Detailed Description

Defines path detector module based on PathNet, i.e., DNN based path detector.

Defines path detector process pipeline module based on PathNet, i.e., DNN based path detector.

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

Data Structures
struct	dwPathDetection
	Output paths from post-processing. More...

struct	dwPathDetectorFoveaParams

struct	dwPathNetPath
	Definition of one path in image coordinate system. More...

struct	dwPathNetPath3D
	Definition of one path in world coordinate system. More...

Macros
#define	DW_PATH_MAX_COUNT 8

#define	DW_PATH_POINT_MAX_COUNT 128

Typedefs
typedef struct dwPathDetectorObject *	dwPathDetectorHandle_t
	Handle to path detector. More...

Enumerations
enum	dwPathDetectorStage { DW_PATHDETECTOR_STAGE_GPU_ASYNC_PREPROCESSING = 0, DW_PATHDETECTOR_STAGE_GPU_ASYNC_INFERENCE = 1, DW_PATHDETECTOR_STAGE_CPU_POSTPROCESSING = 2, DW_PATHDETECTOR_STAGE_COUNT = 3 }
	Defines the processing stages of a path detector. More...

Functions
DW_API_PUBLIC dwStatus	dwPathDetector_bindInputTensor (dwAutoNetOutputHandle_t netTensor, dwPathDetectorHandle_t obj)
	Binds the network inference output tensor. More...

DW_API_PUBLIC dwStatus	dwPathDetector_bindPathsOutput (dwPathDetection *output, dwPathDetectorHandle_t obj)
	Binds the paths output of the detector to a structure. More...

DW_API_PUBLIC dwStatus	dwPathDetector_detectPaths (dwPathDetection paths, const dwImageCUDA frame, dwPathDetectorHandle_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	dwPathDetector_detectPathsAutoNet (dwPathDetection *paths, dwAutoNetOutputHandle_t input, dwPathDetectorHandle_t obj)
	Detects paths from the given DNN inference output. More...

DW_API_PUBLIC dwStatus	dwPathDetector_getComputeCenterRailFrom3D (bool *computeCenterRailFrom3D, dwPathDetectorHandle_t obj)
	Get the flag to compute 3D center rail from 3D path edges. More...

DW_API_PUBLIC dwStatus	dwPathDetector_getCUDAStream (cudaStream_t *stream, dwPathDetectorHandle_t obj)
	Gets CUDA stream used by the path detection. More...

DW_API_PUBLIC dwStatus	dwPathDetector_getDetectionROI (dwRect *roi, dwPathDetectorHandle_t obj)
	Get detection Region of Interest (ROI) for the detector. More...

DW_API_PUBLIC dwStatus	dwPathDetector_getDetectionThreshold (float32_t *threshold, dwPathDetectorHandle_t obj)
	Gets the detection confidence threshold for the PathNet based detector. More...

DW_API_PUBLIC dwStatus	dwPathDetector_getDNNMetaData (dwDNNMetaData *metaData, dwPathDetectorHandle_t obj)
	Returns the DNN metadata. More...

DW_API_PUBLIC dwStatus	dwPathDetector_getOppositeTrafficDetectionThreshold (float32_t *threshold, dwPathDetectorHandle_t obj)
	Gets the opposite traffic path attribute confidence threshold for the PathNet based detector. More...

DW_API_PUBLIC dwStatus	dwPathDetector_getPathDetections (dwPathDetection *paths, dwPathDetectorHandle_t obj)
	Gets the latest computed results in image coordinates. More...

DW_API_PUBLIC dwStatus	dwPathDetector_getTemporalSmoothingFactor (float32_t *factor, dwPathDetectorHandle_t obj)
	Gets the temporal smoothing factor from Path detector. More...

DW_API_PUBLIC dwStatus	dwPathDetector_getUseFovea (bool *useFovea, dwPathDetectorHandle_t obj)
	Get fovea processing mode. More...

DW_API_PUBLIC dwStatus	dwPathDetector_initializeFromAutoNet (dwPathDetectorHandle_t *obj, dwAutoNetHandle_t autonet, uint32_t frameWidth, uint32_t frameHeight, cudaStream_t stream, dwContextHandle_t ctx)
	Initializes a path detector module based on AutoNet. More...

