perception/object/camera/drivenet/docs/drivenet_usecase1.md

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# Copyright (c) 2019-2020, NVIDIA CORPORATION.  All rights reserved.

@page drivenet_usecase1 DriveNet Workflow

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

## Initialization

DriveNet module creates a DriveNet handle ( `::dwDriveNetHandle_t` ) that is owned by the application and must be released by the application when it's not needed anymore.

The following `::dwDriveNetParams` are required to be defined at initialization:

```{.cpp}
uint32_t maxProposalsPerClass
```

Maximum number of proposals (i.e. detections before clustering) per class. This value can only be set at initialization.

```{.cpp}
uint32_t maxClustersPerClass
```

Maximum number of clusters per class. This value can only be set at initialization.

```{.cpp}
dwPrecision networkPrecision
```

This parameter determines at which precision DriveNet must be loaded. This parameter can affect the speed of the network greatly.

```{.cpp}
bool hasObjectDepth
```

This parameter determines if we wish enable depth estimation for objects the detected.

DriveNet module can be initialized with the following function:

```{.cpp}
dwStatus dwDriveNet_initialize(dwDriveNetHandle_t* drivenetHandle,
                               const dwDriveNetParams* drivenetParams,
                               dwContextHandle_t ctx);
```

DriveNet provides at initialization as outputs the number of object classes that DriveNet can detect and the list of object classes that DriveNet can detect. The object classes are returned as `::dwObjectClass`. Upon desire, the classes can be obtained via `dwDriveNet_getAvailableClasses()`.

DriveNet comes with meta data which contains preprocessing configuration for the network. @ref object_description1 module automatically reads this meta data information and configures @ref dataconditioner_mainsection accordingly.
@ref object_usecase1 shows in more details how to use DriveNet after initialization.

For more details see @ref dwx_drivenet_sample