Detailed Description

Defines landmark detector module based on MapNet, i.e., DNN based landmark detector.

Note: SW Release Applicability: These APIs are available in NVIDIA DRIVE Software releases.

Data Structures
struct	dwLandmarkDetectorParams

struct	dwLRNPostProcessingParam
	Data structure holding post processing parameters. More...

struct	dwRoadMarkingPolygonDetectionParam
	Data structure for holding road marking polygon detection parameters. More...

Typedefs
typedef struct dwLandmarkDetectorObject *	dwLandmarkDetectorHandle_t
	Handle to a LandmarkDetector. More...

Enumerations
enum	dwLandmarkDetectorDLAStage { DW_LANDMARK_DETECTOR_DLA_STAGE_GPU_ASYNC_PREPROCESSING = 0, DW_LANDMARK_DETECTOR_DLA_STAGE_DLA_ASYNC_INFERENCE = 1, DW_LANDMARK_DETECTOR_DLA_STAGE_GPU_ASYNC_POSTPROCESSING = 2, DW_LANDMARK_DETECTOR_DLA_STAGE_CPU_SYNC_INTERPRET_HOST = 3 }
	The DLA process stages of the Landmark Detector. More...

enum	dwLandmarkDetectorStage { DW_LANDMARK_DETECTOR_STAGE_GPU_ASYNC_PREPROCESSING = 0, DW_LANDMARK_DETECTOR_STAGE_GPU_ASYNC_INFERENCE = 1, DW_LANDMARK_DETECTOR_STAGE_GPU_ASYNC_POSTPROCESSING = 2, DW_LANDMARK_DETECTOR_STAGE_CPU_SYNC_INTERPRET_HOST = 3 }
	The GPU process stages of the Landmark Detector. More...

enum	dwLandmarkSelectionMask { DW_LANDMARK_SELECTION_MASK_LANE_MARKING = (1 << DW_LANDMARK_TYPE_LANE_MARKINGS), DW_LANDMARK_SELECTION_MASK_POLES = (1 << DW_LANDMARK_TYPE_POLES), DW_LANDMARK_SELECTION_MASK_INTERSECTIONS = (1 << DW_LANDMARK_TYPE_INTERSECTIONS), DW_LANDMARK_SELECTION_MASK_ROADMARK = (1 << DW_LANDMARK_TYPE_ROADMARK), DW_LANDMARK_SELECTION_MASK_ALL = (DW_LANDMARK_SELECTION_MASK_LANE_MARKING \| DW_LANDMARK_SELECTION_MASK_POLES \| DW_LANDMARK_SELECTION_MASK_INTERSECTIONS \| DW_LANDMARK_SELECTION_MASK_ROADMARK) }
	Bitmask enum which enables specific landmark types to detect. More...

Functions
DW_API_PUBLIC dwStatus	dwLandmarkDetector_bindInput (const dwImageCUDA const images, uint32_t imageCount, dwLandmarkDetectorHandle_t obj)
	Binds the input to the detector as a list of images. More...

DW_API_PUBLIC dwStatus	dwLandmarkDetector_bindLandmarksOutput (dwLandmarkDetection *output, dwLandmarkDetectorHandle_t obj)
	Binds the poles output of the detector to a structure. More...

DW_API_PUBLIC dwStatus	dwLandmarkDetector_bindLanesOutput (dwLaneDetection *output, dwLandmarkDetectorHandle_t obj)
	Binds the lanes output of the detector to a structure. More...

dwStatus	dwLandmarkDetector_detectLandmarks (dwLaneDetection lanes, dwLandmarkDetection landmarks, const dwImageCUDA *frame, dwLandmarkDetectorHandle_t obj)
	Very simple API call to do inference on a frame. More...

DW_API_PUBLIC dwStatus	dwLandmarkDetector_getCUDAStream (cudaStream_t *stream, dwLandmarkDetectorHandle_t obj)
	Gets CUDA stream used by the landmark detection. More...

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

DW_API_PUBLIC dwStatus	dwLandmarkDetector_getLandmarkDetections (dwLandmarkDetection *landmarkDetection, dwLandmarkDetectorHandle_t obj)
	Gets the general landmark detection in image coordinates. More...

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

DW_API_PUBLIC dwStatus	dwLandmarkDetector_getPostProcessingParam (dwLRNPostProcessingParam *param, dwLandmarkDetectorHandle_t obj)
	Note: only DW_MAPNET_TYPE_REGRESSOR and DW_MAPNET_TYPE_E2E type networks are supported Get post processing parameters for regressor network. More...