DW_API_PUBLIC dwStatus	dwPathDetector_initializeFromPathNet (dwPathDetectorHandle_t *obj, dwPathNetHandle_t pathnet, uint32_t frameWidth, uint32_t frameHeight, dwPathDetectorFoveaParams foveaParams, cudaStream_t stream, dwContextHandle_t ctx)
	Initializes a path detector module based on PathNet. More...

DW_API_PUBLIC dwStatus	dwPathDetector_initializeFromPathNetWithCameraRig (dwPathDetectorHandle_t *obj, dwPathNetHandle_t pathnet, uint32_t frameWidth, uint32_t frameHeight, dwPathDetectorFoveaParams foveaParams, dwCameraModelHandle_t cam, dwTransformation3f cam2rig, cudaStream_t stream, dwContextHandle_t ctx)
	Initializes a path detector module based on PathNet with camera rig parameters. More...

DW_API_PUBLIC dwStatus	dwPathDetector_interpretHost (dwPathDetectorHandle_t obj)
	Runs the interpretation of the processed results on the CPU. More...

DW_API_PUBLIC dwStatus	dwPathDetector_process (dwPathDetectorStage stage, dwPathDetectorHandle_t obj)
	Process the bound input frame and store the result to where pointed by bound output. More...

DW_API_PUBLIC dwStatus	dwPathDetector_processDeviceAsync (const dwImageCUDA *frame, dwPathDetectorHandle_t obj)
	Processes the given frame on the GPU asynchronously. More...

DW_API_PUBLIC dwStatus	dwPathDetector_release (dwPathDetectorHandle_t obj)
	Releases the detector module. More...

DW_API_PUBLIC dwStatus	dwPathDetector_reset (dwPathDetectorHandle_t obj)
	Resets the path detector module. More...

DW_API_PUBLIC dwStatus	dwPathDetector_setCameraExtrinsics (const dwTransformation3f *cam2Rig, dwPathDetectorHandle_t obj)
	Sets new calibrated camera extrinsic. More...

DW_API_PUBLIC dwStatus	dwPathDetector_setComputeCenterRailFrom3D (bool computeCenterRailFrom3D, dwPathDetectorHandle_t obj)
	Set the flag to compute 3D center rail from 3D path edges. More...

DW_API_PUBLIC dwStatus	dwPathDetector_setCUDAStream (cudaStream_t stream, dwPathDetectorHandle_t obj)
	Sets the CUDA stream for CUDA related operations. More...

DW_API_PUBLIC dwStatus	dwPathDetector_setDetectionROI (const dwRect *roi, dwPathDetectorHandle_t obj)
	Set detection Region of Interest (ROI) for the detector. More...

DW_API_PUBLIC dwStatus	dwPathDetector_setDetectionThreshold (float32_t threshold, dwPathDetectorHandle_t obj)
	Sets the detection confidence threshold for the PathNet based detector. More...

DW_API_PUBLIC dwStatus	dwPathDetector_setOppositeTrafficDetectionThreshold (float32_t threshold, dwPathDetectorHandle_t obj)
	Sets the opposite traffic detection confidence threshold for the PathNet based detector. More...

DW_API_PUBLIC dwStatus	dwPathDetector_setTemporalSmoothingFactor (float32_t factor, dwPathDetectorHandle_t obj)
	Sets the temporal smoothing factor for the Path detector. More...

DW_API_PUBLIC dwStatus	dwPathDetector_setUseFovea (bool useFovea, dwPathDetectorHandle_t obj)
	Set fovea processing mode. More...

Data Structure Documentation

◆ dwPathDetection

struct dwPathDetection

Data Fields
uint32_t	numPathsImage	Total number of paths.
uint32_t	numPathsWorld	Total number of valid paths in world coordinates.
dwPathNetPath	pathsImage[DW_PATH_MAX_COUNT]	Post processed paths in image coordinates.
dwPathNetPath3D	pathsWorld[DW_PATH_MAX_COUNT]	Post processed paths in world coordinates.
dwTime_t	timestamp	Timestamp of frame used for detection.

