Detailed Description

Defines the DriveNet module.

Note: SW Release Applicability: These APIs are available in NVIDIA DRIVE Software releases.

Data Structures
struct	dwDriveNetClassProperties
	DriveNet properties per class. More...

struct	dwDriveNetParams
	DriveNet model parameters. More...

Typedefs
typedef struct dwDriveNetObject *	dwDriveNetHandle_t
	Handle to a DriveNet object. More...

Enumerations
enum	dwDriveNetBatchSize { DW_DRIVENET_BATCH_SIZE_1 = 0, DW_DRIVENET_BATCH_SIZE_2 = 1, DW_DRIVENET_BATCH_SIZE_4 = 2 }
	DriveNet network batch size options. More...

enum	dwDriveNetCameraType { DW_DRIVENET_CAMERA_60FOV, DW_DRIVENET_CAMERA_120FOV, DW_DRIVENET_CAMERA_30FOV }
	DriveNet camera type based on its field of view. More...

enum	dwDriveNetModel { DW_DRIVENET_MODEL_FRONT = 0, DW_DRIVENET_MODEL_SIDE = 1, DW_STATEFUL_TEMPORAL_DRIVENET_MODEL = 2, DW_STATELESS_TEMPORAL_DRIVENET_MODEL = 3, DW_DRIVENET_NUM_MODELS, DW_DRIVENET_MODEL_CUSTOM = -1 }
	DriveNet network models to be loaded by DriveNet module. More...

Functions
DW_API_PUBLIC dwStatus	dwDriveNet_getAvailableClasses (const dwObjectClass *objectClasses, uint32_t numObjectClasses, dwDriveNetHandle_t obj)
	Returns the object classes that DriveNet can detect. More...

DW_API_PUBLIC dwStatus	dwDriveNet_getClassProperties (dwDriveNetClassProperties *properties, dwObjectClass objectClass, dwDriveNetHandle_t obj)
	Returns properties of the DriveNet model for a given class. More...

DW_API_PUBLIC dwStatus	dwDriveNet_getDNNMetaData (dwDNNMetaData *metaData, dwDriveNetHandle_t obj)
	Returns the DNN metadata. More...

DW_API_PUBLIC dwStatus	dwDriveNet_getInputBlobsize (dwBlobSize *inputBlobsize, dwDriveNetHandle_t obj)
	Returns input blob size that DriveNet expects. More...

DW_API_PUBLIC dwStatus	dwDriveNet_getProcessorType (dwProcessorType *processorType, dwDriveNetHandle_t obj)
	Returns processor type that DriveNet runs on. More...

DW_API_PUBLIC dwStatus	dwDriveNet_initDefaultParams (dwDriveNetParams *params, dwContextHandle_t ctx)
	Initializes DriveNet parameters with default values. More...

DW_API_PUBLIC dwStatus	dwDriveNet_initialize (dwDriveNetHandle_t drivenetHandle, const dwDriveNetParams drivenetParams, dwContextHandle_t ctx)
	Initializes DriveNet module. More...

DW_API_PUBLIC dwStatus	dwDriveNet_release (dwDriveNetHandle_t obj)
	Releases the DriveNet module. More...

DW_API_PUBLIC dwStatus	dwDriveNet_reset (dwDriveNetHandle_t obj)
	Resets DriveNet. More...

Data Structure Documentation

◆ dwDriveNetClassProperties

struct dwDriveNetClassProperties

Data Fields
bool	hasDepth	Flag indicating whether a valid depth is provided for a given object class.
bool	hasOrientation	Flag indicating whether a valid orientation is provided for a given object class.
bool	hasUrgency	Flag indicating whether a valid urgency is provided for a given object class.
bool	hasVisibility	Flag indicating whether a valid visibility is provided for a given object class.

◆ dwDriveNetParams

struct dwDriveNetParams

Data Fields
dwDriveNetBatchSize	batchSize	Drivenet network batch size.
dwDriveNetCameraType	cameraType	Type of camera based on the field of view.
bool	hasDepth	Deprecated flag indicating to load a network that outputs depth for detected objects.
bool	hasObjectDepth	Flag indicating to load a network that outputs depth for detected objects.
bool	hasObjectUrgency	Flag indicating to load a network that outputs urgency for detected objects.
uint32_t	maxClustersPerClass	Maximum number of clusters per class. Default is 100.
uint32_t	maxProposalsPerClass	Maximum number of RAW detections per class directly obtained from DNN. Default is 100.
const void *	networkCustomData	Custom network data. Must be set if custom model is selected and available.
dwDriveNetModel	networkModel	Drivenet network model. Default is DW_DRIVENET_MODEL_FRONT.
dwPrecision	networkPrecision	Drivenet network precision. Default is DW_PRECISION_FP32.
dwProcessorType	processorType	Processor type. Supported processors: GPU, DLA (only on DDPX)
bool	suppressRiderInCar	Suppress detected pedestrians which are actually riders in a car.

