48 #ifndef DW_PATHDETECTOR_H_ 49 #define DW_PATHDETECTOR_H_ 63 #define DW_PATH_MAX_COUNT 8 64 #define DW_PATH_POINT_MAX_COUNT 128 194 uint32_t frameHeight,
218 uint32_t frameHeight,
329 dwPathDetectorHandle_t obj);
343 dwPathDetectorHandle_t obj);
517 #endif // DW_PATHDETECTOR_H_ NVIDIA DriveWorks API: Camera Methods
#define DW_PATH_MAX_COUNT
float32_t confidence
Confidence value of path.
DW_API_PUBLIC dwStatus dwPathDetector_getOppositeTrafficDetectionThreshold(float32_t *threshold, dwPathDetectorHandle_t obj)
Gets the opposite traffic path attribute confidence threshold for the PathNet based detector...
dwPathAttributeType pathAttributeType
Category of path attributes.
float32_t confidence
Confidence value of path.
NVIDIA DriveWorks API: Core Types
Definition of one path in world coordinate system.
DW_API_PUBLIC dwStatus dwPathDetector_getCUDAStream(cudaStream_t *stream, dwPathDetectorHandle_t obj)
Gets CUDA stream used by the path detection.
float float32_t
Specifies POD types.
NVIDIA DriveWorks API: Rig Configuration
float32_t confidenceValues[DW_PATH_POINT_MAX_COUNT]
Array containing confidence value per point.
Defines a three-element floating-point vector.
Defines a two-element single-precision floating-point vector.
DW_API_PUBLIC dwStatus dwPathDetector_setCUDAStream(cudaStream_t stream, dwPathDetectorHandle_t obj)
Sets the CUDA stream for CUDA related operations.
DW_API_PUBLIC dwStatus dwPathDetector_release(dwPathDetectorHandle_t obj)
Releases the detector module.
Output paths from post-processing.
dwVector2f rightEdgePoints[DW_PATH_POINT_MAX_COUNT]
Array containing path right edge locations.
DW_API_PUBLIC dwStatus dwPathDetector_reset(dwPathDetectorHandle_t obj)
Resets the path detector module.
DW_API_PUBLIC dwStatus dwPathDetector_getMaxLookAheadDistance(float32_t *distance, dwPathDetectorHandle_t obj)
Get max look ahead distance.
NVIDIA DriveWorks API: Core Methods
NVIDIA DriveWorks API: Image Conversion and Streaming Functionality
uint32_t numPathsImage
Total number of paths.
DW_API_PUBLIC dwStatus dwPathDetector_setOppositeTrafficDetectionThreshold(float32_t threshold, dwPathDetectorHandle_t obj)
Sets the opposite traffic detection confidence threshold for the PathNet based detector.
dwVector2f centerRailPoints[DW_PATH_POINT_MAX_COUNT]
Array containing path center locations.
DW_API_PUBLIC dwStatus dwPathDetector_initializeFromPathNet(dwPathDetectorHandle_t *obj, dwPathNetHandle_t pathnet, uint32_t frameWidth, uint32_t frameHeight, cudaStream_t stream, dwContextHandle_t ctx)
Initializes a path detector module based on PathNet.
NVIDIA DriveWorks API: DNN Methods
float32_t pathWidth[DW_PATH_POINT_MAX_COUNT]
Array containing width of center rail location.
float32_t pathAttributeConfidence
Confidence value of path attributes.
dwStatus
Status definition.
DW_API_PUBLIC dwStatus dwPathDetector_getDNNMetaData(dwDNNMetaData *metaData, dwPathDetectorHandle_t obj)
Returns the DNN metadata.
DW_API_PUBLIC dwStatus dwPathDetector_initializeFromPathNetWithCameraRig(dwPathDetectorHandle_t *obj, dwPathNetHandle_t pathnet, uint32_t frameWidth, uint32_t frameHeight, dwCameraModelHandle_t cam, dwTransformation3f cam2rig, cudaStream_t stream, dwContextHandle_t ctx)
Initializes a path detector module based on PathNet with camera rig parameters.
struct dwPathNetObject * dwPathNetHandle_t
Handle to a PathNet object.