◆ dwPathDetectorFoveaParams

struct dwPathDetectorFoveaParams

Data Fields
bool	enableFovea
dwRect	ROI

◆ dwPathNetPath

struct dwPathNetPath

Data Fields
dwVector2f	centerRailPoints[DW_PATH_POINT_MAX_COUNT]	Array containing path center locations.
float32_t	confidence	Confidence value of path.
float32_t	confidenceValues[DW_PATH_POINT_MAX_COUNT]	Array containing confidence value per point.
dwVector2f	leftEdgePoints[DW_PATH_POINT_MAX_COUNT]	Array containing path left edge locations.
uint32_t	numPoints	The total number of points that defines either right edge or left edge or center rail of each drive-able path. In any case, total number of points for the right, left and the center edge are equal.
float32_t	pathAngle[DW_PATH_POINT_MAX_COUNT]	Array containing angle in degrees from center rail location.
float32_t	pathAttributeConfidence	Confidence value of path attributes.
dwPathAttributeType	pathAttributeType	Category of path attributes.
float32_t	pathWidth[DW_PATH_POINT_MAX_COUNT]	Array containing width of center rail location.
dwPathPositionType	positionType	Category of path position.
dwVector2f	rightEdgePoints[DW_PATH_POINT_MAX_COUNT]	Array containing path right edge locations.

◆ dwPathNetPath3D

struct dwPathNetPath3D

Data Fields
dwVector3f	centerRailPoints[DW_PATH_POINT_MAX_COUNT]	Array containing path center locations.
float32_t	confidence	Confidence value of path.
float32_t	confidenceValues[DW_PATH_POINT_MAX_COUNT]	Array containing confidence value per point.
dwVector3f	leftEdgePoints[DW_PATH_POINT_MAX_COUNT]	Array containing path left edge locations.
uint32_t	numPoints	The total number of points that defines either right edge or left edge or center rail of each drive-able path. In any case, total number of points for the right, left and the center edge are equal.
float32_t	pathAngle[DW_PATH_POINT_MAX_COUNT]	Array containing angle in degrees from center rail location.
float32_t	pathAttributeConfidence	Confidence value of path attributes.
dwPathAttributeType	pathAttributeType	Category of path attributes.
float32_t	pathWidth[DW_PATH_POINT_MAX_COUNT]	Array containing width of center rail location.
dwPathPositionType	positionType	Category of path position.
dwVector3f	rightEdgePoints[DW_PATH_POINT_MAX_COUNT]	Array containing path right edge locations.

Macro Definition Documentation

◆ DW_PATH_MAX_COUNT

#define DW_PATH_MAX_COUNT 8

Definition at line 64 of file PathDetector.h.

◆ DW_PATH_POINT_MAX_COUNT

#define DW_PATH_POINT_MAX_COUNT 128

Definition at line 65 of file PathDetector.h.

Typedef Documentation

◆ dwPathDetectorHandle_t

typedef struct dwPathDetectorObject* dwPathDetectorHandle_t

Handle to path detector.

Definition at line 182 of file PathDetector.h.

Enumeration Type Documentation

◆ dwPathDetectorStage

enum dwPathDetectorStage

Defines the processing stages of a path detector.

Enumerator
DW_PATHDETECTOR_STAGE_GPU_ASYNC_PREPROCESSING
DW_PATHDETECTOR_STAGE_GPU_ASYNC_INFERENCE
DW_PATHDETECTOR_STAGE_CPU_POSTPROCESSING
DW_PATHDETECTOR_STAGE_COUNT

Definition at line 62 of file PathDetector_processPipeline.h.

Function Documentation

◆ dwPathDetector_bindInputTensor()

DW_API_PUBLIC dwStatus dwPathDetector_bindInputTensor	(	dwAutoNetOutputHandle_t	netTensor,
		dwPathDetectorHandle_t	obj
	)

Binds the network inference output tensor.

Parameters

[in]	netTensor	network detection tensor
[in]	obj	Specifies the PathDetector handle.

Returns: DW_SUCCESS, DW_INVALID_HANDLE, DW_BAD_CAST, DW_INVALID_ARGUMENT

◆ dwPathDetector_bindPathsOutput()

DW_API_PUBLIC dwStatus dwPathDetector_bindPathsOutput	(	dwPathDetection *	output,
		dwPathDetectorHandle_t	obj
	)

Binds the paths output of the detector to a structure.

