Detailed Description

Defines the Object module.

Data Structures
struct	dwObject

struct	dwObjectInPathAnalyzerIntersection
	Holds the information for one object intersection (lane + object). More...

struct	dwObjectInPathAnalyzerObjects
	Holds a list of intersections. More...

struct	dwObjectInPathAnalyzerParams
	Holds the initialization parameters for object in-path analyzer. More...

struct	dwObjectList
	A list of dwObject. More...

Macros
#define	DW_OBJECT_MAX_CLASSES 32
	Maximum number of classes that a network can detect. More...

Typedefs
typedef struct dwObjectInPathAnalyzerObject *	dwObjectInPathAnalyzerHandle_t
	Handle to an object lane analyzer. More...

Enumerations
enum	dwLaneType { DW_LANE_TYPE_LEFT = 0, DW_LANE_TYPE_EGO = 1, DW_LANE_TYPE_RIGHT = 2, DW_LANE_TYPE_OTHER = 3, DW_LANE_TYPE_MAX_COUNT = 4 }
	The type of lane. More...

Functions
DW_API_PUBLIC dwStatus	dwObject_merge (dwObject mergedObjects, size_t numMergedObjects, size_t maxNumMergedObjects, const dwObject const objectLists, const size_t *numObjectsPerList, size_t numLists, float32_t thresholdIOU, float32_t maxMatchDistance, dwContextHandle_t ctx)
	Merges an object with another in any other list if the intersection over union is over the given threshold. More...

DW_API_PUBLIC dwStatus	dwObjectInPathAnalyzer_getDefaultInitParams (dwObjectInPathAnalyzerParams *params)
	Get the default parameters. More...

DW_API_PUBLIC dwStatus	dwObjectInPathAnalyzer_getObjectsInLane (dwObjectInPathAnalyzerObjects *objects, dwLaneType lane, dwObjectInPathAnalyzerHandle_t analyzer)
	Get the current intersections. More...

DW_API_PUBLIC dwStatus	dwObjectInPathAnalyzer_initialize (dwObjectInPathAnalyzerHandle_t analyzer, const dwObjectInPathAnalyzerParams params, dwContextHandle_t context)
	Initializes an object in-path analyzer. More...

DW_API_PUBLIC dwStatus	dwObjectInPathAnalyzer_processDeviceAsync (dwObjectInPathAnalyzerHandle_t analyzer)
	Process the intersections. More...

DW_API_PUBLIC dwStatus	dwObjectInPathAnalyzer_processHost (dwObjectInPathAnalyzerHandle_t analyzer)
	Pull the information from the device to the host. More...

DW_API_PUBLIC dwStatus	dwObjectInPathAnalyzer_release (dwObjectInPathAnalyzerHandle_t *analyzer)
	Releases the object in-path analyzer. More...

DW_API_PUBLIC dwStatus	dwObjectInPathAnalyzer_reset (dwObjectInPathAnalyzerHandle_t analyzer)
	Clears the object in-path analyzer. More...

DW_API_PUBLIC dwStatus	dwObjectInPathAnalyzer_setFreeSpace (const dwFreeSpaceDetection *detection, dwObjectInPathAnalyzerHandle_t analyzer)
	Sets the free space. More...

DW_API_PUBLIC dwStatus	dwObjectInPathAnalyzer_setLanes (const dwLaneDetection *laneList, dwObjectInPathAnalyzerHandle_t analyzer)
	Sets the lanes. More...

DW_API_PUBLIC dwStatus	dwObjectInPathAnalyzer_setObjects (const dwObject *objectList, uint32_t count, dwObjectInPathAnalyzerHandle_t analyzer)
	Sets the objects. More...

DW_API_PUBLIC dwStatus	dwObjectInPathAnalyzer_setObjectTracks (const dwObjectList *objects, uint32_t count, dwObjectInPathAnalyzerHandle_t analyzer)
	Sets the object tracks. More...

DW_API_PUBLIC dwStatus	dwObjectInPathAnalyzer_setTimesteps (float32_t timesteps, dwObjectInPathAnalyzerHandle_t analyzer)
	Sets the timesteps. More...