DW_API_PUBLIC dwStatus	dwLandmarkDetector_initializeDefaultParams (dwLandmarkDetectorParams *params, uint32_t frameWidth, uint32_t frameHeight)
	Sets the default detected landmark types for the LandmarkDetector. More...

DW_API_PUBLIC dwStatus	dwLandmarkDetector_initializeDefaultRegressorParams (dwLRNPostProcessingParam *params)
	Note: only DW_MAPNET_TYPE_REGRESSOR and DW_MAPNET_TYPE_E2E type networks are supported Sets the default regressor post processing parameters for the LandmarkDetector. More...

DW_API_PUBLIC dwStatus	dwLandmarkDetector_initializeFromMapNet (dwLandmarkDetectorHandle_t *obj, dwMapNetHandle_t mapnet, dwLandmarkDetectorParams params, uint32_t frameWidth, uint32_t frameHeight, dwContextHandle_t ctx)
	Initializes a landmark detector module based on MapNet. More...

DW_API_PUBLIC dwStatus	dwLandmarkDetector_process (dwLandmarkDetectorStage stage, dwLandmarkDetectorHandle_t obj)
	Performs a single processing stage in the GPU pipeline. More...

DW_API_PUBLIC dwStatus	dwLandmarkDetector_processDLA (dwLandmarkDetectorDLAStage stage, dwLandmarkDetectorHandle_t obj)
	Performs a single processing stage in the DLA pipeline. More...

DW_API_PUBLIC dwStatus	dwLandmarkDetector_release (dwLandmarkDetectorHandle_t obj)
	Releases the detector module. More...

DW_API_PUBLIC dwStatus	dwLandmarkDetector_reset (dwLandmarkDetectorHandle_t obj)
	Resets the landmark detector module. More...

DW_API_PUBLIC dwStatus	dwLandmarkDetector_setCamera (dwCameraModelHandle_t camera, const dwTransformation3f *cameraToRig, dwLandmarkDetectorHandle_t obj)
	Sets the calibrated camera for projection of lanes and landmarks. More...

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

DW_API_PUBLIC dwStatus	dwLandmarkDetector_setPostProcessingParam (const dwLRNPostProcessingParam param, dwLandmarkDetectorHandle_t obj)
	Note: only DW_MAPNET_TYPE_REGRESSOR and DW_MAPNET_TYPE_E2E type networks are supported. More...

Data Structure Documentation

◆ dwLandmarkDetectorParams

struct dwLandmarkDetectorParams

Data Fields
dwRect	detectionROI	sets the region of interest in an image that is actually processed by the network
bool	isModelParameterFitting[DW_LANDMARK_TYPE_COUNT]	Toggle image space polyfitting in MapNet. If false, sends out raw network detections.
float32_t	landmarkDetectionThreshold[DW_LANDMARK_TYPE_COUNT]	Sets the detection confidence threshold for a given landmark type.
uint32_t	landmarkTypesEnabled	Bit mask to identify which landmark types are enabled based on the enum dwLandmarkSelectionMask.

◆ dwLRNPostProcessingParam

struct dwLRNPostProcessingParam

Data Fields
float32_t	betaForAnglesInSmoothnessTerm	terms to smooth the curve for regressor net post processing
float32_t	betaForDistanceInSmoothnessTerm
float32_t	betaForDistanceTerm
float32_t	differentClassPenalty	class difference term
float32_t	diminishingFactorForNearLineZigZag
uint8_t	minimumVotesThreshold	Set a minimum votes for points extractions in post processing.
float32_t	minProbAnglesInSmoothnessTerm
float32_t	minProbZigZagInSmoothnessTerm
float32_t	minValidDNNMaskThreshold	threshold value from 0-0.99 on what probability is considered a valid network output
uint8_t	nonMaxSuppressionRadius	radius size for non max suppression calculation
dwRoadMarkingPolygonDetectionParam	roadMarkingDetectionTerm	struct for roadmarking polygon settings
float32_t	unitDist	distance term

◆ dwRoadMarkingPolygonDetectionParam

struct dwRoadMarkingPolygonDetectionParam

Data Fields
bool	enableDistanceCorrection	flag to enable distance correction for road marking polygons
bool	enableRoadMarkingPolygons	flag to enable road marking polygons

Typedef Documentation

◆ dwLandmarkDetectorHandle_t

typedef struct dwLandmarkDetectorObject* dwLandmarkDetectorHandle_t

Handle to a LandmarkDetector.

