Detailed Description

Defines free space detector module based on OpenRoadNet, i.e., DNN based free space detector.

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

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...

Enumerations
enum	dwFreespaceDetectorStage { DW_FREESPACE_DETECTOR_STAGE_GPU_ASYNC_PREPROCESSING = 0, DW_FREESPACE_DETECTOR_STAGE_GPU_ASYNC_INFERENCE = 1, DW_FREESPACE_DETECTOR_STAGE_CPU_POSTPROCESSING = 2, DW_FREESPACE_DETECTOR_STAGE_COUNT = 3 }
	Defines the processing stages of a free space detector. More...

Functions
DW_API_PUBLIC dwStatus	dwFreespaceDetector_bindInput (const dwImageCUDA const frames, uint32_t frameCount, dwFreespaceDetectorHandle_t obj)
	Binds the input to the detector as a list of images. More...

DW_API_PUBLIC dwStatus	dwFreespaceDetector_bindInputTensor (dwAutoNetOutputHandle_t networkOutput, dwFreespaceDetectorHandle_t obj)
	Binds the network inference output tensor. More...

DW_API_PUBLIC dwStatus	dwFreespaceDetector_bindOutput (dwFreespaceDetection *boundary, uint32_t frameIdx, dwFreespaceDetectorHandle_t obj)
	Bind the ouput of the free space detector. More...

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_process (dwFreespaceDetectorStage stage, dwFreespaceDetectorHandle_t obj)
	Process the bound input frame array and store the result to where pointed by bound output array. 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...

Data Structure Documentation

◆ dwFreespaceDetection

struct dwFreespaceDetection

Data Fields
dwVector2f	boundaryImagePoint[DW_FREESPACE_POINT_MAX_COUNT]	Boundary point location in image space (pixels).
dwFreespaceBoundaryType	boundaryType[DW_FREESPACE_POINT_MAX_COUNT]	Category of the boundary.
dwVector2f	boundaryWorldPoint[DW_FREESPACE_POINT_MAX_COUNT]	Boundary point location in car domain (meter).
uint32_t	numberOfBoundaryPoints
uint32_t	sensorId	Camera sensor ID.
dwTime_t	timestamp	Timestamp of this detection in microseconds since the epoch.

◆ dwFreespaceDetectorInitParams

struct dwFreespaceDetectorInitParams

Data Fields
dwCameraModelHandle_t	cam	Specifies the handle to the calibrated camera. Set to DW_NULL_HANDLE to get image space output only.
dwCameraModelHandle_t	cam_new[DW_FREESPACE_IMAGE_MAX_COUNT]	Camera intrinsics of batched frames. Set to DW_NULL_HANDLE to get image space output only.
uint32_t	frameHeight	Height of camera frame when initialized without camera intrinsics, ignored if camera handle is valid.
uint32_t	frameWidth	Width of camera frame when initialized without camera intrinsics, ignored if camera handle is valid.
float32_t	maxDistance[DW_FREESPACE_IMAGE_MAX_COUNT]	Maximum valid distances in meters of the batched frames. Projected freespace boundary distance beyond maxDistance will be truncated. Note that maxDistances are effective only if proper camera intrinsics and extrisics were setup.
uint32_t	maxNumImages	Maximum number of images (cannot be larger than DW_FREESPACE_IMAGE_MAX_COUNT). Default is 1.
dwOpenRoadNetHandle_t	openroadnet	Specifies the handle to the OpenRoadNet module.
dwRect	roi[DW_FREESPACE_IMAGE_MAX_COUNT]	Region Of Interest of batched frames to be processed by the detector.
uint32_t	sensorId[DW_FREESPACE_IMAGE_MAX_COUNT]	Camera sensor IDs.
cudaStream_t	stream	CUDA stream on which to perform all operations.

◆ dwFreespaceDetectorRuntimeParams

struct dwFreespaceDetectorRuntimeParams

Data Fields
float32_t	maxDistance	Maximum distance in meters at which free space boundary distance can be distinguished.
dwRect	roi	Region Of Interest of frame to be processed by the detector.
uint32_t	spatialSmoothingWidth	Width of an 1-D Gaussian filter, check dwFreespaceDetector_setSpatialSmoothFilterWidth for more details.
float32_t	temporalSmoothingFactor	Temporal smooth factor, check dwFreespaceDetector_setTemporalSmoothFactor for more details.

Macro Definition Documentation

◆ DW_FREESPACE_IMAGE_MAX_COUNT

#define DW_FREESPACE_IMAGE_MAX_COUNT 6

Maximum number of images to run free space detector on.

Definition at line 65 of file FreespaceDetector.h.