Parameters

[out]	output	A user pointer to be filled with information about detected paths.
[in]	obj	A path detector handle.

Returns: DW_INVALID_HANDLE - If the given context handle is invalid.
DW_BAD_CAST - If cannot cast the given handle to the expected type.
DW_NOT_INITIALIZED - If lanes haven't been initialized.
DW_SUCCESS

◆ dwPathDetector_detectPaths()

DW_API_PUBLIC dwStatus dwPathDetector_detectPaths	(	dwPathDetection *	paths,
		const dwImageCUDA *	frame,
		dwPathDetectorHandle_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]	paths	A user pointer to be filled with information about detected paths.
[in]	frame	CUDA frame to be processed for detection.
[in]	obj	A path detector handle.

Returns: DW_INVALID_HANDLE, DW_BAD_CAST, DW_SUCCESS

◆ dwPathDetector_detectPathsAutoNet()

DW_API_PUBLIC dwStatus dwPathDetector_detectPathsAutoNet	(	dwPathDetection *	paths,
		dwAutoNetOutputHandle_t	input,
		dwPathDetectorHandle_t	obj
	)

Detects paths from the given DNN inference output.

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

Parameters

[out]	paths	A user pointer to be filled with information about detected paths
[in]	input	DNN inference output.
[in]	obj	A path detector handle.

Returns: DW_INVALID_HANDLE, DW_BAD_CAST, DW_SUCCESS

◆ dwPathDetector_getComputeCenterRailFrom3D()

DW_API_PUBLIC dwStatus dwPathDetector_getComputeCenterRailFrom3D	(	bool *	computeCenterRailFrom3D,
		dwPathDetectorHandle_t	obj
	)

Get the flag to compute 3D center rail from 3D path edges.

Parameters

[out]	computeCenterRailFrom3D	flag to compute 3D center rail from 3D path edges.
[in]	obj	A path detector handle (must be of type PathNet).

Returns: DW_INVALID_HANDLE - If the given path detector handle is invalid.
DW_BAD_CAST - If cannot cast the given handle to the expected type.
DW_SUCCESS

◆ dwPathDetector_getCUDAStream()

DW_API_PUBLIC dwStatus dwPathDetector_getCUDAStream	(	cudaStream_t *	stream,
		dwPathDetectorHandle_t	obj
	)

Gets CUDA stream used by the path detection.

Parameters

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

Returns: DW_INVALID_HANDLE - If the given path detector handle is invalid.
DW_SUCCESS

◆ dwPathDetector_getDetectionROI()

DW_API_PUBLIC dwStatus dwPathDetector_getDetectionROI	(	dwRect *	roi,
		dwPathDetectorHandle_t	obj
	)

Get 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 path detector handle

Returns: DW_INVALID_HANDLE - If the given path detector handle is invalid.
DW_INVALID_ARGUMENT - If the given output pointer is invalid.
DW_BAD_CAST - If cannot cast the given handle to the expected type.
DW_SUCCESS

◆ dwPathDetector_getDetectionThreshold()

DW_API_PUBLIC dwStatus dwPathDetector_getDetectionThreshold	(	float32_t *	threshold,
		dwPathDetectorHandle_t	obj
	)

Gets the detection confidence threshold for the PathNet based detector.

Parameters

[out]	threshold	Confidence threshold above which the DNN result is considered valid path information.
[in]	obj	A path detector handle (must be of type PathNet).

Returns: DW_INVALID_HANDLE - If the given path detector handle is invalid.
DW_INVALID_ARGUMENT - If the given output pointer is invalid.
DW_BAD_CAST - If cannot cast the given handle to the expected type.
DW_SUCCESS

◆ dwPathDetector_getDNNMetaData()

DW_API_PUBLIC dwStatus dwPathDetector_getDNNMetaData	(	dwDNNMetaData *	metaData,
		dwPathDetectorHandle_t	obj
	)

Returns the DNN metadata.

