AutoNet.h

Go to the documentation of this file.

// This code contains NVIDIA Confidential Information and is disclosed
// under the Mutual Non-Disclosure Agreement.
//
// Notice
// ALL NVIDIA DESIGN SPECIFICATIONS AND CODE ("MATERIALS") ARE PROVIDED "AS IS" NVIDIA MAKES
// NO REPRESENTATIONS, WARRANTIES, EXPRESSED, IMPLIED, STATUTORY, OR OTHERWISE WITH RESPECT TO
// THE MATERIALS, AND EXPRESSLY DISCLAIMS ANY IMPLIED WARRANTIES OF NONINFRINGEMENT,
// MERCHANTABILITY, OR FITNESS FOR A PARTICULAR PURPOSE.
//
// NVIDIA Corporation assumes no responsibility for the consequences of use of such
// information or for any infringement of patents or other rights of third parties that may
// result from its use. No license is granted by implication or otherwise under any patent
// or patent rights of NVIDIA Corporation. No third party distribution is allowed unless
// expressly authorized by NVIDIA.  Details are subject to change without notice.
// This code supersedes and replaces all information previously supplied.
// NVIDIA Corporation products are not authorized for use as critical
// components in life support devices or systems without express written approval of
// NVIDIA Corporation.
//
// Copyright (c) 2020 NVIDIA Corporation. All rights reserved.
//
// NVIDIA Corporation and its licensors retain all intellectual property and proprietary
// rights in and to this software and related documentation and any modifications thereto.
// Any use, reproduction, disclosure or distribution of this software and related
// documentation without an express license agreement from NVIDIA Corporation is
// strictly prohibited.
//

#ifndef DW_DNN_AUTONET_H_
#define DW_DNN_AUTONET_H_

#include <dw/core/Context.h>
#include <dw/dnn/DNN.h>
#include <dw/perception/object/camera/DriveNet.h>
#include <dw/perception/freespace/camera/OpenRoadNet.h>
#include <dw/perception/object/camera/WaitNet.h>
#include <dw/perception/landmarks/camera/MapNet.h>
#include <dw/perception/path/camera/PathNet.h>
#include <dw/perception/object/camera/LightSourceNet.h>

#ifdef __cplusplus
extern "C" {
#endif


typedef struct dwAutoNetObject* dwAutoNetHandle_t;

typedef struct dwAutoNetOutputObject* dwAutoNetOutputHandle_t;

typedef enum {
    DW_AUTONET_DRIVENET_HEAD       = 0,
    DW_AUTONET_MAPNET_HEAD         = 1,
    DW_AUTONET_OPENROADNET_HEAD    = 2,
    DW_AUTONET_PATHNET_HEAD        = 3,
    DW_AUTONET_WAITNET_HEAD        = 4,
    DW_AUTONET_URGENCYNET_HEAD     = 5,
    DW_AUTONET_LIGHTSOURCENET_HEAD = 6,
    DW_AUTONET_HEAD_COUNT
} dwAutoNetHeadType;

typedef enum {
    DW_AUTONET_SELECTION_MASK_DRIVENET       = (1 << DW_AUTONET_DRIVENET_HEAD),
    DW_AUTONET_SELECTION_MASK_MAPNET         = (1 << DW_AUTONET_MAPNET_HEAD),
    DW_AUTONET_SELECTION_MASK_OPENROADNET    = (1 << DW_AUTONET_OPENROADNET_HEAD),
    DW_AUTONET_SELECTION_MASK_PATHNET        = (1 << DW_AUTONET_PATHNET_HEAD),
    DW_AUTONET_SELECTION_MASK_WAITNET        = (1 << DW_AUTONET_WAITNET_HEAD),
    DW_AUTONET_SELECTION_MASK_URGENCYNET     = (1 << DW_AUTONET_URGENCYNET_HEAD),
    DW_AUTONET_SELECTION_MASK_LIGHTSOURCENET = (1 << DW_AUTONET_LIGHTSOURCENET_HEAD),
    DW_DNN_SELECTION_MASK_ALL                = (1 << DW_AUTONET_HEAD_COUNT) - 1,
} dwAutoNetSelectionMask;