Definition at line 91 of file LandmarkDetector.h.

Enumeration Type Documentation

◆ dwLandmarkDetectorDLAStage

enum dwLandmarkDetectorDLAStage

The DLA process stages of the Landmark Detector.

Enumerator
DW_LANDMARK_DETECTOR_DLA_STAGE_GPU_ASYNC_PREPROCESSING
DW_LANDMARK_DETECTOR_DLA_STAGE_DLA_ASYNC_INFERENCE
DW_LANDMARK_DETECTOR_DLA_STAGE_GPU_ASYNC_POSTPROCESSING
DW_LANDMARK_DETECTOR_DLA_STAGE_CPU_SYNC_INTERPRET_HOST

Definition at line 76 of file LandmarkDetector_processPipeline.h.

◆ dwLandmarkDetectorStage

enum dwLandmarkDetectorStage

The GPU process stages of the Landmark Detector.

Enumerator
DW_LANDMARK_DETECTOR_STAGE_GPU_ASYNC_PREPROCESSING
DW_LANDMARK_DETECTOR_STAGE_GPU_ASYNC_INFERENCE
DW_LANDMARK_DETECTOR_STAGE_GPU_ASYNC_POSTPROCESSING
DW_LANDMARK_DETECTOR_STAGE_CPU_SYNC_INTERPRET_HOST

Definition at line 66 of file LandmarkDetector_processPipeline.h.

◆ dwLandmarkSelectionMask

enum dwLandmarkSelectionMask

Bitmask enum which enables specific landmark types to detect.

Enumerator
DW_LANDMARK_SELECTION_MASK_LANE_MARKING
DW_LANDMARK_SELECTION_MASK_POLES
DW_LANDMARK_SELECTION_MASK_INTERSECTIONS
DW_LANDMARK_SELECTION_MASK_ROADMARK
DW_LANDMARK_SELECTION_MASK_ALL

Definition at line 68 of file LandmarkDetector.h.

Function Documentation

◆ dwLandmarkDetector_bindInput()

DW_API_PUBLIC dwStatus dwLandmarkDetector_bindInput	(	const dwImageCUDA const	images,
		uint32_t	imageCount,
		dwLandmarkDetectorHandle_t	obj
	)

Binds the input to the detector as a list of images.

Parameters

[in]	images	Array storing pointers to images where the detector is to be applied.
[in]	imageCount	Number of images provided in the array.
[in]	obj	Specifies the ObjectDetector handle.

Returns: DW_SUCCESS, DW_INVALID_HANDLE, DW_BAD_CAST, DW_INVALID_ARGUMENT

Note: imageCount must be divisible by the batch size of the network.

◆ dwLandmarkDetector_bindLandmarksOutput()

DW_API_PUBLIC dwStatus dwLandmarkDetector_bindLandmarksOutput	(	dwLandmarkDetection *	output,
		dwLandmarkDetectorHandle_t	obj
	)

Binds the poles output of the detector to a structure.

Parameters

[out]	output	A user pointer to be filled with information about detected poles.
[in]	obj	A landmark 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_NOT_INITIALIZED - If poles haven't been initialized.
DW_SUCCESS

◆ dwLandmarkDetector_bindLanesOutput()

DW_API_PUBLIC dwStatus dwLandmarkDetector_bindLanesOutput	(	dwLaneDetection *	output,
		dwLandmarkDetectorHandle_t	obj
	)

Binds the lanes output of the detector to a structure.

Parameters

[out]	output	A user pointer to be filled with information about detected lanes.
[in]	obj	A landmark 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_NOT_INITIALIZED - If lanes haven't been initialized.
DW_SUCCESS

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

◆ dwLandmarkDetector_detectLandmarks()

dwStatus dwLandmarkDetector_detectLandmarks	(	dwLaneDetection *	lanes,
		dwLandmarkDetection *	landmarks,
		const dwImageCUDA *	frame,
		dwLandmarkDetectorHandle_t	obj
	)

Very simple API call to do inference on a frame.

Parameters

[out]	lanes	output struct for lane detections
[out]	landmarks	output struct for landmark detections
[in]	frame	CUDA image containing the frame.
[in]	obj	Handle to detector.

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 DW_API_PUBLIC

◆ dwLandmarkDetector_getCUDAStream()

DW_API_PUBLIC dwStatus dwLandmarkDetector_getCUDAStream	(	cudaStream_t *	stream,
		dwLandmarkDetectorHandle_t	obj
	)

Gets CUDA stream used by the landmark detection.

