Detailed Description

Defines ParkNetDetector module.

Defines parking space detector module based on ParkNet.

Data Structures
struct	dwParkDetection

struct	dwParkNetDetectorParams

struct	dwParkObject

Macros
#define	DW_PARK_DETECTION_MAX_COUNT 5000

#define	DW_PARK_DETECTION_N_COORDINATES_2D 8

#define	DW_PARK_DETECTION_N_COORDINATES_3D 12

Typedefs
typedef struct dwParkNetDetectorObject *	dwParkNetDetectorHandle_t
	Handle to a ParkNet-based detector object. More...

Enumerations
enum	dwParkNetDetectorStage { DW_PARKNET_DETECTOR_STAGE_GPU_ASYNC_INFERENCE = 0, DW_PARKNET_DETECTOR_STAGE_CPU_POSTPROCESSING = 1, DW_PARKNET_DETECTOR_STAGE_COUNT = 2 }
	Defines the processing stages of a parking space detector. More...

Functions
DW_API_PUBLIC dwStatus	dwParkNetDetector_bindInput (const dwImageCUDA *frame, dwParkNetDetectorHandle_t obj)
	Binds the input image to the detector. More...

DW_API_PUBLIC dwStatus	dwParkNetDetector_bindOutput (dwParkDetection *parkingSpaces, dwParkNetDetectorHandle_t obj)
	Bind object array that holds parking space boundaries. More...

DW_API_PUBLIC dwStatus	dwParkNetDetector_getCUDAStream (cudaStream_t *stream, dwParkNetDetectorHandle_t obj)
	Gets the CUDA stream used. More...

DW_API_PUBLIC dwStatus	dwParkNetDetector_getParkDetections (dwParkDetection *parkingSpaces, dwParkNetDetectorHandle_t obj)
	Return the interpreted output. More...

DW_API_PUBLIC dwStatus	dwParkNetDetector_inferDeviceAsync (dwParkNetDetectorHandle_t obj)
	Runs inference using the provided DNN model. More...

DW_API_PUBLIC dwStatus	dwParkNetDetector_initDefaultParams (dwParkNetDetectorParams *detectorParams)
	Initializes ParkNetDetector parameters structure with default values. More...

DW_API_PUBLIC dwStatus	dwParkNetDetector_initializeFromParkNet (dwParkNetDetectorHandle_t obj, const dwParkNetDetectorParams detectorParams, dwParkNetHandle_t parknet, dwContextHandle_t ctx)
	Initializes ParkNetDetector module with a ParkNet module. More...

DW_API_PUBLIC dwStatus	dwParkNetDetector_interpret (dwParkNetDetectorHandle_t obj)
	Output of the inference (dwObjectDetector_inferDeviceAsync) is interpreted to get the list of object proposals. More...

DW_API_PUBLIC dwStatus	dwParkNetDetector_process (dwParkNetDetectorStage stage, dwParkNetDetectorHandle_t obj)
	Process the bound input frame array and store the result to where pointed by bound output array. More...

DW_API_PUBLIC dwStatus	dwParkNetDetector_release (dwParkNetDetectorHandle_t obj)
	Releases the ParkNetDetector module. More...

DW_API_PUBLIC dwStatus	dwParkNetDetector_reset (dwParkNetDetectorHandle_t obj)
	Resets ParkNetDetector. More...

DW_API_PUBLIC dwStatus	dwParkNetDetector_setCameraExtrinsics (dwTransformation3f cam2rig, dwParkNetDetectorHandle_t obj)
	Set the transformation from camera to rig. More...

DW_API_PUBLIC dwStatus	dwParkNetDetector_setCUDAStream (const cudaStream_t stream, dwParkNetDetectorHandle_t obj)
	Sets the CUDA stream used. More...

Data Structure Documentation

◆ dwParkDetection

struct dwParkDetection

Data Fields
uint32_t	imageHeight
uint32_t	imageWidth
uint32_t	numDetection
dwParkObject	parkSpace[DW_PARK_DETECTION_MAX_COUNT]
dwTime_t	timestamp

◆ dwParkNetDetectorParams

struct dwParkNetDetectorParams

Data Fields
dwCameraModelHandle_t	cam	Calibrated camera handle.
dwTransformation3f	cam2Rig	Camera to rig transformation matrix.
uint32_t	imageHeight
uint32_t	imageWidth
uint32_t	maxNumImages	Maximum number of images (cannot be larger than DW_DETECTOR_MAX_IMAGES). Default is 1.
dwRect	ROI	to have the right size for DNN. Default ROI is the whole image.
float32_t	scaleOriginalToInput	Image size ratio.