Parameters

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

Returns: DW_INVALID_HANDLE - If the given path detector handle is invalid.
DW_INVALID_ARGUMENT - If the given output pointer is invalid.
DW_BAD_CAST - If cannot cast the given handle to the expected type.
DW_SUCCESS

◆ dwPathDetector_getOppositeTrafficDetectionThreshold()

DW_API_PUBLIC dwStatus dwPathDetector_getOppositeTrafficDetectionThreshold	(	float32_t *	threshold,
		dwPathDetectorHandle_t	obj
	)

Gets the opposite traffic path attribute confidence threshold for the PathNet based detector.

Parameters

[out]	threshold	above which the DNN result is considered opposite traffic direction.
[in]	obj	A path detector handle (must be of type PathNet).

Returns: DW_INVALID_HANDLE - If the given path detector handle is invalid.
DW_INVALID_ARGUMENT - If the given output pointer is invalid.
DW_BAD_CAST - If cannot cast the given handle to the expected type.
DW_SUCCESS

◆ dwPathDetector_getPathDetections()

DW_API_PUBLIC dwStatus dwPathDetector_getPathDetections	(	dwPathDetection *	paths,
		dwPathDetectorHandle_t	obj
	)

Gets the latest computed results in image coordinates.

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

Note: The dwPathDetector component pointers are only valid till the next proccessDeviceAsync method

Parameters

[out]	paths	A user pointer to be filled with information about detected paths.
[in]	obj	A path detector handle.

Returns: DW_INVALID_HANDLE - If the given path detector handle is invalid.
DW_BAD_CAST - If cannot cast the given handle to the expected type.
DW_SUCCESS

◆ dwPathDetector_getTemporalSmoothingFactor()

DW_API_PUBLIC dwStatus dwPathDetector_getTemporalSmoothingFactor	(	float32_t *	factor,
		dwPathDetectorHandle_t	obj
	)

Gets the temporal smoothing factor from Path detector.

Parameters

[out]	factor	Average previous and current path detection points, which is calculated as: smoothed point = factorprevious point + (1.0-factor)current point
[in]	obj	A path detector handle

Returns: DW_INVALID_HANDLE - If the given path detector handle is invalid.
DW_INVALID_ARGUMENT - If the given output pointer is invalid.
DW_BAD_CAST - If cannot cast the given handle to the expected type.
DW_SUCCESS

◆ dwPathDetector_getUseFovea()

DW_API_PUBLIC dwStatus dwPathDetector_getUseFovea	(	bool *	useFovea,
		dwPathDetectorHandle_t	obj
	)

Get fovea processing mode.

Parameters

[out]	useFovea	Process fovea frame.
[in]	obj	A path detector handle (must be of type PathNet).

Returns: DW_INVALID_HANDLE - If the given path detector handle is invalid.
DW_SUCCESS

◆ dwPathDetector_initializeFromAutoNet()

DW_API_PUBLIC dwStatus dwPathDetector_initializeFromAutoNet	(	dwPathDetectorHandle_t *	obj,
		dwAutoNetHandle_t	autonet,
		uint32_t	frameWidth,
		uint32_t	frameHeight,
		cudaStream_t	stream,
		dwContextHandle_t	ctx
	)

Initializes a path detector module based on AutoNet.

Parameters

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

Returns: DW_INVALID_ARGUMENT, DW_SUCCESS

◆ dwPathDetector_initializeFromPathNet()

DW_API_PUBLIC dwStatus dwPathDetector_initializeFromPathNet	(	dwPathDetectorHandle_t *	obj,
		dwPathNetHandle_t	pathnet,
		uint32_t	frameWidth,
		uint32_t	frameHeight,
		dwPathDetectorFoveaParams	foveaParams,
		cudaStream_t	stream,
		dwContextHandle_t	ctx
	)

Initializes a path detector module based on PathNet.

Parameters

[out]	obj	A pointer to the PathDetector handle for the created module.
[in]	pathnet	Specifies the handle to the PathNet module.
[in]	frameWidth	Width of camera frames to apply path detector later.
[in]	frameHeight	Height of camera frames to apply path detector later.
[in]	foveaParams	Fovea processing enable and ROI parameters.
[in]	stream	CUDA stream on which to perform all operations.
[in]	ctx	Specifies the handle to the context to create PathNet.