Typedef Documentation

◆ dwDriveNetHandle_t

typedef struct dwDriveNetObject* dwDriveNetHandle_t

Handle to a DriveNet object.

Definition at line 63 of file DriveNet.h.

Enumeration Type Documentation

◆ dwDriveNetBatchSize

enum dwDriveNetBatchSize

DriveNet network batch size options.

Enumerator
DW_DRIVENET_BATCH_SIZE_1	DriveNet network is loaded with batch size = 1 if available.
DW_DRIVENET_BATCH_SIZE_2	DriveNet network is loaded with batch size = 2 if available.
DW_DRIVENET_BATCH_SIZE_4	DriveNet network is loaded with batch size = 4 if available.

Definition at line 83 of file DriveNet.h.

◆ dwDriveNetCameraType

enum dwDriveNetCameraType

DriveNet camera type based on its field of view.

Enumerator
DW_DRIVENET_CAMERA_60FOV
DW_DRIVENET_CAMERA_120FOV
DW_DRIVENET_CAMERA_30FOV

Definition at line 90 of file DriveNet.h.

◆ dwDriveNetModel

enum dwDriveNetModel

DriveNet network models to be loaded by DriveNet module.

Enumerator
DW_DRIVENET_MODEL_FRONT	DriveNet model that performs best on front camera.
DW_DRIVENET_MODEL_SIDE	DriveNet model that performs best on side camera.
DW_STATEFUL_TEMPORAL_DRIVENET_MODEL	Stateful Temporal DriveNet model that also predicts urgency on front camera.
DW_STATELESS_TEMPORAL_DRIVENET_MODEL	Stateless Temporal DriveNet model that also predicts urgency on front camera.
DW_DRIVENET_NUM_MODELS	Number of available DriveNet models.
DW_DRIVENET_MODEL_CUSTOM	Loads custom drivenet model if available. Network name must be provided in networkCustomData field in dwDriveNetParams

Definition at line 66 of file DriveNet.h.

Function Documentation

◆ dwDriveNet_getAvailableClasses()

DW_API_PUBLIC dwStatus dwDriveNet_getAvailableClasses	(	const dwObjectClass **	objectClasses,
		uint32_t *	numObjectClasses,
		dwDriveNetHandle_t	obj
	)

Returns the object classes that DriveNet can detect.

Parameters

[out]	objectClasses	A pointer to list of object classes that DriveNet can detect.
[out]	numObjectClasses	Number of object classes.
[in]	obj	Specifies the DriveNet handle.

Returns: DW_SUCCESS
DW_INVALID_HANDLE - If the given handle is invalid,i.e. null or of wrong type
DW_BAD_CAST
DW_INVALID_ARGUMENT - If the given object classes or numobject clasees pointer is NULL

◆ dwDriveNet_getClassProperties()

DW_API_PUBLIC dwStatus dwDriveNet_getClassProperties	(	dwDriveNetClassProperties *	properties,
		dwObjectClass	objectClass,
		dwDriveNetHandle_t	obj
	)

Returns properties of the DriveNet model for a given class.

Parameters

[out]	properties	Pointer to dwDriveNetClassProperties struct
[in]	objectClass	Object class
[in]	obj	Specifies the DriveNet handle.

Returns: DW_SUCCESS
DW_INVALID_HANDLE - If the given context handle is invalid,i.e. null or of wrong type
DW_BAD_CAST
DW_INVALID_ARGUMENT - If the given class properties pointer is NULL

◆ dwDriveNet_getDNNMetaData()

DW_API_PUBLIC dwStatus dwDriveNet_getDNNMetaData	(	dwDNNMetaData *	metaData,
		dwDriveNetHandle_t	obj
	)

Returns the DNN metadata.

Parameters

[out]	metaData	Pointer to metaData struct.
[in]	obj	Specifies the DriveNet handle.

