perception/path/camera/pilotnet/docs/pilotnet_usecase1.md

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# Copyright (c) 2019, NVIDIA CORPORATION.  All rights reserved.

@page pilotnet_usecase1 PilotNet Workflow

## Initialization

A set of parameters is needed to define the network to be used. These parameters are defined in the ::dwPilotNetParams struct. The default parameters can be loaded with the following function
```{.cpp}
dwStatus dwPilotNet_initDefaultParams(dwPilotNetParams* pilotNetParams);
```

If a custom model needs to be used, then we can replace the `networkModel` in the default params as follows:
```{.cpp}
dwPilotNetParams pilotNetParams{};
dwPilotNet_initDefaultParams(&pilotNetParams);
pilotNetParams.networkModel = DW_PILOTNET_MODEL_CUSTOM;
pilotNetParams.networkCustomData = "path_to_pilotnet_model";
```
Note that the default model supports only FP32.

The PilotNet DNN module can be initialized with the following call:
```{.cpp}
dwStatus dwPilotNet_initialize(dwPilotNetHandle_t* pilotNetHandle,
                               const dwPilotNetParams* pilotNetParams,
                               dwContextHandle_t ctx);
```

Once the module is initialized, ::dwPilotNetHandle_t can be used to initialize the @ref pathperception_mainsection_pilotnetdetector module.

## PilotNet Module Reset

To reset the PilotNet module:
```{.cpp}
dwStatus dwPilotNet_reset(dwPilotNetHandle_t obj);
```

## PilotNet Module Release

To release the PilotNet module:
```{.cpp}
dwStatus dwPilotNet_release(dwPilotNetHandle_t obj);
```

For a more detailed workflow, please refer to the PilotNet detector: @ref dwx_pilotnet_sample.