◆ dwLaneDetectorHandle_t

Enumeration Type Documentation

◆ dwLaneMarkType

◆ dwLanePositionType

Function Documentation

◆ dwLaneDetector_getCUDAStream()

◆ dwLaneDetector_getDetectionROI()

◆ dwLaneDetector_getLaneDetections()

◆ dwLaneDetector_initializeLaneNet()

◆ dwLaneDetector_interpretHost()

◆ dwLaneDetector_processDeviceAsync()

◆ dwLaneDetector_release()

◆ dwLaneDetector_reset()

◆ dwLaneDetector_setCameraExtrinsics()

◆ dwLaneDetector_setCameraHandle()

◆ dwLaneDetector_setCUDAStream()

◆ dwLaneDetector_setDetectionROI()

◆ dwLaneDetector_setMaxLaneDistance()

◆ dwLaneDetectorLaneNet_getDNNMetaData()

◆ dwLaneDetectorLaneNet_getTemporalSmoothFactor()

◆ dwLaneDetectorLaneNet_setDetectionThreshold()

◆ dwLaneDetectorLaneNet_setHorizontalFOV()

◆ dwLaneDetectorLaneNet_setTemporalSmoothFactor()