Data Structure Documentation

◆ dwObject

struct dwObject

Data Fields
float32_t	bottomVisibility	Whether object's bottom is fully visible or not. The estimate is lower if the bottom part of the object is truncated or occluded.
dwBox2Df	box	Bounding box of the detected object.
dwBox2Df	boxVariance	Variance of bounding boxes of the members of the cluster.
uint32_t	classId	Class ID of the detected object.
float32_t	confidence	Confidence of the object.
float32_t	horizontalVisibility	Visibility flags Probability estimation between 0 (occluded) - 1 (visible), whether object's width is fully visible or not. The estimate is lower if the left or right part of the object is truncated or occluded.
dwBool	isConfirmed	Is object confirmed? Not confirmed object needs to be tracked and maintained internally, but should not be displayed and used.
uint32_t	lifetime	Lifetime of the object in frames. The first time the object is detected, it is set to 1.
uint32_t	numMembers	Number of members of the object if the object is formed by other objects via clustering.
uint32_t	numUndetectedFrames	Number of frames since the object was detected last time.
uint32_t	objectId	Object ID. A within-class unique id assigned by dwObjectTracking module.
float32_t	orientationYaw	Yaw orientation of the object. Radian angle (-PI - +PI) from lateral axis. e.g. car faces the same direction with the host car (the same way traffic): 0 e.g. car faces toward the camera (opposite traffic): +- PI e.g. car faces toward the right side: PI/2
dwTime_t	timestamp	Timestamp.
float32_t	trackingConfidence	Tracking confidence of the object.
dwVector3f	velocity	Velocity of the object in x, y image space coordinates and z in scale factor.

◆ dwObjectInPathAnalyzerIntersection

struct dwObjectInPathAnalyzerIntersection

Data Fields
float32_t	intersectionAmount	The intersection ratio of intersection pixel count / object total area.
uint32_t	intersectionPixelCount	The total number of pixels that intersected between the object and the lane.
dwLaneType	lane	The intersecting lane.
dwObject	object	The original dwObject that was intersected.
uint32_t	objectAreaPixelCount	The object area in pixels given segmented (or not) by freespace.

◆ dwObjectInPathAnalyzerObjects

struct dwObjectInPathAnalyzerObjects

Data Fields
uint32_t	count	The number of elements in the objects list.
dwLaneType	lane	The intersecting lane.
const dwObjectInPathAnalyzerIntersection *	objects	The array of intersection objects.

◆ dwObjectInPathAnalyzerParams

struct dwObjectInPathAnalyzerParams

Data Fields
dwCalibratedCameraHandle_t	calibratedCamera	Calibrated camera to use. If it is set to DW_NULL_HANDLE, it will not be used.
dwTransformation	cameraToRig	Camera to rig matrix.
uint32_t	imageHeight	The height of the image.
uint32_t	imageWidth	The width of the image.
float32_t	intersectionThreshold	The threshold to count object as an acceptable intersection. If normalizePixels is set to DW_TRUE, intersectionThreshold must be a number between 0 and 1.
dwBool	normalizePixelCount	Control whether or not the pixels are normalized by total object area.
dwBool	useFreeSpace	Use free space to calculate intersections.

◆ dwObjectList

struct dwObjectList

Data Fields
uint32_t	count	The number of objects in the array.
dwObject *	objects	Pointer to array of objects.

Macro Definition Documentation

◆ DW_OBJECT_MAX_CLASSES

#define DW_OBJECT_MAX_CLASSES 32

Maximum number of classes that a network can detect.

Definition at line 57 of file Object.h.

Typedef Documentation

◆ dwObjectInPathAnalyzerHandle_t

typedef struct dwObjectInPathAnalyzerObject* dwObjectInPathAnalyzerHandle_t

Handle to an object lane analyzer.

Definition at line 59 of file ObjectInPathAnalyzer.h.

Enumeration Type Documentation

◆ dwLaneType

enum dwLaneType

The type of lane.

Enumerator
DW_LANE_TYPE_LEFT
DW_LANE_TYPE_EGO
DW_LANE_TYPE_RIGHT
DW_LANE_TYPE_OTHER
DW_LANE_TYPE_MAX_COUNT

Definition at line 88 of file ObjectInPathAnalyzer.h.

Function Documentation

◆ dwObject_merge()

DW_API_PUBLIC dwStatus dwObject_merge	(	dwObject *	mergedObjects,
		size_t *	numMergedObjects,
		size_t	maxNumMergedObjects,
		const dwObject const	objectLists,
		const size_t *	numObjectsPerList,
		size_t	numLists,
		float32_t	thresholdIOU,
		float32_t	maxMatchDistance,
		dwContextHandle_t	ctx
	)

Merges an object with another in any other list if the intersection over union is over the given threshold.

