Path Perception Workflow

Note

SW Release Applicability: This tutorial is applicable to modules in NVIDIA DRIVE Software releases.

The following code snippet shows the general structure of a program that uses path detector to detect drive-able paths from a single camera. Note that error handling is left out for clarity.

Initialize PathNet default parameters and then the module:

dwPathNetParams pathNetParams{};
dwPathNet_initDefaultParams(&pathNetParams));
dwPathNet_initialize(&pathNetHandle, &pathNetParams, sdkHandle));

Initialize Path detector module from initialized PathNet handle without calibrated camera:

dwPathDetector_initializeFromPathNet(&pathDetectorHandle,
                                     pathNetHandle,
                                     cameraWidth,
                                     cameraHeight,
                                     cudaStream,
                                     sdkHandle);

Initialize Path detector module from initialized PathNet handle with calibrated camera:

dwPathDetector_initializeFromPathNet(&pathDetectorHandle,
                                     pathNetHandle,
                                     cameraWidth,
                                     cameraHeight,
                                     calibratedCameraHandle,
                                     tranformationMatrix,
                                     cudaStream,
                                     sdkHandle);

Initialize detector parameters (optional):

dwPathDetector_setTemporalSmoothFactor(temporalSmoothFactor, pathDetectorHandle);
dwRect roi = {...};
dwPathDetector_setDetectionROI(&roi, pathDetectorHandle);
dwStatus dwPathDetector_setComputeCenterRailFrom3D(computeCenterRailFrom3D, pathDetectorHandle);

Detect paths from a video sequence:

while(true)
{
    dwPathDetection paths{};
    dwPathDetector_processDeviceAsync(frame, pathDetectorHandle);
    dwPathDetector_interpretHost(pathDetectorHandle);
    dwPathDetector_getPathDetections(&paths, pathDetectorHandle);
}

When finished, release the module handles:

dwPathDetector_release(pathDetectorHandle);
dwPathNet_release(pathNetHandle);

For more detailed workflow, please refer to the path detection sample: Path Perception Sample (PathNet)