◆ DW_FREESPACE_POINT_MAX_COUNT

#define DW_FREESPACE_POINT_MAX_COUNT 960

Definition at line 66 of file FreespaceDetector.h.

Typedef Documentation

◆ dwFreespaceDetectorHandle_t

typedef struct dwFreespaceDetectorObject* dwFreespaceDetectorHandle_t

Handle to a free space detector.

Definition at line 150 of file FreespaceDetector.h.

Enumeration Type Documentation

◆ dwFreespaceDetectorStage

enum dwFreespaceDetectorStage

Defines the processing stages of a free space detector.

Enumerator
DW_FREESPACE_DETECTOR_STAGE_GPU_ASYNC_PREPROCESSING
DW_FREESPACE_DETECTOR_STAGE_GPU_ASYNC_INFERENCE
DW_FREESPACE_DETECTOR_STAGE_CPU_POSTPROCESSING
DW_FREESPACE_DETECTOR_STAGE_COUNT

Definition at line 58 of file FreespaceDetector_processPipeline.h.

Function Documentation

◆ dwFreespaceDetector_bindInput()

DW_API_PUBLIC dwStatus dwFreespaceDetector_bindInput	(	const dwImageCUDA const	frames,
		uint32_t	frameCount,
		dwFreespaceDetectorHandle_t	obj
	)

Binds the input to the detector as a list of images.

Parameters

[in]	frames	Array storing pointers to frames where the detector is to be applied.
[in]	frameCount	Number of frames provided in the array.
[in]	obj	Specifies the FreespaceDetector handle.

Returns: DW_SUCCESS, DW_INVALID_HANDLE, DW_BAD_CAST, DW_INVALID_ARGUMENT

◆ dwFreespaceDetector_bindInputTensor()

DW_API_PUBLIC dwStatus dwFreespaceDetector_bindInputTensor	(	dwAutoNetOutputHandle_t	networkOutput,
		dwFreespaceDetectorHandle_t	obj
	)

Binds the network inference output tensor.

Parameters

[in]	networkOutput	network detection tensor
[in]	obj	Specifies the ObjectDetector handle.

Returns: DW_SUCCESS, DW_INVALID_HANDLE, DW_BAD_CAST, DW_INVALID_ARGUMENT

◆ dwFreespaceDetector_bindOutput()

DW_API_PUBLIC dwStatus dwFreespaceDetector_bindOutput	(	dwFreespaceDetection *	boundary,
		uint32_t	frameIdx,
		dwFreespaceDetectorHandle_t	obj
	)

Bind the ouput of the free space detector.

Parameters

[in]	boundary	Pointer to free space boundary output array structure.
[in]	frameIdx	The frame index corresponds to the boundary to be bound.
[in]	obj	Specifies the FreespaceDetector handle.

Returns: DW_SUCCESS, DW_INVALID_HANDLE, DW_BAD_CAST, DW_INVALID_ARGUMENT

◆ dwFreespaceDetector_detectBoundary()

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.

Parameters

[out]	boundary	A user pointer to be filled with information about detected boundary points.
[in]	frame	CUDA frame to be processed for detection.
[in]	obj	A free space detector handle.

Returns: DW_INVALID_HANDLE, DW_BAD_CAST, DW_SUCCESS

◆ dwFreespaceDetector_detectBoundaryAutoNet()

DW_API_PUBLIC dwStatus dwFreespaceDetector_detectBoundaryAutoNet	(	dwFreespaceDetection *	boundary,
		dwAutoNetOutputHandle_t	input,
		dwFreespaceDetectorHandle_t	obj
	)

Detects boundaries from the given DNN inference output.

The array for the output detections has to be allocated beforehand.

Parameters

[out]	boundary	A user pointer to be filled with information about detected boundary points.
[in]	input	DNN inference output.
[in]	obj	A free space detector handle.

Returns: DW_INVALID_HANDLE, DW_BAD_CAST, DW_SUCCESS

◆ dwFreespaceDetector_getBoundaryDetection()

DW_API_PUBLIC dwStatus dwFreespaceDetector_getBoundaryDetection	(	dwFreespaceDetection *	boundary,
		dwFreespaceDetectorHandle_t	obj
	)

Gets the latest computed results.

This method has to be executed after dwFreespaceDetector_interpretHost() to get the current output of the detector.

Parameters

[out]	boundary	A user pointer to be filled with information about detected boundary points.
[in]	obj	A free space detector handle.

