Detailed Description

Defines ObjectClustering module for object clustering.

Data Structures
struct	dwDBScanClusteringParams

struct	dwObjectClusteringParams

Typedefs
typedef struct dwObjectClusteringObject *	dwObjectClusteringHandle_t
	Handle to an ObjectClustering. More...

Enumerations
enum	dwObjectClusteringAlgorithm { DW_CLUSTERING_DBSCAN }

Functions
DW_API_PUBLIC dwStatus	dwObjectClustering_cluster (dwObject clusters, size_t numClusters, const dwObject *detections, size_t numDetections, dwObjectClusteringHandle_t obj)
	Performs clustering. More...

DW_API_PUBLIC dwStatus	dwObjectClustering_enableATHR (dwBool enable, dwObjectClusteringHandle_t obj)
	Enables or disables Area-To-Hit-Ratio filtering. More...

DW_API_PUBLIC dwStatus	dwObjectClustering_getATHRThreshold (float32_t *threshold, dwObjectClusteringHandle_t obj)
	Returns current Area-To-Hit-Ratio threshold. More...

DW_API_PUBLIC dwStatus	dwObjectClustering_getDBScanParameters (dwDBScanClusteringParams *dbscanParams, dwObjectClusteringHandle_t obj)
	Returns current DBScan clustering parameters. More...

DW_API_PUBLIC dwStatus	dwObjectClustering_initDefaultParams (dwObjectClusteringParams *clusteringParams)
	Initializes ObjectClustering parameters with default values. More...

DW_API_PUBLIC dwStatus	dwObjectClustering_initialize (dwObjectClusteringHandle_t obj, dwContextHandle_t ctx, const dwObjectClusteringParams clusteringParams)
	Initializes an ObjectClustering module. More...

DW_API_PUBLIC dwStatus	dwObjectClustering_isATHREnabled (dwBool *enabled, dwObjectClusteringHandle_t obj)
	Returns a boolean indicating whether Area-To-Hit-Ratio filtering is enabled. More...

DW_API_PUBLIC dwStatus	dwObjectClustering_release (dwObjectClusteringHandle_t *obj)
	Release ObjectClustering. More...

DW_API_PUBLIC dwStatus	dwObjectClustering_reset (dwObjectClusteringHandle_t obj)
	Resets ObjectClustering. More...

DW_API_PUBLIC dwStatus	dwObjectClustering_setATHRThreshold (float32_t threshold, dwObjectClusteringHandle_t obj)
	Sets Area-To-Hit-Ratio threshold. More...

DW_API_PUBLIC dwStatus	dwObjectClustering_setDBScanParameters (const dwDBScanClusteringParams *dbscanParams, dwObjectClusteringHandle_t obj)
	Sets DBScan clustering parameters. More...

Data Structure Documentation

◆ dwDBScanClusteringParams

struct dwDBScanClusteringParams

Data Fields
float32_t	epsilon	Maximum distance from the core box to be considered within a region. Default value is 0.4.
uint32_t	minBoxes	Minimum number of boxes required to form a dense region. minBoxes and minSumOfConfidences are checked conjunctively. Default value is 3.
float32_t	minSumOfConfidences	Minimum sum of confidences required to form a dense region. minBoxes and minSumOfConfidences are checked conjunctively. Default value is 0.

◆ dwObjectClusteringParams

struct dwObjectClusteringParams

Data Fields
dwObjectClusteringAlgorithm	algorithm	Clustering algorithm. Default value is DW_CLUSTERING_DBSCAN.
dwDBScanClusteringParams	dbScanClusteringParams	DBScan clustering parameters.
dwBool	enable2_5D	Take the 2.5D fields (horizontalVisibility, bottomVisibility, orientationYaw) into account when clustering.
dwBool	enableATHRFilter	Boolean indicating whether Area-To-Hit-Ratio filter is enabled. ATHR is calculated as: ATHR = sqrt(clusterArea) / nObjectsInCluster. Default value is DW_FALSE.
uint32_t	maxClusters	Maximum number of clusters (if clusters exceed this number, they are truncated). Default value is 100.
uint32_t	maxProposals	Maximum number of object proposals that is given at once for clustering. Default value is 100.
float32_t	minHeight	Minimum required clustered object height.
float32_t	thresholdATHR	Area to hit ratio threshold. Default value is 60.

Typedef Documentation

◆ dwObjectClusteringHandle_t

typedef struct dwObjectClusteringObject* dwObjectClusteringHandle_t

Handle to an ObjectClustering.

Definition at line 96 of file Clustering.h.

Enumeration Type Documentation

◆ dwObjectClusteringAlgorithm

enum dwObjectClusteringAlgorithm

Enumerator
DW_CLUSTERING_DBSCAN	DBScan clustering.

Definition at line 56 of file Clustering.h.

Function Documentation

◆ dwObjectClustering_cluster()

DW_API_PUBLIC dwStatus dwObjectClustering_cluster	(	dwObject *	clusters,
		size_t *	numClusters,
		const dwObject *	detections,
		size_t	numDetections,
		dwObjectClusteringHandle_t	obj
	)

Performs clustering.

Parameters

[out]	clusters	List where clustered object result are stored.
[out]	numClusters	Number of resulting clustered objects.
[in]	detections	List of objects that are clustered.
[in]	numDetections	Number of input objects.
[in]	obj	A pointer to the object handle to release.

Returns: DW_SUCCESS, DW_INVALID_HANDLE, DW_BAD_CAST

Note: In DW_CLUSTERING_DBSCAN clustering, the confidence value of an output object is the sum of confidence values of all its members. Therefore, its range is not guaranteed to be [0,1].; In DW_CLUSTERING_DRIVENET clustering, the confidence value of an output object is determined to be in [0,1].

