DriveWorks SDK Reference
3.0.4260 Release
For Test and Development only

PathNet Interface

Detailed Description

Defines PathNet module, i.e., PathNet configuration and loading.

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

Data Structures

struct  dwPathNetParams
 

Typedefs

typedef struct dwPathNetObject * dwPathNetHandle_t
 Handle to a PathNet object. More...
 

Enumerations

enum  dwPathAttributeType {
  DW_PATH_ATTRIBUTE_TYPE_UNDEFINED = 0,
  DW_PATH_ATTRIBUTE_TYPE_OPPOSITE_TRAFFIC = 1,
  DW_PATH_ATTRIBUTE_TYPE_COUNT = 2
}
 Category of path attributes. More...
 
enum  dwPathNetModel {
  DW_PATHNET_MODEL_FRONT_60_FOV = 0,
  DW_PATHNET_NUM_MODELS,
  DW_PATHNET_MODEL_CUSTOM = -1
}
 
enum  dwPathPositionType {
  DW_PATH_POSITION_TYPE_INVALID = 0,
  DW_PATH_POSITION_TYPE_UNDEFINED = 1,
  DW_PATH_POSITION_TYPE_EGO = 2,
  DW_PATH_POSITION_TYPE_ADJACENT_LEFT = 3,
  DW_PATH_POSITION_TYPE_ADJACENT_RIGHT = 4,
  DW_PATH_POSITION_TYPE_EGO_FORK_LEFT = 5,
  DW_PATH_POSITION_TYPE_EGO_FORK_RIGHT = 6,
  DW_PATH_POSITION_TYPE_ADJACENT_LEFT_FORK_LEFT = 7,
  DW_PATH_POSITION_TYPE_ADJACENT_RIGHT_FORK_RIGHT = 8,
  DW_PATH_POSITION_TYPE_COUNT = 9
}
 Category of path positions. More...
 

Functions

DW_API_PUBLIC dwStatus dwPathNet_getDNNMetaData (dwDNNMetaData *metaData, dwPathNetHandle_t obj)
 Returns the DNN metadata. More...
 
DW_API_PUBLIC dwStatus dwPathNet_getInputBlobSize (dwBlobSize *inputBlobSize, dwPathNetHandle_t obj)
 Returns input blob size that PathNet expects. More...
 
DW_API_PUBLIC dwStatus dwPathNet_getPathPositionLabel (const char **pathPositionLabel, uint32_t classIdx, dwPathNetHandle_t obj)
 Returns the path position label for a given path position index. More...
 
DW_API_PUBLIC dwStatus dwPathNet_initDefaultParams (dwPathNetParams *pathNetParams, dwContextHandle_t ctx)
 Initializes PathNet parameters with default values. More...
 
DW_API_PUBLIC dwStatus dwPathNet_initialize (dwPathNetHandle_t *pathNetHandle, const dwPathNetParams *pathNetParams, dwContextHandle_t ctx)
 Initializes PathNet module. More...
 
DW_API_PUBLIC dwStatus dwPathNet_release (dwPathNetHandle_t obj)
 Releases the PathNet module. More...
 
DW_API_PUBLIC dwStatus dwPathNet_reset (dwPathNetHandle_t obj)
 Resets PathNet. More...
 

Data Structure Documentation

◆ dwPathNetParams

struct dwPathNetParams
Data Fields
const void * networkCustomData Custom network data. Must be set if custom model is selected and available.
dwPathNetModel networkModel PathNet network model. Default is DW_PATHNET_MODEL_FRONT_60_FOV.
dwPrecision networkPrecision PathNet network weight precision. Default is DW_PRECISION_FP32.

Typedef Documentation

◆ dwPathNetHandle_t

typedef struct dwPathNetObject* dwPathNetHandle_t

Handle to a PathNet object.

Definition at line 62 of file PathNet.h.

Enumeration Type Documentation

◆ dwPathAttributeType

Category of path attributes.

Enumerator
DW_PATH_ATTRIBUTE_TYPE_UNDEFINED 

Undefined path attribute.

DW_PATH_ATTRIBUTE_TYPE_OPPOSITE_TRAFFIC 

Opposite traffic direction path attribute.

DW_PATH_ATTRIBUTE_TYPE_COUNT 

Path attribute type enum count.

Definition at line 79 of file PathNet.h.

◆ dwPathNetModel

Enumerator
DW_PATHNET_MODEL_FRONT_60_FOV 

PathNet model that performs best on front center 60 FOV camera.

DW_PATHNET_NUM_MODELS 
DW_PATHNET_MODEL_CUSTOM 

Network name must be provided in networkCustomData field in dwPathNetParams.

Definition at line 85 of file PathNet.h.