Returns: DW_INVALID_HANDLE - If the given context handle is invalid.
DW_SUCCESS

◆ dwPathDetector_initializeFromPathNetWithCameraRig()

DW_API_PUBLIC dwStatus dwPathDetector_initializeFromPathNetWithCameraRig	(	dwPathDetectorHandle_t *	obj,
		dwPathNetHandle_t	pathnet,
		uint32_t	frameWidth,
		uint32_t	frameHeight,
		dwPathDetectorFoveaParams	foveaParams,
		dwCameraModelHandle_t	cam,
		dwTransformation3f	cam2rig,
		cudaStream_t	stream,
		dwContextHandle_t	ctx
	)

Initializes a path detector module based on PathNet with camera rig parameters.

Parameters

[out]	obj	A pointer to the PathDetector handle for the created module.
[in]	pathnet	Specifies the handle to the PathNet module.
[in]	frameWidth	Width of camera frames to apply path detector later.
[in]	frameHeight	Height of camera frames to apply path detector later.
[in]	foveaParams	Fovea processing enable and ROI parameters.
[in]	cam	Specifies the handle to the calibrated camera.
[in]	cam2rig	Specifies the transformation from camera to rig.
[in]	stream	CUDA stream on which to perform all operations.
[in]	ctx	Specifies the handle to the context to create PathNet.

Returns: DW_INVALID_HANDLE - If the given context handle is invalid.
DW_BAD_CAST - If cannot cast the given handle to the expected type.
DW_SUCCESS

◆ dwPathDetector_interpretHost()

DW_API_PUBLIC dwStatus dwPathDetector_interpretHost ( dwPathDetectorHandle_t obj )

Runs the interpretation of the processed results on the CPU.

To get the actual output of the detector, this method must be executed after dwPathDetector_processDeviceAsync().

Parameters

[in] obj A path detector handle.

Returns: DW_INVALID_HANDLE - If the given path detector handle is invalid.
DW_BAD_CAST - If cannot cast the given handle to the expected type.
DW_SUCCESS

◆ dwPathDetector_process()

DW_API_PUBLIC dwStatus dwPathDetector_process	(	dwPathDetectorStage	stage,
		dwPathDetectorHandle_t	obj
	)

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

Parameters

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

Returns: DW_SUCCESS, DW_INVALID_HANDLE, DW_BAD_CAST

◆ dwPathDetector_processDeviceAsync()

DW_API_PUBLIC dwStatus dwPathDetector_processDeviceAsync	(	const dwImageCUDA *	frame,
		dwPathDetectorHandle_t	obj
	)

Processes the given frame on the GPU asynchronously.

Parameters

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

Returns: DW_INVALID_HANDLE - If the given path detector handle is invalid.
DW_BAD_CAST - If cannot cast the given handle to the expected type.
DW_SUCCESS

◆ dwPathDetector_release()

DW_API_PUBLIC dwStatus dwPathDetector_release ( dwPathDetectorHandle_t obj )

Releases the detector module.

Parameters

[in] obj The object handle to release.

Returns: DW_INVALID_HANDLE - If the given path detector handle is invalid.
DW_BAD_CAST - If cannot cast the given handle to the expected type.
DW_SUCCESS

◆ dwPathDetector_reset()

DW_API_PUBLIC dwStatus dwPathDetector_reset ( dwPathDetectorHandle_t obj )

Resets the path detector module.

Parameters

[in] obj Specifies the detector to reset.

Returns: DW_INVALID_HANDLE - If the given path detector handle is invalid.
DW_BAD_CAST - If cannot cast the given handle to the expected type.
DW_SUCCESS

◆ dwPathDetector_setCameraExtrinsics()

DW_API_PUBLIC dwStatus dwPathDetector_setCameraExtrinsics	(	const dwTransformation3f *	cam2Rig,
		dwPathDetectorHandle_t	obj
	)

Sets new calibrated camera extrinsic.

Parameters

[in]	cam2Rig	specifies camera to rig transformation
[in]	obj	A path detector handle

Returns: DW_INVALID_HANDLE - If the given path detector handle is invalid.
DW_SUCCESS

◆ dwPathDetector_setComputeCenterRailFrom3D()

DW_API_PUBLIC dwStatus dwPathDetector_setComputeCenterRailFrom3D	(	bool	computeCenterRailFrom3D,
		dwPathDetectorHandle_t	obj
	)

Set the flag to compute 3D center rail from 3D path edges.