Returns: DW_SUCCESS
DW_INVALID_HANDLE - If the given context handle is invalid,i.e. null or of wrong type
DW_BAD_CAST
DW_INVALID_ARGUMENT - If the given metadata pointer is NULL

◆ dwDriveNet_getInputBlobsize()

DW_API_PUBLIC dwStatus dwDriveNet_getInputBlobsize	(	dwBlobSize *	inputBlobsize,
		dwDriveNetHandle_t	obj
	)

Returns input blob size that DriveNet expects.

Parameters

[out]	inputBlobsize	Input blob size.
[in]	obj	Specifies the DriveNet handle.

Returns: DW_SUCCESS
DW_INVALID_HANDLE - If the given context handle is invalid,i.e. null or of wrong type
DW_BAD_CAST
DW_INVALID_ARGUMENT - if the given input blobsize pointer is NULL

◆ dwDriveNet_getProcessorType()

DW_API_PUBLIC dwStatus dwDriveNet_getProcessorType	(	dwProcessorType *	processorType,
		dwDriveNetHandle_t	obj
	)

Returns processor type that DriveNet runs on.

Parameters

[out]	processorType	processor type.
[in]	obj	Specifies the DriveNet handle.

Returns: DW_SUCCESS
DW_INVALID_HANDLE - If the given context handle is invalid,i.e. null or of wrong type
DW_BAD_CAST
DW_INVALID_ARGUMENT - If the given processor type pointer is NULL

◆ dwDriveNet_initDefaultParams()

DW_API_PUBLIC dwStatus dwDriveNet_initDefaultParams	(	dwDriveNetParams *	params,
		dwContextHandle_t	ctx
	)

Initializes DriveNet parameters with default values.

Parameters

[out]	params	DriveNet parameters.
[in]	ctx	Specifies the handle to the context.

Returns: DW_SUCCESS
DW_INVALID_ARGUMENT - If the given params pointer is NULL

Note: Default precision depends on the current GPU.

◆ dwDriveNet_initialize()

DW_API_PUBLIC dwStatus dwDriveNet_initialize	(	dwDriveNetHandle_t *	drivenetHandle,
		const dwDriveNetParams *	drivenetParams,
		dwContextHandle_t	ctx
	)

Initializes DriveNet module.

Parameters

[out]	drivenetHandle	A pointer to DriveNet handle to be initialized.
[in]	drivenetParams	Drivenet parameters
[in]	ctx	Specifies the handle to the context.

Returns: DW_SUCCESS
DW_INVALID_HANDLE - If the given context handle is invalid,i.e. null or of wrong type
DW_BAD_CAST
DW_INVALID_ARGUMENT - If the given drivenet handle or drivenet params pointers is NULL

Note: Some object classes might not be available based on the network type chosen. The objectClasses parameter, therefore, returns the list of supported classes.; If DriveNet module is to be loaded on a non-default GPU Device, the initialization must take place after dwContext_selectGPUDevice.

◆ dwDriveNet_release()

DW_API_PUBLIC dwStatus dwDriveNet_release ( dwDriveNetHandle_t obj )

Releases the DriveNet module.

Parameters

[in] obj The object handle to release.

Returns: DW_SUCCESS
DW_INVALID_HANDLE - If the given handle is invalid,i.e. null or of wrong type
DW_BAD_CAST

Note: This method renders the handle unusable.

◆ dwDriveNet_reset()

DW_API_PUBLIC dwStatus dwDriveNet_reset ( dwDriveNetHandle_t obj )

Resets DriveNet.

Parameters

[in] obj Handle to reset.

Returns: DW_SUCCESS
DW_INVALID_HANDLE - If the given handle is invalid,i.e. null or of wrong type
DW_BAD_CAST

Detailed Description

Data Structures

Typedefs

Enumerations

Functions

Data Structure Documentation

◆ dwDriveNetClassProperties

◆ dwDriveNetParams

Typedef Documentation

◆ dwDriveNetHandle_t

Enumeration Type Documentation

◆ dwDriveNetBatchSize

◆ dwDriveNetCameraType

◆ dwDriveNetModel

Function Documentation

◆ dwDriveNet_getAvailableClasses()

◆ dwDriveNet_getClassProperties()

◆ dwDriveNet_getDNNMetaData()

◆ dwDriveNet_getInputBlobsize()

◆ dwDriveNet_getProcessorType()

◆ dwDriveNet_initDefaultParams()

◆ dwDriveNet_initialize()

◆ dwDriveNet_release()

◆ dwDriveNet_reset()