Returns: DW_SUCCESS, DW_INVALID_HANDLE, DW_BAD_CAST

Note: The dwFreespaceDetection component pointers are only valid till the next proccesDeviceAsync method

◆ dwFreespaceDetector_getCUDAStream()

DW_API_PUBLIC dwStatus dwFreespaceDetector_getCUDAStream	(	cudaStream_t *	stream,
		dwFreespaceDetectorHandle_t	obj
	)

Gets CUDA stream used by the free space detection.

Parameters

[out]	stream	The CUDA stream currently used.
[in]	obj	A handle to the free space detection module.

Returns: DW_INVALID_HANDLE if the given context handle is invalid,
or DW_SUCCESS otherwise.

◆ dwFreespaceDetector_getDetectionROI()

DW_API_PUBLIC dwStatus dwFreespaceDetector_getDetectionROI	(	dwRect *	roi,
		dwFreespaceDetectorHandle_t	obj
	)

Gets the detection Region of Interest (ROI) for the detector.

Parameters

[out]	roi	ROI of frame to be processed by the detector, default to full frame
[in]	obj	A free space detector handle

Returns: dwRect&

◆ dwFreespaceDetector_getDetectionROI_new()

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.

Parameters

[in]	imageIdx	The index of camera image in the batch.
[out]	roi	ROI of frame to be processed by the detector, default to full frame
[in]	obj	A free space detector handle

Returns: dwRect&

◆ dwFreespaceDetector_getDNNMetaData()

DW_API_PUBLIC dwStatus dwFreespaceDetector_getDNNMetaData	(	dwDNNMetaData *	metaData,
		dwFreespaceDetectorHandle_t	obj
	)

Returns the DNN metadata.

Parameters

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

Returns: DW_SUCCESS, DW_INVALID_HANDLE, DW_BAD_CAST, DW_INVALID_ARGUMENT

◆ dwFreespaceDetector_getRuntimeParams()

DW_API_PUBLIC dwStatus dwFreespaceDetector_getRuntimeParams	(	dwFreespaceDetectorRuntimeParams *	rtParams,
		dwFreespaceDetectorHandle_t	obj
	)

Get the runtime parameters associated with a free space detector module.

Parameters

[in]	rtParams	Runtime parameters to be retrieved from a free space detector module.
[in]	obj	A free space detector handle.

Returns: DW_INVALID_HANDLE, DW_BAD_CAST, DW_SUCCESS

◆ dwFreespaceDetector_initializeFromAutoNet()

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.

Parameters

[out]	obj	A pointer to the landmark detector handle for the created module.
[in]	autonet	Specifies the handle to the autonet module.
[in]	initParams	Parameters required to initialize a free space detector module.
[in]	ctx	Specifies the handler to the context to create OpenRoadNet.

Returns: DW_INVALID_ARGUMENT, DW_SUCCESS

◆ dwFreespaceDetector_initializeFromOpenRoadNet()

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.

Parameters

[out]	obj	A pointer to the free space detector handle for the created module.
[in]	openroadnet	Specifies the handle to the OpenRoadNet module.
[in]	frameWidth	Width of camera frames to apply free space detector later.
[in]	frameHeight	Height of camera frames to apply free space detector later.
[in]	stream	CUDA stream on which to perform all operations.
[in]	ctx	Specifies the handler to the context to create OpenRoadNet.

Returns: DW_INVALID_ARGUMENT, DW_SUCCESS

◆ dwFreespaceDetector_initializeFromOpenRoadNet_new()

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.

Parameters

[out]	obj	A pointer to the free space detector handle for the created module.
[in]	initParams	Parameters required to initialize a free space detector module.
[in]	ctx	Specifies the handler to the context to create OpenRoadNet.

Returns: DW_INVALID_ARGUMENT, DW_BAD_CAST, DW_SUCCESS

◆ dwFreespaceDetector_interpretHost()

DW_API_PUBLIC dwStatus dwFreespaceDetector_interpretHost ( dwFreespaceDetectorHandle_t obj )

Runs the interpretation of the processed results on the CPU.

This method has to be executed after dwFreespaceDetector_processDeviceAsync() to get the actual output of the detector.

Parameters

[in] obj A free space detector handle.

Returns: DW_SUCCESS, DW_INVALID_HANDLE, DW_BAD_CAST

◆ dwFreespaceDetector_process()

DW_API_PUBLIC dwStatus dwFreespaceDetector_process	(	dwFreespaceDetectorStage	stage,
		dwFreespaceDetectorHandle_t	obj
	)

Process the bound input frame array and store the result to where pointed by bound output array.

Parameters

[in]	stage	the processing stage to be executed.
[in]	obj	A free space detector handle.