◆ dwObjectClustering_enableATHR()

DW_API_PUBLIC dwStatus dwObjectClustering_enableATHR	(	dwBool	enable,
		dwObjectClusteringHandle_t	obj
	)

Enables or disables Area-To-Hit-Ratio filtering.

Parameters

[in]	enable	Boolean indicating whether ATHR should be enabled or disabled.
[in]	obj	A pointer to the object handle to release.

Returns: DW_SUCCESS, DW_INVALID_HANDLE, DW_BAD_CAST

◆ dwObjectClustering_getATHRThreshold()

DW_API_PUBLIC dwStatus dwObjectClustering_getATHRThreshold	(	float32_t *	threshold,
		dwObjectClusteringHandle_t	obj
	)

Returns current Area-To-Hit-Ratio threshold.

Parameters

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

Returns: DW_SUCCESS, DW_INVALID_HANDLE, DW_BAD_CAST, DW_INVALID_ARGUMENT

◆ dwObjectClustering_getDBScanParameters()

DW_API_PUBLIC dwStatus dwObjectClustering_getDBScanParameters	(	dwDBScanClusteringParams *	dbscanParams,
		dwObjectClusteringHandle_t	obj
	)

Returns current DBScan clustering parameters.

Parameters

[out]	dbscanParams	DBScan clustering parameters
[in]	obj	A pointer to the object handle to release.

Returns: DW_SUCCESS, DW_INVALID_HANDLE, DW_BAD_CAST, DW_INVALID_ARGUMENT

◆ dwObjectClustering_initDefaultParams()

DW_API_PUBLIC dwStatus dwObjectClustering_initDefaultParams ( dwObjectClusteringParams * clusteringParams )

Initializes ObjectClustering parameters with default values.

Parameters

[out] clusteringParams ObjectClustering parameters.

Returns: DW_SUCCESS, DW_INVALID_ARGUMENT

◆ dwObjectClustering_initialize()

DW_API_PUBLIC dwStatus dwObjectClustering_initialize	(	dwObjectClusteringHandle_t *	obj,
		dwContextHandle_t	ctx,
		const dwObjectClusteringParams *	clusteringParams
	)

Initializes an ObjectClustering module.

Parameters

[out]	obj	A pointer to the ObjectClustering handle.
[in]	ctx	Specifies the handler to the context under which the ObjectClustering module is created.
[in]	clusteringParams	Clustering parameters.

Returns: DW_INVALID_ARGUMENT, DW_SUCCESS

◆ dwObjectClustering_isATHREnabled()

DW_API_PUBLIC dwStatus dwObjectClustering_isATHREnabled	(	dwBool *	enabled,
		dwObjectClusteringHandle_t	obj
	)

Returns a boolean indicating whether Area-To-Hit-Ratio filtering is enabled.

Parameters

[out]	enabled	Boolean indicating whether ATHR is enabled.
[in]	obj	A pointer to the object handle to release.

Returns: DW_SUCCESS, DW_INVALID_HANDLE, DW_BAD_CAST, DW_INVALID_ARGUMENT

◆ dwObjectClustering_release()

DW_API_PUBLIC dwStatus dwObjectClustering_release ( dwObjectClusteringHandle_t * obj )

Release ObjectClustering.

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.

◆ dwObjectClustering_reset()

DW_API_PUBLIC dwStatus dwObjectClustering_reset ( dwObjectClusteringHandle_t obj )

Resets ObjectClustering.

Parameters

[in] obj Specifies the ObjectClustering handle to reset.

Returns: DW_SUCCESS, DW_INVALID_HANDLE, DW_BAD_CAST

◆ dwObjectClustering_setATHRThreshold()

DW_API_PUBLIC dwStatus dwObjectClustering_setATHRThreshold	(	float32_t	threshold,
		dwObjectClusteringHandle_t	obj
	)

Sets Area-To-Hit-Ratio threshold.

Parameters

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

Returns: DW_SUCCESS, DW_INVALID_HANDLE, DW_BAD_CAST

◆ dwObjectClustering_setDBScanParameters()

DW_API_PUBLIC dwStatus dwObjectClustering_setDBScanParameters	(	const dwDBScanClusteringParams *	dbscanParams,
		dwObjectClusteringHandle_t	obj
	)

Sets DBScan clustering parameters.

Parameters

[in]	dbscanParams	DBScan clustering parameters
[in]	obj	A pointer to the object handle to release.

Returns: DW_SUCCESS, DW_INVALID_HANDLE, DW_BAD_CAST, DW_INVALID_ARGUMENT

DriveWorks SDK Reference

| 0.6.67 Release

Detailed Description

Data Structures

Typedefs

Enumerations

Functions

Data Structure Documentation

◆ dwDBScanClusteringParams

◆ dwObjectClusteringParams

Typedef Documentation

◆ dwObjectClusteringHandle_t

Enumeration Type Documentation

◆ dwObjectClusteringAlgorithm

Function Documentation

◆ dwObjectClustering_cluster()

◆ dwObjectClustering_enableATHR()

◆ dwObjectClustering_getATHRThreshold()

◆ dwObjectClustering_getDBScanParameters()

◆ dwObjectClustering_initDefaultParams()

◆ dwObjectClustering_initialize()

◆ dwObjectClustering_isATHREnabled()

◆ dwObjectClustering_release()

◆ dwObjectClustering_reset()

◆ dwObjectClustering_setATHRThreshold()

◆ dwObjectClustering_setDBScanParameters()