◆ dwParkObject

struct dwParkObject

Data Fields
float32_t	box2D[DW_PARK_DETECTION_N_COORDINATES_2D]
float32_t	box3D[DW_PARK_DETECTION_N_COORDINATES_3D]
float32_t	boxConfidence
uint32_t	entryLine

Macro Definition Documentation

◆ DW_PARK_DETECTION_MAX_COUNT

#define DW_PARK_DETECTION_MAX_COUNT 5000

Definition at line 60 of file ParkNetDetector.h.

◆ DW_PARK_DETECTION_N_COORDINATES_2D

#define DW_PARK_DETECTION_N_COORDINATES_2D 8

Definition at line 61 of file ParkNetDetector.h.

◆ DW_PARK_DETECTION_N_COORDINATES_3D

#define DW_PARK_DETECTION_N_COORDINATES_3D 12

Definition at line 62 of file ParkNetDetector.h.

Typedef Documentation

◆ dwParkNetDetectorHandle_t

typedef struct dwParkNetDetectorObject* dwParkNetDetectorHandle_t

Handle to a ParkNet-based detector object.

Definition at line 67 of file ParkNetDetector.h.

Enumeration Type Documentation

◆ dwParkNetDetectorStage

enum dwParkNetDetectorStage

Defines the processing stages of a parking space detector.

Enumerator
DW_PARKNET_DETECTOR_STAGE_GPU_ASYNC_INFERENCE
DW_PARKNET_DETECTOR_STAGE_CPU_POSTPROCESSING
DW_PARKNET_DETECTOR_STAGE_COUNT

Definition at line 55 of file ParkNetDetector_processPipeline.h.

Function Documentation

◆ dwParkNetDetector_bindInput()

DW_API_PUBLIC dwStatus dwParkNetDetector_bindInput	(	const dwImageCUDA *	frame,
		dwParkNetDetectorHandle_t	obj
	)

Binds the input image to the detector.

Parameters

[in]	frame	Pointer to a cuda-frame where the detector is to be applied.
[in]	obj	Specifies the ParkNetDetector handle.

Returns: DW_SUCCESS, DW_INVALID_HANDLE, DW_BAD_CAST, DW_INVALID_ARGUMENT

◆ dwParkNetDetector_bindOutput()

DW_API_PUBLIC dwStatus dwParkNetDetector_bindOutput	(	dwParkDetection *	parkingSpaces,
		dwParkNetDetectorHandle_t	obj
	)

Bind object array that holds parking space boundaries.

Parameters

[in]	parkingSpaces	pointer to the parking space results object.
[in]	obj	Specifies the ParkNetDetector handle.

Returns: DW_SUCCESS operation completed successful DW_INVALID_ARGUMENT null handle passed as argument

◆ dwParkNetDetector_getCUDAStream()

DW_API_PUBLIC dwStatus dwParkNetDetector_getCUDAStream	(	cudaStream_t *	stream,
		dwParkNetDetectorHandle_t	obj
	)

Gets the CUDA stream used.

Parameters

[out]	stream	The CUDA stream used.
[in]	obj	A pointer to the ParkNetDetector handle.

Returns: DW_INVALID_ARGUMENT, DW_SUCCESS

◆ dwParkNetDetector_getParkDetections()

DW_API_PUBLIC dwStatus dwParkNetDetector_getParkDetections	(	dwParkDetection *	parkingSpaces,
		dwParkNetDetectorHandle_t	obj
	)

Return the interpreted output.

Parameters

[in]	parkingSpaces	Pointer to a structure to populate with information about available parking spaces.
[in]	obj	Specifies the ParkNet-detector handle.

Returns: DW_SUCCESS operation completed successful DW_INVALID_ARGUMENT null handle passed as argument

◆ dwParkNetDetector_inferDeviceAsync()

DW_API_PUBLIC dwStatus dwParkNetDetector_inferDeviceAsync ( dwParkNetDetectorHandle_t obj )

Runs inference using the provided DNN model.

The inference pipeline is as follows:

DataPreparation: Input images are prepared by scaling, padding and other transformations set in dataConditionerParams at initialization time in order to have the right properties required by the DNN. If the given DNN model expects batched input, the given images are divided into batches, where each batch has the expected batch size.
Inference: Inference is run on the prepared image.

Parameters

[in] obj Specifies the ParkNetDetector handle which already has an input image bound to it.

Returns: DW_SUCCESS, DW_INVALID_HANDLE, DW_BAD_CAST, DW_INVALID_ARGUMENT

◆ dwParkNetDetector_initDefaultParams()

DW_API_PUBLIC dwStatus dwParkNetDetector_initDefaultParams ( dwParkNetDetectorParams * detectorParams )

Initializes ParkNetDetector parameters structure with default values.