Parameters

[out]	mergedObjects	List where the merged objects from given lists are stored.
[out]	numMergedObjects	Number of merged objects.
[in]	maxNumMergedObjects	Maximum number of merged objects that are allowed to store in mergedObjects.
[in]	objectLists	List of object lists to merge.
[in]	numObjectsPerList	List of number of objects per list.
[in]	numLists	Number of lists.
[in]	thresholdIOU	Minimum amount of overlap between a tracked box and an added box such that the two boxes can be considered the same object. Overlap is defined as the intersection over the union (IOU).
[in]	maxMatchDistance	Maximum distance around the closest tracked box to search for a candidate matching box. Distance here is defined as delta 1 - IOU. Within this margin, the box with the longest track history is preferred and is selected as the candidate matching box. The candidate still has to pass the minMatchOverlap test to be considered a positive match for the new box.
[in]	ctx	Specifies the handle to the context.

Returns: DW_SUCCESS, DW_INVALID_HANDLE, DW_BAD_CAST, DW_INVALID_ARGUMENT

◆ dwObjectInPathAnalyzer_getDefaultInitParams()

DW_API_PUBLIC dwStatus dwObjectInPathAnalyzer_getDefaultInitParams ( dwObjectInPathAnalyzerParams * params )

Get the default parameters.

Parameters

[out] params Pointer to initialization params.

Returns: DW_INVALID_ARGUMENT DW_FAILURE DW_SUCCESS

◆ dwObjectInPathAnalyzer_getObjectsInLane()

DW_API_PUBLIC dwStatus dwObjectInPathAnalyzer_getObjectsInLane	(	dwObjectInPathAnalyzerObjects *	objects,
		dwLaneType	lane,
		dwObjectInPathAnalyzerHandle_t	analyzer
	)

Get the current intersections.

Parameters

[out]	objects	Pointer to output results of the object in-path analyzer.
[in]	lane	The lane for intersections.
[in]	analyzer	Specifies the opaque handle.

Returns: DW_INVALID_ARGUMENT DW_GL_ERROR DW_FAILURE DW_SUCCESS

◆ dwObjectInPathAnalyzer_initialize()

DW_API_PUBLIC dwStatus dwObjectInPathAnalyzer_initialize	(	dwObjectInPathAnalyzerHandle_t *	analyzer,
		const dwObjectInPathAnalyzerParams *	params,
		dwContextHandle_t	context
	)

Initializes an object in-path analyzer.

It must be initialized on a thread with a valid current OpenGL context.

Parameters

[out]	analyzer	A pointer to the opaque handle.
[in]	params	A pointer to the initialization parameters.
[in]	context	Specifies the opaque handle of a `dwContext`.

Returns: DW_INVALID_ARGUMENT DW_GL_ERROR DW_FAILURE DW_SUCCESS

◆ dwObjectInPathAnalyzer_processDeviceAsync()

DW_API_PUBLIC dwStatus dwObjectInPathAnalyzer_processDeviceAsync ( dwObjectInPathAnalyzerHandle_t analyzer )

Process the intersections.

This method must be called prior to processHost.

Parameters

[in] analyzer Specifies the opaque handle.

Returns: DW_INVALID_ARGUMENT DW_GL_ERROR DW_FAILURE DW_SUCCESS

◆ dwObjectInPathAnalyzer_processHost()

DW_API_PUBLIC dwStatus dwObjectInPathAnalyzer_processHost ( dwObjectInPathAnalyzerHandle_t analyzer )

Pull the information from the device to the host.

This method must be called after to processDeviceAsync.

Parameters

[in] analyzer Specifies the opaque handle.

Returns: DW_INVALID_ARGUMENT DW_GL_ERROR DW_FAILURE DW_SUCCESS

◆ dwObjectInPathAnalyzer_release()

DW_API_PUBLIC dwStatus dwObjectInPathAnalyzer_release ( dwObjectInPathAnalyzerHandle_t * analyzer )

Releases the object in-path analyzer.

Parameters

[in] analyzer A pointer to the opaque handle.

Returns: DW_INVALID_ARGUMENT DW_FAILURE DW_SUCCESS

◆ dwObjectInPathAnalyzer_reset()

DW_API_PUBLIC dwStatus dwObjectInPathAnalyzer_reset ( dwObjectInPathAnalyzerHandle_t analyzer )

Clears the object in-path analyzer.

Parameters

[in] analyzer Specifies the opaque handle.