NOTE: At the moment the landmark type field is ignored, this applies to all types.

Parameters

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

Returns: DW_INVALID_HANDLE - If the given context handle is invalid.
DW_NOT_INITIALIZED - If the requested landmark type hasn't been initialized.
DW_SUCCESS

◆ dwLandmarkDetector_getDetectionROI()

DW_API_PUBLIC dwStatus dwLandmarkDetector_getDetectionROI	(	dwRect *	roi,
		dwLandmarkDetectorHandle_t	obj
	)

Get detection Region of Interest (ROI) for the detector.

NOTE: At the moment the landmark type field is ignored, this applies to all types.

Parameters

[out]	roi	ROI of frame to be processed by the detector, default to full frame
[in]	obj	A landmark 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

◆ dwLandmarkDetector_getLandmarkDetections()

DW_API_PUBLIC dwStatus dwLandmarkDetector_getLandmarkDetections	(	dwLandmarkDetection *	landmarkDetection,
		dwLandmarkDetectorHandle_t	obj
	)

Gets the general landmark detection in image coordinates.

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

Parameters

[out]	landmarkDetection	Detections include roadmarking and poles.
[in]	obj	A lane detector handle.

Returns

◆ dwLandmarkDetector_getLaneDetections()

DW_API_PUBLIC dwStatus dwLandmarkDetector_getLaneDetections	(	dwLaneDetection *	lanes,
		dwLandmarkDetectorHandle_t	obj
	)

Gets the latest computed results in image coordinates.

This method has to be executed after dwLandmarkDetector_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.

◆ dwLandmarkDetector_getPostProcessingParam()

DW_API_PUBLIC dwStatus dwLandmarkDetector_getPostProcessingParam	(	dwLRNPostProcessingParam *	param,
		dwLandmarkDetectorHandle_t	obj
	)

Note: only DW_MAPNET_TYPE_REGRESSOR and DW_MAPNET_TYPE_E2E type networks are supported Get post processing parameters for regressor network.

Parameters

[out]	param	A dwLRNPostProcessingParam used in the module
[in]	obj	A lane detector handle (must be of type MapRegressorNet)

Returns: DW_BAD_CAST - If cannot cast the given handle to the expected type.
DW_SUCCESS

◆ dwLandmarkDetector_initializeDefaultParams()

DW_API_PUBLIC dwStatus dwLandmarkDetector_initializeDefaultParams	(	dwLandmarkDetectorParams *	params,
		uint32_t	frameWidth,
		uint32_t	frameHeight
	)

Sets the default detected landmark types for the LandmarkDetector.

Parameters

[out]	params	A pointer to the struct to populate with default values.
[in]	frameWidth	image width
[in]	frameHeight	image height

Returns: DW_INVALID_ARGUMENT, DW_SUCCESS

◆ dwLandmarkDetector_initializeDefaultRegressorParams()

DW_API_PUBLIC dwStatus dwLandmarkDetector_initializeDefaultRegressorParams ( dwLRNPostProcessingParam * params )

Note: only DW_MAPNET_TYPE_REGRESSOR and DW_MAPNET_TYPE_E2E type networks are supported Sets the default regressor post processing parameters for the LandmarkDetector.

Parameters

[out] params A pointer to the struct to populate with default values.

Returns: DW_INVALID_ARGUMENT, DW_SUCCESS

◆ dwLandmarkDetector_initializeFromMapNet()

DW_API_PUBLIC dwStatus dwLandmarkDetector_initializeFromMapNet	(	dwLandmarkDetectorHandle_t *	obj,
		dwMapNetHandle_t	mapnet,
		dwLandmarkDetectorParams	params,
		uint32_t	frameWidth,
		uint32_t	frameHeight,
		dwContextHandle_t	ctx
	)

Initializes a landmark detector module based on MapNet.

Parameters

[out]	obj	A pointer to the landmark detector handle for the created module.
[in]	mapnet	Specifies the handle to the MapNet module.
[in]	params	Specifies which landmark types to detect
[in]	frameWidth	Width of camera frames to apply landmark detector later.
[in]	frameHeight	Height of camera frames to apply landmark detector later.
[in]	ctx	Specifies the handler to the context to create MapNet.

Returns: DW_INVALID_ARGUMENT, DW_SUCCESS

◆ dwLandmarkDetector_process()

DW_API_PUBLIC dwStatus dwLandmarkDetector_process	(	dwLandmarkDetectorStage	stage,
		dwLandmarkDetectorHandle_t	obj
	)

Performs a single processing stage in the GPU pipeline.