Parameters

[out] detectorParams ParkNetDetector parameters.

Returns: DW_SUCCESS, DW_INVALID_ARGUMENT

◆ dwParkNetDetector_initializeFromParkNet()

DW_API_PUBLIC dwStatus dwParkNetDetector_initializeFromParkNet	(	dwParkNetDetectorHandle_t *	obj,
		const dwParkNetDetectorParams *	detectorParams,
		dwParkNetHandle_t	parknet,
		dwContextHandle_t	ctx
	)

Initializes ParkNetDetector module with a ParkNet module.

Parameters

[out]	obj	A pointer to ParkNetDetector handle that is initialized from parameters.
[in]	detectorParams	A pointer to ParkNetDetector parameters.
[in]	parknet	Specifies the handle to the ParkNet module.
[in]	ctx	Specifies the handle to the context.

Returns: DW_SUCCESS, DW_INVALID_HANDLE, DW_BAD_CAST, DW_INVALID_ARGUMENT

◆ dwParkNetDetector_interpret()

DW_API_PUBLIC dwStatus dwParkNetDetector_interpret ( dwParkNetDetectorHandle_t obj )

Output of the inference (dwObjectDetector_inferDeviceAsync) is interpreted to get the list of object proposals.

If fusing is activated, proposals coming from different images is filled into a single list.

Parameters

[in] obj Specifies the ObjectDetector handle.

Returns: DW_SUCCESS operation completed successful DW_INVALID_ARGUMENT null handle passed as argument

◆ dwParkNetDetector_process()

DW_API_PUBLIC dwStatus dwParkNetDetector_process	(	dwParkNetDetectorStage	stage,
		dwParkNetDetectorHandle_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 Parknet detector handle.

Returns: DW_SUCCESS, DW_INVALID_HANDLE, DW_BAD_CAST

◆ dwParkNetDetector_release()

DW_API_PUBLIC dwStatus dwParkNetDetector_release ( dwParkNetDetectorHandle_t obj )

Releases the ParkNetDetector 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.

◆ dwParkNetDetector_reset()

DW_API_PUBLIC dwStatus dwParkNetDetector_reset ( dwParkNetDetectorHandle_t obj )

Resets ParkNetDetector.

Parameters

[in] obj Handle to reset.

Returns: DW_SUCCESS, DW_INVALID_HANDLE, DW_BAD_CAST

◆ dwParkNetDetector_setCameraExtrinsics()

DW_API_PUBLIC dwStatus dwParkNetDetector_setCameraExtrinsics	(	dwTransformation3f	cam2rig,
		dwParkNetDetectorHandle_t	obj
	)

Set the transformation from camera to rig.

Parameters

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

Returns: DW_INVALID_HANDLE, DW_BAD_CAST, DW_SUCCESS

◆ dwParkNetDetector_setCUDAStream()

DW_API_PUBLIC dwStatus dwParkNetDetector_setCUDAStream	(	const cudaStream_t	stream,
		dwParkNetDetectorHandle_t	obj
	)

Sets the CUDA stream used.

Parameters

[in]	stream	The CUDA stream used.
[in]	obj	A pointer to the ParkNetDetector handle that is updated.

Returns: DW_INVALID_ARGUMENT, DW_SUCCESS

Detailed Description

Data Structures

Macros

Typedefs

Enumerations

Functions

Data Structure Documentation

◆ dwParkDetection

◆ dwParkNetDetectorParams

◆ dwParkObject

Macro Definition Documentation

◆ DW_PARK_DETECTION_MAX_COUNT

◆ DW_PARK_DETECTION_N_COORDINATES_2D

◆ DW_PARK_DETECTION_N_COORDINATES_3D

Typedef Documentation

◆ dwParkNetDetectorHandle_t

Enumeration Type Documentation

◆ dwParkNetDetectorStage

Function Documentation

◆ dwParkNetDetector_bindInput()

◆ dwParkNetDetector_bindOutput()

◆ dwParkNetDetector_getCUDAStream()

◆ dwParkNetDetector_getParkDetections()

◆ dwParkNetDetector_inferDeviceAsync()

◆ dwParkNetDetector_initDefaultParams()

◆ dwParkNetDetector_initializeFromParkNet()

◆ dwParkNetDetector_interpret()

◆ dwParkNetDetector_process()

◆ dwParkNetDetector_release()

◆ dwParkNetDetector_reset()

◆ dwParkNetDetector_setCameraExtrinsics()

◆ dwParkNetDetector_setCUDAStream()