FreespaceDetector.h File Reference

Detailed Description

NVIDIA DriveWorks API: Free Space Detector Methods

Description: This file defines free space detection methods.

Definition in file FreespaceDetector.h.

Go to the source code of this file.

Data Structures
struct	dwFreespaceDetection
	Holds the definition of free space boundary in one image. More...
struct	dwFreespaceDetectorInitParams
	Holds the common free space detector initialization parameters. More...
struct	dwFreespaceDetectorRuntimeParams
	Holds the free space detector runtime parameters. More...

Macros
#define	DW_FREESPACE_IMAGE_MAX_COUNT   6
	Maximum number of images to run free space detector on. More...
#define	DW_FREESPACE_POINT_MAX_COUNT   960

Typedefs
typedef struct dwFreespaceDetectorObject *	dwFreespaceDetectorHandle_t
	Handle to a free space detector. More...

Functions
DW_API_PUBLIC dwStatus	dwFreespaceDetector_detectBoundary (dwFreespaceDetection *boundary, const dwImageCUDA *frame, dwFreespaceDetectorHandle_t obj)
	Processes the given frame on the GPU asynchronously, runs the interpretation of the processed results on the CPU, and gets the latest computed results. More...
DW_API_PUBLIC dwStatus	dwFreespaceDetector_detectBoundaryAutoNet (dwFreespaceDetection *boundary, dwAutoNetOutputHandle_t input, dwFreespaceDetectorHandle_t obj)
	Detects boundaries from the given DNN inference output. More...
DW_API_PUBLIC dwStatus	dwFreespaceDetector_getBoundaryDetection (dwFreespaceDetection *boundary, dwFreespaceDetectorHandle_t obj)
	Gets the latest computed results. More...
DW_API_PUBLIC dwStatus	dwFreespaceDetector_getCUDAStream (cudaStream_t *stream, dwFreespaceDetectorHandle_t obj)
	Gets CUDA stream used by the free space detection. More...
DW_API_PUBLIC dwStatus	dwFreespaceDetector_getDetectionROI (dwRect *roi, dwFreespaceDetectorHandle_t obj)
	Gets the detection Region of Interest (ROI) for the detector. More...
DW_API_PUBLIC dwStatus	dwFreespaceDetector_getDetectionROI_new (uint32_t imageIdx, dwRect *roi, dwFreespaceDetectorHandle_t obj)
	Gets the detection Region of Interest (ROI) for the detector. More...
DW_API_PUBLIC dwStatus	dwFreespaceDetector_getDNNMetaData (dwDNNMetaData *metaData, dwFreespaceDetectorHandle_t obj)
	Returns the DNN metadata. More...
DW_API_PUBLIC dwStatus	dwFreespaceDetector_getRuntimeParams (dwFreespaceDetectorRuntimeParams *rtParams, dwFreespaceDetectorHandle_t obj)
	Get the runtime parameters associated with a free space detector module. More...
DW_API_PUBLIC dwStatus	dwFreespaceDetector_initializeFromAutoNet (dwFreespaceDetectorHandle_t *obj, dwAutoNetHandle_t autonet, const dwFreespaceDetectorInitParams *initParams, dwContextHandle_t ctx)
	Initializes a free space detector module based on OpenRoadNet. More...
DW_API_PUBLIC dwStatus	dwFreespaceDetector_initializeFromOpenRoadNet (dwFreespaceDetectorHandle_t *obj, dwOpenRoadNetHandle_t openroadnet, uint32_t frameWidth, uint32_t frameHeight, cudaStream_t stream, dwContextHandle_t ctx)
	Initializes a free space detector module based on OpenRoadNet. More...
DW_API_PUBLIC dwStatus	dwFreespaceDetector_initializeFromOpenRoadNet_new (dwFreespaceDetectorHandle_t *obj, const dwFreespaceDetectorInitParams *initParams, dwContextHandle_t ctx)
	Initializes a free space detector module based on OpenRoadNet. More...
DW_API_PUBLIC dwStatus	dwFreespaceDetector_interpretHost (dwFreespaceDetectorHandle_t obj)
	Runs the interpretation of the processed results on the CPU. More...
DW_API_PUBLIC dwStatus	dwFreespaceDetector_processDeviceAsync (const dwImageCUDA *frame, dwFreespaceDetectorHandle_t obj)
	Processes the given frame on the GPU asynchronously. More...
DW_API_PUBLIC dwStatus	dwFreespaceDetector_release (dwFreespaceDetectorHandle_t obj)
	Releases the detector module. More...
DW_API_PUBLIC dwStatus	dwFreespaceDetector_reset (dwFreespaceDetectorHandle_t obj)
	Resets the free space detector module. More...
DW_API_PUBLIC dwStatus	dwFreespaceDetector_setCameraExtrinsics (dwTransformation3f cam2rig, dwFreespaceDetectorHandle_t obj)
	Set the transformation from camera to rig. More...
DW_API_PUBLIC dwStatus	dwFreespaceDetector_setCameraExtrinsics_new (uint32_t imageIdx, dwTransformation3f cam2rig, dwFreespaceDetectorHandle_t obj)
	Set the camera to rig transformation for a specific camera image in the batch. More...
DW_API_PUBLIC dwStatus	dwFreespaceDetector_setCameraHandle (dwCameraModelHandle_t cam, dwFreespaceDetectorHandle_t obj)
	Set the handle to the calibrated camera. More...
DW_API_PUBLIC dwStatus	dwFreespaceDetector_setCUDAStream (cudaStream_t stream, dwFreespaceDetectorHandle_t obj)
	Sets the CUDA stream for CUDA related operations. More...
DW_API_PUBLIC dwStatus	dwFreespaceDetector_setDetectionROI (const dwRect *roi, dwFreespaceDetectorHandle_t obj)
	Set the detection Region of Interest (ROI) for the detector. More...
DW_API_PUBLIC dwStatus	dwFreespaceDetector_setDetectionROI_new (uint32_t imageIdx, const dwRect *roi, dwFreespaceDetectorHandle_t obj)
	Set the detection Region of Interest (ROI) for the detector. More...
DW_API_PUBLIC dwStatus	dwFreespaceDetector_setMaxFreespaceDistance (float32_t maxDistance, dwFreespaceDetectorHandle_t obj)
	Set the maximum distance in meters at which free space boundary can be detected. More...
DW_API_PUBLIC dwStatus	dwFreespaceDetector_setMaxFreespaceDistance_new (uint32_t imageIdx, float32_t maxDistance, dwFreespaceDetectorHandle_t obj)
	Set the maximum distance in meters free space boundary can be detected for a specific camera image in the batch. More...
DW_API_PUBLIC dwStatus	dwFreespaceDetector_setRuntimeParams (const dwFreespaceDetectorRuntimeParams *rtParams, dwFreespaceDetectorHandle_t obj)
	Set the runtime parameters associated with a free space detector module. More...
DW_API_PUBLIC dwStatus	dwFreespaceDetector_setSpatialSmoothFilterWidth (uint32_t width, dwFreespaceDetectorHandle_t obj)
	Sets the spatial smoothing filter width. More...
DW_API_PUBLIC dwStatus	dwFreespaceDetector_setTemporalSmoothFactor (float32_t factor, dwFreespaceDetectorHandle_t obj)
	Set the temporal smoothing factor. More...