Parameters

[in]	stage	The stage to process.
[in]	obj	A landmark 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_NOT_SUPPORTED - If MapNet processor type is DW_PROCESSOR_TYPE_GPU.
DW_SUCCESS

◆ dwLandmarkDetector_processDLA()

DW_API_PUBLIC dwStatus dwLandmarkDetector_processDLA	(	dwLandmarkDetectorDLAStage	stage,
		dwLandmarkDetectorHandle_t	obj
	)

Performs a single processing stage in the DLA pipeline.

Parameters

[in]	stage	The stage to process.
[in]	obj	A landmark 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_NOT_SUPPORTED - If MapNet processor type is DW_PROCESSOR_TYPE_GPU.
DW_SUCCESS

◆ dwLandmarkDetector_release()

DW_API_PUBLIC dwStatus dwLandmarkDetector_release ( dwLandmarkDetectorHandle_t obj )

Releases the detector module.

Parameters

[in] obj 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.

◆ dwLandmarkDetector_reset()

DW_API_PUBLIC dwStatus dwLandmarkDetector_reset ( dwLandmarkDetectorHandle_t obj )

Resets the landmark 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

◆ dwLandmarkDetector_setCamera()

DW_API_PUBLIC dwStatus dwLandmarkDetector_setCamera	(	dwCameraModelHandle_t	camera,
		const dwTransformation3f *	cameraToRig,
		dwLandmarkDetectorHandle_t	obj
	)

Sets the calibrated camera for projection of lanes and landmarks.

Parameters

[in]	camera	The calibrated camera.
[in]	cameraToRig	The camera to rig transformation matrix.
[in]	obj	A handle to the landmark detector module for which to set camera.

Returns: DW_INVALID_ARGUMENT DW_SUCCESS

◆ dwLandmarkDetector_setCUDAStream()

DW_API_PUBLIC dwStatus dwLandmarkDetector_setCUDAStream	(	cudaStream_t	stream,
		dwLandmarkDetectorHandle_t	obj
	)

Sets the CUDA stream for CUDA related operations.

NOTE: At the moment the landmark type field is ignored, this applies to all types.

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 landmark detector module for which to set CUDA stream.

Returns: DW_INVALID_HANDLE - If the given context handle is invalid.
DW_NOT_INITIALIZED - If the requested landmark type hasn't been initialized.
DW_SUCCESS

◆ dwLandmarkDetector_setPostProcessingParam()

DW_API_PUBLIC dwStatus dwLandmarkDetector_setPostProcessingParam	(	const dwLRNPostProcessingParam	param,
		dwLandmarkDetectorHandle_t	obj
	)

Note: only DW_MAPNET_TYPE_REGRESSOR and DW_MAPNET_TYPE_E2E type networks are supported.

Set post processing parameters

Parameters

[out]	param	A dwLRNPostProcessingParam used in the module
[in]	obj	A lane detector handle (must be of type MapRegressorNet)

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

Detailed Description

Data Structures

Typedefs

Enumerations

Functions

Data Structure Documentation

◆ dwLandmarkDetectorParams

◆ dwLRNPostProcessingParam

◆ dwRoadMarkingPolygonDetectionParam

Typedef Documentation

◆ dwLandmarkDetectorHandle_t

Enumeration Type Documentation

◆ dwLandmarkDetectorDLAStage

◆ dwLandmarkDetectorStage

◆ dwLandmarkSelectionMask

Function Documentation

◆ dwLandmarkDetector_bindInput()

◆ dwLandmarkDetector_bindLandmarksOutput()

◆ dwLandmarkDetector_bindLanesOutput()

◆ dwLandmarkDetector_detectLandmarks()

◆ dwLandmarkDetector_getCUDAStream()

◆ dwLandmarkDetector_getDetectionROI()

◆ dwLandmarkDetector_getLandmarkDetections()

◆ dwLandmarkDetector_getLaneDetections()

◆ dwLandmarkDetector_getPostProcessingParam()

◆ dwLandmarkDetector_initializeDefaultParams()

◆ dwLandmarkDetector_initializeDefaultRegressorParams()

◆ dwLandmarkDetector_initializeFromMapNet()

◆ dwLandmarkDetector_process()

◆ dwLandmarkDetector_processDLA()

◆ dwLandmarkDetector_release()

◆ dwLandmarkDetector_reset()

◆ dwLandmarkDetector_setCamera()

◆ dwLandmarkDetector_setCUDAStream()

◆ dwLandmarkDetector_setPostProcessingParam()