Returns: DW_INVALID_ARGUMENT DW_GL_ERROR DW_FAILURE DW_SUCCESS

◆ dwObjectInPathAnalyzer_setFreeSpace()

DW_API_PUBLIC dwStatus dwObjectInPathAnalyzer_setFreeSpace	(	const dwFreeSpaceDetection *	detection,
		dwObjectInPathAnalyzerHandle_t	analyzer
	)

Sets the free space.

This will copy the data. This must be called before processDeviceAsync.

Parameters

[in]	detection	Specifies the free space detection.
[in]	analyzer	Specifies the opaque handle.

Returns: DW_INVALID_ARGUMENT DW_GL_ERROR DW_FAILURE DW_SUCCESS

◆ dwObjectInPathAnalyzer_setLanes()

DW_API_PUBLIC dwStatus dwObjectInPathAnalyzer_setLanes	(	const dwLaneDetection *	laneList,
		dwObjectInPathAnalyzerHandle_t	analyzer
	)

Sets the lanes.

This will copy the data. This must be called before processDeviceAsync.

Parameters

[in]	laneList	Specifies the lane detection.
[in]	analyzer	Specifies the opaque handle.

Returns: DW_INVALID_ARGUMENT DW_GL_ERROR DW_FAILURE DW_SUCCESS

◆ dwObjectInPathAnalyzer_setObjects()

DW_API_PUBLIC dwStatus dwObjectInPathAnalyzer_setObjects	(	const dwObject *	objectList,
		uint32_t	count,
		dwObjectInPathAnalyzerHandle_t	analyzer
	)

Sets the objects.

This will copy the data. This must be called before processDeviceAsync.

Parameters

[in]	objectList	A list of objects.
[in]	count	Total number of objects.
[in]	analyzer	Specifies the opaque handle.

Returns: DW_INVALID_ARGUMENT DW_GL_ERROR DW_FAILURE DW_SUCCESS

◆ dwObjectInPathAnalyzer_setObjectTracks()

DW_API_PUBLIC dwStatus dwObjectInPathAnalyzer_setObjectTracks	(	const dwObjectList *	objects,
		uint32_t	count,
		dwObjectInPathAnalyzerHandle_t	analyzer
	)

Sets the object tracks.

This will copy the data. This must be called before processDeviceAsync.

Parameters

[in]	objects	A list of object lists, where each list represents an object track or history.
[in]	count	Total count of lists.
[in]	analyzer	Specifies the opaque handle.

Returns: DW_INVALID_ARGUMENT DW_GL_ERROR DW_FAILURE DW_SUCCESS

◆ dwObjectInPathAnalyzer_setTimesteps()

DW_API_PUBLIC dwStatus dwObjectInPathAnalyzer_setTimesteps	(	float32_t	timesteps,
		dwObjectInPathAnalyzerHandle_t	analyzer
	)

Sets the timesteps.

This will be used with velocity calculations for forward prediction. This must be called before processDeviceAsync.

Parameters

[in]	timesteps	The amount of timesteps to adjust the pixel position based on velocity of the objects.
[in]	analyzer	Specifies the opaque handle.

Returns: DW_INVALID_ARGUMENT DW_GL_ERROR DW_FAILURE DW_SUCCESS

DriveWorks SDK Reference

| 0.6.67 Release

Detailed Description

Data Structures

Macros

Typedefs

Enumerations

Functions

Data Structure Documentation

◆ dwObject

◆ dwObjectInPathAnalyzerIntersection

◆ dwObjectInPathAnalyzerObjects

◆ dwObjectInPathAnalyzerParams

◆ dwObjectList

Macro Definition Documentation

◆ DW_OBJECT_MAX_CLASSES

Typedef Documentation

◆ dwObjectInPathAnalyzerHandle_t

Enumeration Type Documentation

◆ dwLaneType

Function Documentation

◆ dwObject_merge()

◆ dwObjectInPathAnalyzer_getDefaultInitParams()

◆ dwObjectInPathAnalyzer_getObjectsInLane()

◆ dwObjectInPathAnalyzer_initialize()

◆ dwObjectInPathAnalyzer_processDeviceAsync()

◆ dwObjectInPathAnalyzer_processHost()

◆ dwObjectInPathAnalyzer_release()

◆ dwObjectInPathAnalyzer_reset()

◆ dwObjectInPathAnalyzer_setFreeSpace()

◆ dwObjectInPathAnalyzer_setLanes()

◆ dwObjectInPathAnalyzer_setObjects()

◆ dwObjectInPathAnalyzer_setObjectTracks()

◆ dwObjectInPathAnalyzer_setTimesteps()