NVIDIA DriveWorks API: PilotNet Detector Methods
Description: This file defines pilotnet detection module.
Definition in file PilotNetDetector.h.
Go to the source code of this file.
Data Structures | |
| struct | dwPilotNetDetectorInputSensor |
| Holds the camera properties for PilotNetDetector. More... | |
| struct | dwPilotNetDetectorOutput |
| Holds the output trajectories and other predictions of PilotNetDetector. More... | |
| struct | dwPilotNetDetectorParams |
| Holds the parameters to initialize the PilotNetDetector module. More... | |
| struct | dwPilotNetDetectorState |
| Holds the input state values for PilotNetDetector. More... | |
| struct | dwPilotNetLaneDivider |
| Holds the left and right lane dividers for a single lane type. More... | |
Macros | |
| #define | DW_PILOTNET_MAX_CAMERA_COUNT 7 |
| The maximum supported ROI Views. More... | |
| #define | DW_PILOTNET_MAX_ROI_VIEWS DW_PILOTNET_MAX_CAMERA_COUNT* DW_PILOTNET_MAX_ROI_VIEWS_PER_CAMERA |
| #define | DW_PILOTNET_MAX_ROI_VIEWS_PER_CAMERA 3 |
| #define | DW_PILOTNET_MAX_TRAJ_LEN 200 |
| The maximum trajectory length. More... | |
Typedefs | |
| typedef struct dwPilotNetDetectorObject * | dwPilotNetDetectorHandle_t |
| Handle for PilotNetDetector. More... | |
Enumerations | |
| enum | dwPilotNetCameraType { DW_PILOTNET_FRONT_CENTER_60FOV, DW_PILOTNET_FRONT_CENTER_120FOV, DW_PILOTNET_FRONT_LEFT_120FOV, DW_PILOTNET_FRONT_RIGHT_120FOV, DW_PILOTNET_CROSS_LEFT_120FOV, DW_PILOTNET_CROSS_RIGHT_120FOV } |
| The cameras supported by the PilotNetDetector module. More... | |
| enum | dwPilotNetDrivingMode { DW_PILOTNET_LANE_STABLE, DW_PILOTNET_LANE_CHANGE_LEFT_FIRST_HALF, DW_PILOTNET_LANE_CHANGE_LEFT_SECOND_HALF, DW_PILOTNET_LANE_CHANGE_RIGHT_FIRST_HALF, DW_PILOTNET_LANE_CHANGE_RIGHT_SECOND_HALF, DW_PILOTNET_LANE_SPLIT_LEFT, DW_PILOTNET_LANE_SPLIT_RIGHT, DW_PILOTNET_TURN_LEFT, DW_PILOTNET_TURN_RIGHT, DW_PILOTNET_LANE_LEFT, DW_PILOTNET_LANE_RIGHT, DW_PILOTNET_MAX_DRIVING_MODES } |
| Defines the different driving trajectories produced by the PilotNet network. More... | |
Functions | |
| DW_API_PUBLIC dwStatus | dwPilotNetDetector_bindOutput (dwPilotNetDetectorOutput *output, dwPilotNetDetectorHandle_t pilotnet) |
| Bind the memory of the output to a pre-allocated memory in the application. More... | |
| DW_API_PUBLIC dwStatus | dwPilotNetDetector_convertPointsRigToSensor (dwVector2f *points, size_t numPoints, const dwVector3f *trajPoints, size_t numTrajPoints, uint32_t sensorId, dwPilotNetDetectorHandle_t pilotnet) |
| Get the trajectory points based on the network output in image space. More... | |
| DW_API_PUBLIC dwStatus | dwPilotNetDetector_getAvailableDrivingModes (bool *modes, dwPilotNetDetectorHandle_t pilotnet) |
| Getting supported driving modes from PilotNetDetector. More... | |
| DW_API_PUBLIC dwStatus | dwPilotNetDetector_getDrivingModeString (const char **string, dwPilotNetDrivingMode drivingMode) |
| Getting the driving mode enum as a string. More... | |
| DW_API_PUBLIC dwStatus | dwPilotNetDetector_getPatchU8 (const dwImageCUDA **dwImg, uint32_t *numROI, uint32_t sensorId, dwPilotNetDetectorHandle_t pilotnet) |
| Get a pointer to the CUDA patch buffer. More... | |
| DW_API_PUBLIC dwStatus | dwPilotNetDetector_getROIParams (dwRectf *roi, uint32_t *numROI, uint32_t sensorId, dwPilotNetDetectorHandle_t pilotnet) |
| Get the parameters for the region of interest (ROI) calculated by dwPilotNetDetector_processFrames. More... | |
| DW_API_PUBLIC dwStatus | dwPilotNetDetector_getVisMaskU8 (const dwImageCUDA **dwImg, uint32_t *numROI, uint32_t sensorId, dwPilotNetDetectorHandle_t pilotnet) |
| Gets a pointer to the CUDA visualization mask buffer. More... | |
| DW_API_PUBLIC dwStatus | dwPilotNetDetector_infer (dwPilotNetDetectorHandle_t pilotnet) |
| Runs the inference on the patch produced by dwPilotNetDetector_processFrames to output the driving trajectory. More... | |
| DW_API_PUBLIC dwStatus | dwPilotNetDetector_initialize (dwPilotNetDetectorHandle_t *pilotnet, const dwPilotNetDetectorParams *params, dwPilotNetHandle_t pilotnetDNN) |
| Creates and initializes the PilotNetDetector module with the given dwPilotNetHandle that is used for predicting driving commands for a vehicle based on an input image. More... | |
| DW_API_PUBLIC dwStatus | dwPilotNetDetector_initParams (dwPilotNetDetectorParams *params, dwPilotNetHandle_t pilotnetDNN) |
| Initializes the PilotNetDetector module params with the given dwPilotNetHandle. More... | |
| DW_API_PUBLIC dwStatus | dwPilotNetDetector_processFrames (dwPilotNetDetectorHandle_t pilotnet) |
| Processes the input image(s) by calculating a patch for the region of interest (ROI) by compensating for calibration and other pre-processing based on the model params. More... | |
| DW_API_PUBLIC dwStatus | dwPilotNetDetector_processOutput (dwPilotNetDetectorHandle_t pilotnet) |
| Gets the driving state (mode, commands) for the last processed image. More... | |
| DW_API_PUBLIC dwStatus | dwPilotNetDetector_release (dwPilotNetDetectorHandle_t pilotnet) |
| Releases the PilotNetDetector module. More... | |
| DW_API_PUBLIC dwStatus | dwPilotNetDetector_reset (dwPilotNetDetectorHandle_t pilotnet) |
| Resets the PilotNetDetector module. More... | |
| DW_API_PUBLIC dwStatus | dwPilotNetDetector_setCameraFrame (const dwImageCUDA *inputFrame, uint32_t sensorId, dwPilotNetDetectorHandle_t pilotnet) |
| Sets the input camera frame for inferencing. More... | |
| DW_API_PUBLIC dwStatus | dwPilotNetDetector_setSensorExtrinsics (const dwTransformation3f *tx, const uint32_t sensorId, dwPilotNetDetectorHandle_t pilotnet) |
| Setting PilotNetDetector extrinsic camera calibration parameters . More... | |
| DW_API_PUBLIC dwStatus | dwPilotNetDetector_setState (dwPilotNetDetectorState inputState, dwPilotNetDetectorHandle_t pilotnet) |
| Sets the driving state for the current frame. More... | |