Returns: DW_SUCCESS, DW_INVALID_HANDLE, DW_BAD_CAST

◆ dwFreespaceDetector_processDeviceAsync()

DW_API_PUBLIC dwStatus dwFreespaceDetector_processDeviceAsync	(	const dwImageCUDA *	frame,
		dwFreespaceDetectorHandle_t	obj
	)

Processes the given frame on the GPU asynchronously.

Parameters

[in]	frame	CUDA frame to be processed for detection.
[in]	obj	A free space detector handle.

Returns: DW_SUCCESS, DW_INVALID_HANDLE, DW_BAD_CAST

◆ dwFreespaceDetector_release()

DW_API_PUBLIC dwStatus dwFreespaceDetector_release ( dwFreespaceDetectorHandle_t obj )

Releases the detector module.

Parameters

[in] obj The object handle to release.

Returns: DW_SUCCESS, DW_INVALID_HANDLE, DW_BAD_CAST

Note: This method renders the handle unusable.

◆ dwFreespaceDetector_reset()

DW_API_PUBLIC dwStatus dwFreespaceDetector_reset ( dwFreespaceDetectorHandle_t obj )

Resets the free space detector module.

Parameters

[in] obj Specifies the detector to reset.

Returns: DW_SUCCESS, DW_INVALID_HANDLE, DW_BAD_CAST

◆ dwFreespaceDetector_setCameraExtrinsics()

DW_API_PUBLIC dwStatus dwFreespaceDetector_setCameraExtrinsics	(	dwTransformation3f	cam2rig,
		dwFreespaceDetectorHandle_t	obj
	)

Set the transformation from camera to rig.

Parameters

[in]	cam2rig	Specifies the transformation from camera to rig.
[in]	obj	A free space detector handle.

Returns: DW_INVALID_HANDLE, DW_BAD_CAST, DW_SUCCESS

◆ dwFreespaceDetector_setCameraExtrinsics_new()

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.

Parameters

[in]	imageIdx	The index of camera image in the batch.
[in]	cam2rig	Specifies the transformation from camera to rig.
[in]	obj	A free space detector handle.

Returns: DW_INVALID_HANDLE, DW_BAD_CAST, DW_SUCCESS

◆ dwFreespaceDetector_setCameraHandle()

DW_API_PUBLIC dwStatus dwFreespaceDetector_setCameraHandle	(	dwCameraModelHandle_t	cam,
		dwFreespaceDetectorHandle_t	obj
	)

Set the handle to the calibrated camera.

Parameters

[in]	cam	Specifies the handle to the calibrated front looking camera.
[in]	obj	A free space detector handle.

Returns: DW_INVALID_HANDLE, DW_BAD_CAST, DW_SUCCESS

◆ dwFreespaceDetector_setCUDAStream()

DW_API_PUBLIC dwStatus dwFreespaceDetector_setCUDAStream	(	cudaStream_t	stream,
		dwFreespaceDetectorHandle_t	obj
	)

Sets the CUDA stream for CUDA related operations.

Parameters

[in]	stream	The CUDA stream to be used. Default is the one passed during initialization.
[in]	obj	A handle to the free space detector module for which to set CUDA stream.

Returns: DW_INVALID_HANDLE if the given context handle is invalid,
or DW_SUCCESS otherwise.

Note: The ownership of the stream remains by the callee.

◆ dwFreespaceDetector_setDetectionROI()

DW_API_PUBLIC dwStatus dwFreespaceDetector_setDetectionROI	(	const dwRect *	roi,
		dwFreespaceDetectorHandle_t	obj
	)

Set the detection Region of Interest (ROI) for the detector.

Parameters

[in]	roi	ROI of frame to be processed by the detector, default to full frame.
[in]	obj	A free space detector handle.

Returns: DW_SUCCESS, DW_INVALID_HANDLE, DW_BAD_CAST

◆ dwFreespaceDetector_setDetectionROI_new()

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.

Parameters

[in]	imageIdx	The index of camera image in the batch.
[in]	roi	ROI of frame to be processed by the detector, default to full frame.
[in]	obj	A free space detector handle.

Returns: DW_SUCCESS, DW_INVALID_HANDLE, DW_BAD_CAST

◆ dwFreespaceDetector_setMaxFreespaceDistance()

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.

Parameters

[in]	maxDistance	Maximum distance in meters at which free space boundary distance can be distinguished.
[in]	obj	A free space detector handle.

Returns: DW_INVALID_HANDLE, DW_SUCCESS

◆ dwFreespaceDetector_setMaxFreespaceDistance_new()

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.

Parameters

[in]	imageIdx	The index of camera image in the batch.
[in]	maxDistance	Maximum distance in meters at which free space boundary distance can be distinguished.
[in]	obj	A free space detector handle.