typedef enum dwAutoNetModel {
    DW_AUTONET_MODEL_FRONT = 0,

    DW_AUTONET_NUM_MODELS,

    DW_AUTONET_MODEL_CUSTOM = -1
} dwAutoNetModel;

typedef enum dwAutoNetBatchSize {
    DW_AUTONET_BATCH_SIZE_1 = 0, 
} dwAutoNetBatchSize;

typedef struct dwAutoNetParams
{
    uint32_t dnnEnabled;
    dwProcessorType processorType;
    dwAutoNetModel networkModel;
    dwPrecision networkPrecision;
    dwAutoNetBatchSize batchSize;
    const void* networkCustomData;

    dwDriveNetParams driveNetParams;
    dwLightSourceNetParams lightSourcenetParams;
    dwMapNetParams mapNetParams;
    dwPathNetParams pathNetParams;
    dwOpenRoadNetParams openRoadNetParams;
    dwWaitNetParams waitNetParams;
} dwAutoNetParams;

DW_API_PUBLIC
dwStatus dwAutoNet_initDefaultParams(dwAutoNetParams* params);

DW_API_PUBLIC
dwStatus dwAutoNet_initialize(dwAutoNetHandle_t* autoNetHandle,
                              const dwAutoNetParams* autoNetParams,
                              dwContextHandle_t ctx);

DW_API_PUBLIC
dwStatus dwAutoNet_getInputBlobsize(dwBlobSize* inputBlobsize, dwAutoNetHandle_t obj);

DW_API_PUBLIC
dwStatus dwAutoNet_getInputTensorProperties(dwDNNTensorProperties* inputProps, dwAutoNetHandle_t obj);

DW_API_PUBLIC
dwStatus dwAutoNet_getNumHeadOutputBlobs(uint32_t* numOutputBlobs, dwAutoNetHeadType headType, dwAutoNetHandle_t obj);

DW_API_PUBLIC
dwStatus dwAutoNet_getOutputTensorProperties(dwDNNTensorProperties* outputProps, dwAutoNetHeadType headType, dwAutoNetHandle_t obj);

DW_API_PUBLIC
dwStatus dwAutoNet_getProcessorType(dwProcessorType* processorType, dwAutoNetHandle_t obj);

DW_API_PUBLIC
dwStatus dwAutoNet_getDNNMetaData(dwDNNMetaData* metaData, dwAutoNetHandle_t obj);

DW_API_PUBLIC
dwStatus dwAutoNet_release(dwAutoNetHandle_t obj);

DW_API_PUBLIC
dwStatus dwAutoNet_reset(dwAutoNetHandle_t obj);

DW_API_PUBLIC
dwStatus dwAutoNet_createOutput(dwAutoNetOutputHandle_t* autonetOutput, dwAutoNetHandle_t obj);

DW_API_PUBLIC
dwStatus dwAutoNet_destroyOutput(dwAutoNetOutputHandle_t autonetOutput);

DW_API_PUBLIC
dwStatus dwAutoNet_inferAsync(dwAutoNetOutputHandle_t autonetOutput, dwConstDNNTensorHandle_t* inputTensors, dwAutoNetHandle_t obj);

DW_API_PUBLIC
dwStatus dwAutoNet_bindTensorTimestamp(dwAutoNetOutputHandle_t autonetOutput, dwTime_t tensorTimeStamp);

DW_API_PUBLIC
dwStatus dwAutoNet_setCUDAStream(cudaStream_t stream, dwAutoNetHandle_t obj);

#ifdef __cplusplus
}
#endif

#endif // DW_DNN_AUTONET_H_