◆ dwPathPositionType

Category of path positions.

Enumerator
DW_PATH_POSITION_TYPE_INVALID 

Invalid path type.

DW_PATH_POSITION_TYPE_UNDEFINED 

Undefined path.

DW_PATH_POSITION_TYPE_EGO 

Ego Path.

DW_PATH_POSITION_TYPE_ADJACENT_LEFT 

Left adjacent path.

DW_PATH_POSITION_TYPE_ADJACENT_RIGHT 

Right adjacent path.

DW_PATH_POSITION_TYPE_EGO_FORK_LEFT 

Left fork on Ego path.

DW_PATH_POSITION_TYPE_EGO_FORK_RIGHT 

Right fork on Ego path.

DW_PATH_POSITION_TYPE_ADJACENT_LEFT_FORK_LEFT 

Left fork on Left adjacent path.

DW_PATH_POSITION_TYPE_ADJACENT_RIGHT_FORK_RIGHT 

Right fork on Right adjacent path.

DW_PATH_POSITION_TYPE_COUNT 

Path position type enum count.

Definition at line 65 of file PathNet.h.

Function Documentation

◆ dwPathNet_getDNNMetaData()

DW_API_PUBLIC dwStatus dwPathNet_getDNNMetaData ( dwDNNMetaData metaData,
dwPathNetHandle_t  obj 
)

Returns the DNN metadata.

Parameters
[out]metaDataPointer to metaData struct.
[in]objSpecifies the PathNet handle.
Returns
DW_SUCCESS
DW_INVALID_HANDLE - If the given handle is invalid,i.e. null or of wrong type
DW_BAD_CAST
DW_INVALID_ARGUMENT

◆ dwPathNet_getInputBlobSize()

DW_API_PUBLIC dwStatus dwPathNet_getInputBlobSize ( dwBlobSize inputBlobSize,
dwPathNetHandle_t  obj 
)

Returns input blob size that PathNet expects.

Parameters
[out]inputBlobSizeInput blob size.
[in]objSpecifies the PathNet handle.
Returns
DW_SUCCESS
DW_INVALID_HANDLE - If the given handle is invalid,i.e. null or of wrong type
DW_BAD_CAST
DW_INVALID_ARGUMENT

◆ dwPathNet_getPathPositionLabel()

DW_API_PUBLIC dwStatus dwPathNet_getPathPositionLabel ( const char **  pathPositionLabel,
uint32_t  classIdx,
dwPathNetHandle_t  obj 
)

Returns the path position label for a given path position index.

Parameters
[out]pathPositionLabelPointer to path position label.
[in]classIdxNetwork output class id.
[in]objSpecifies the PathNet handle.
Returns
DW_SUCCESS
DW_INVALID_HANDLE - If the given handle is invalid,i.e. null or of wrong type
DW_BAD_CAST
DW_INVALID_ARGUMENT

◆ dwPathNet_initDefaultParams()

DW_API_PUBLIC dwStatus dwPathNet_initDefaultParams ( dwPathNetParams pathNetParams,
dwContextHandle_t  ctx 
)

Initializes PathNet parameters with default values.

Parameters
[out]pathNetParamsPathNet default parameters.
[in]ctxSpecifies the handle to the context.
Returns
DW_SUCCESS, DW_INVALID_ARGUMENT.

◆ dwPathNet_initialize()

DW_API_PUBLIC dwStatus dwPathNet_initialize ( dwPathNetHandle_t pathNetHandle,
const dwPathNetParams pathNetParams,
dwContextHandle_t  ctx 
)

Initializes PathNet module.

Parameters
[out]pathNetHandleA pointer to PathNet handle to be initialized.
[in]pathNetParamsPathNet parameters.
[in]ctxSpecifies the handle to the context.
Returns
DW_SUCCESS
DW_INVALID_HANDLE - If the given context handle is invalid,i.e. null or of wrong type
DW_BAD_CAST
DW_INVALID_ARGUMENT

◆ dwPathNet_release()

DW_API_PUBLIC dwStatus dwPathNet_release ( dwPathNetHandle_t  obj)

Releases the PathNet module.

Parameters
[in]objThe object handle to release.
Returns
DW_SUCCESS
DW_INVALID_HANDLE - If the given context handle is invalid,i.e. null or of wrong type
DW_BAD_CAST
Note
This method renders the handle unusable.

◆ dwPathNet_reset()

DW_API_PUBLIC dwStatus dwPathNet_reset ( dwPathNetHandle_t  obj)

Resets PathNet.

Parameters
[in]objHandle to reset.
Returns
DW_SUCCESS
DW_INVALID_HANDLE - If the given context handle is invalid,i.e. null or of wrong type
DW_BAD_CAST