Returns: DW_INVALID_HANDLE, DW_SUCCESS

◆ dwFreespaceDetector_setRuntimeParams()

DW_API_PUBLIC dwStatus dwFreespaceDetector_setRuntimeParams	(	const dwFreespaceDetectorRuntimeParams *	rtParams,
		dwFreespaceDetectorHandle_t	obj
	)

Set the runtime parameters associated with a free space detector module.

Parameters

[in]	rtParams	Runtime parameters associated with a free space detector module.
[in]	obj	A free space detector handle.

Returns: DW_INVALID_HANDLE, DW_BAD_CAST, DW_SUCCESS

◆ dwFreespaceDetector_setSpatialSmoothFilterWidth()

DW_API_PUBLIC dwStatus dwFreespaceDetector_setSpatialSmoothFilterWidth	(	uint32_t	width,
		dwFreespaceDetectorHandle_t	obj
	)

Sets the spatial smoothing filter width.

Parameters

[in]	width	Width of an 1-D Gaussian filter used to spatially smooth the boundary points. Default to 1 and no spatial smoothing.
[in]	obj	A free space detector handle (must be of type OpenRoadNet).

Returns: DW_SUCCESS, DW_INVALID_HANDLE, DW_BAD_CAST

Note: Filter width must be a positive integer within [4, numberOfBoundaryPoints/10). The boundary of the 1-D Gaussian filter is set to 2.5* standard deviation. Filter width 1 is to turn off spatial smoothing.

◆ dwFreespaceDetector_setTemporalSmoothFactor()

DW_API_PUBLIC dwStatus dwFreespaceDetector_setTemporalSmoothFactor	(	float32_t	factor,
		dwFreespaceDetectorHandle_t	obj
	)

Set the temporal smoothing factor.

Parameters

[in]	factor	Average previous and current free space boundary points. smoothed point = factorprevious point + (1.0-factor)current point To turn off temporal smoothing, set factor to zero (0).
[in]	obj	A free space detector handle (must be of type OpenRoadNet).

Returns: DW_SUCCESS, DW_INVALID_HANDLE, DW_BAD_CAST

Detailed Description

Data Structures

Macros

Typedefs

Enumerations

Functions

Data Structure Documentation

◆ dwFreespaceDetection

◆ dwFreespaceDetectorInitParams

◆ dwFreespaceDetectorRuntimeParams

Macro Definition Documentation

◆ DW_FREESPACE_IMAGE_MAX_COUNT

◆ DW_FREESPACE_POINT_MAX_COUNT

Typedef Documentation

◆ dwFreespaceDetectorHandle_t

Enumeration Type Documentation

◆ dwFreespaceDetectorStage

Function Documentation

◆ dwFreespaceDetector_bindInput()

◆ dwFreespaceDetector_bindInputTensor()

◆ dwFreespaceDetector_bindOutput()

◆ dwFreespaceDetector_detectBoundary()

◆ dwFreespaceDetector_detectBoundaryAutoNet()

◆ dwFreespaceDetector_getBoundaryDetection()

◆ dwFreespaceDetector_getCUDAStream()

◆ dwFreespaceDetector_getDetectionROI()

◆ dwFreespaceDetector_getDetectionROI_new()

◆ dwFreespaceDetector_getDNNMetaData()

◆ dwFreespaceDetector_getRuntimeParams()

◆ dwFreespaceDetector_initializeFromAutoNet()

◆ dwFreespaceDetector_initializeFromOpenRoadNet()

◆ dwFreespaceDetector_initializeFromOpenRoadNet_new()

◆ dwFreespaceDetector_interpretHost()

◆ dwFreespaceDetector_process()

◆ dwFreespaceDetector_processDeviceAsync()

◆ dwFreespaceDetector_release()

◆ dwFreespaceDetector_reset()

◆ dwFreespaceDetector_setCameraExtrinsics()

◆ dwFreespaceDetector_setCameraExtrinsics_new()

◆ dwFreespaceDetector_setCameraHandle()

◆ dwFreespaceDetector_setCUDAStream()

◆ dwFreespaceDetector_setDetectionROI()

◆ dwFreespaceDetector_setDetectionROI_new()

◆ dwFreespaceDetector_setMaxFreespaceDistance()

◆ dwFreespaceDetector_setMaxFreespaceDistance_new()

◆ dwFreespaceDetector_setRuntimeParams()

◆ dwFreespaceDetector_setSpatialSmoothFilterWidth()

◆ dwFreespaceDetector_setTemporalSmoothFactor()