DW_API_PUBLIC dwStatus dwPathDetector_setTemporalSmoothingFactor(float32_t factor, dwPathDetectorHandle_t obj)
Sets the temporal smoothing factor for the Path detector.
uint32_t numPoints
The total number of points that defines either right edge or left edge or center rail of each drive-a...
DW_API_PUBLIC dwStatus dwPathDetector_setCameraExtrinsics(const dwTransformation3f *cam2Rig, dwPathDetectorHandle_t obj)
Sets new calibrated camera extrinsic.
Definition of one path in image coordinate system.
int64_t dwTime_t
Specifies a timestamp unit, in microseconds.
DW_API_PUBLIC dwStatus dwPathDetector_setDetectionThreshold(float32_t threshold, dwPathDetectorHandle_t obj)
Sets the detection confidence threshold for the PathNet based detector.
struct dwPathDetectorObject * dwPathDetectorHandle_t
Handle to path detector.
dwPathPositionType positionType
Category of path position.
dwPathAttributeType
Category of path attributes.
DW_API_PUBLIC dwStatus dwPathDetector_interpretHost(dwPathDetectorHandle_t obj)
Runs the interpretation of the processed results on the CPU.
DW_API_PUBLIC dwStatus dwPathDetector_processDeviceAsync(const dwImageCUDA *frame, dwPathDetectorHandle_t obj)
Processes the given frame on the GPU asynchronously.
uint32_t numPathsWorld
Total number of valid paths in world coordinates.
dwPathPositionType positionType
Category of path position.
DW_API_PUBLIC dwStatus dwPathDetector_setDetectionROI(const dwRect *roi, dwPathDetectorHandle_t obj)
Set detection Region of Interest (ROI) for the detector.
DW_API_PUBLIC dwStatus dwPathDetector_getComputeCenterRailFrom3D(bool *computeCenterRailFrom3D, dwPathDetectorHandle_t obj)
Get the flag to compute 3D center rail from 3D path edges.
dwVector2f leftEdgePoints[DW_PATH_POINT_MAX_COUNT]
Array containing path left edge locations.
DW_API_PUBLIC dwStatus dwPathDetector_getPathDetections(dwPathDetection *paths, dwPathDetectorHandle_t obj)
Gets the latest computed results in image coordinates.
dwPathPositionType
Category of path positions.
struct dwContextObject * dwContextHandle_t
Context handle.
uint32_t numPoints
The total number of points that defines either right edge or left edge or center rail of each drive-a...
DW_API_PUBLIC dwStatus dwPathDetector_setMaxLookAheadDistance(float32_t distance, dwPathDetectorHandle_t obj)
Set max look ahead distance.
DW_API_PUBLIC dwStatus dwPathDetector_getDetectionThreshold(float32_t *threshold, dwPathDetectorHandle_t obj)
Gets the detection confidence threshold for the PathNet based detector.
#define DW_PATH_POINT_MAX_COUNT
struct dwCameraModelObject * dwCameraModelHandle_t
A pointer to the handle representing a calibrated camera model.
DW_API_PUBLIC dwStatus dwPathDetector_getDetectionROI(dwRect *roi, dwPathDetectorHandle_t obj)
Get detection Region of Interest (ROI) for the detector.
DW_API_PUBLIC dwStatus dwPathDetector_getTemporalSmoothingFactor(float32_t *factor, dwPathDetectorHandle_t obj)
Gets the temporal smoothing factor from Path detector.
NVIDIA DriveWorks API: PathNet Module
DW_API_PUBLIC dwStatus dwPathDetector_setComputeCenterRailFrom3D(bool computeCenterRailFrom3D, dwPathDetectorHandle_t obj)
Set the flag to compute 3D center rail from 3D path edges.
float32_t pathAttributeConfidence
Confidence value of path attributes.
dwPathAttributeType pathAttributeType
Category of path attributes.
float32_t pathAngle[DW_PATH_POINT_MAX_COUNT]
Array containing angle in degrees from center rail location.
dwTime_t timestamp
Timestamp of frame used for detection.