Parameters

[in]	computeCenterRailFrom3D	flag to compute 3D center rail from 3D path edges.
[in]	obj	A path detector handle (must be of type PathNet).

Returns: DW_INVALID_HANDLE - If the given path detector handle is invalid.
DW_BAD_CAST - If cannot cast the given handle to the expected type.
DW_SUCCESS

◆ dwPathDetector_setCUDAStream()

DW_API_PUBLIC dwStatus dwPathDetector_setCUDAStream	(	cudaStream_t	stream,
		dwPathDetectorHandle_t	obj
	)

Sets the CUDA stream for CUDA related operations.

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

Parameters

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

Returns: DW_INVALID_HANDLE - If the given path detector handle is invalid.
DW_SUCCESS

◆ dwPathDetector_setDetectionROI()

DW_API_PUBLIC dwStatus dwPathDetector_setDetectionROI	(	const dwRect *	roi,
		dwPathDetectorHandle_t	obj
	)

Set 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 path detector handle

Returns: DW_INVALID_HANDLE - If the given path detector handle is invalid.
DW_BAD_CAST - If cannot cast the given handle to the expected type.
DW_SUCCESS

◆ dwPathDetector_setDetectionThreshold()

DW_API_PUBLIC dwStatus dwPathDetector_setDetectionThreshold	(	float32_t	threshold,
		dwPathDetectorHandle_t	obj
	)

Sets the detection confidence threshold for the PathNet based detector.

Parameters

[in]	threshold	Confidence threshold above which the DNN result is considered valid path information.
[in]	obj	A path detector handle (must be of type PathNet).

Returns: DW_INVALID_HANDLE - If the given path detector handle is invalid.
DW_INVALID_ARGUMENT - If the given detection threshold is not between (0,1).
DW_BAD_CAST - If cannot cast the given handle to the expected type.
DW_SUCCESS

◆ dwPathDetector_setOppositeTrafficDetectionThreshold()

DW_API_PUBLIC dwStatus dwPathDetector_setOppositeTrafficDetectionThreshold	(	float32_t	threshold,
		dwPathDetectorHandle_t	obj
	)

Sets the opposite traffic detection confidence threshold for the PathNet based detector.

Parameters

[in]	threshold	above which the DNN result is considered opposite traffic direction.
[in]	obj	A path detector handle (must be of type PathNet).

Returns: DW_INVALID_HANDLE - If the given path detector handle is invalid.
DW_INVALID_ARGUMENT - If the given detection threshold is not between (0,1).
DW_BAD_CAST - If cannot cast the given handle to the expected type.
DW_SUCCESS

◆ dwPathDetector_setTemporalSmoothingFactor()

DW_API_PUBLIC dwStatus dwPathDetector_setTemporalSmoothingFactor	(	float32_t	factor,
		dwPathDetectorHandle_t	obj
	)

Sets the temporal smoothing factor for the Path detector.

Parameters

[in]	factor	Average previous and current path detection points, which is calculated as: smoothed point = factorprevious point + (1.0-factor)current point Set to 0 to turn off temporal smoothing.
[in]	obj	A path detector handle (must be of type PathNet).

Returns: DW_INVALID_HANDLE - If the given path detector handle is invalid.
DW_INVALID_ARGUMENT - If the given factor is not in the range (0,1).
DW_BAD_CAST - If cannot cast the given handle to the expected type.
DW_SUCCESS

◆ dwPathDetector_setUseFovea()

DW_API_PUBLIC dwStatus dwPathDetector_setUseFovea	(	bool	useFovea,
		dwPathDetectorHandle_t	obj
	)

Set fovea processing mode.

Parameters

[in]	useFovea	Process fovea frame.
[in]	obj	A path detector handle (must be of type PathNet).

Returns: DW_INVALID_HANDLE - If the given path detector handle is invalid.
DW_SUCCESS

Detailed Description

Data Structures

Macros

Typedefs

Enumerations

Functions

Data Structure Documentation

◆ dwPathDetection

◆ dwPathDetectorFoveaParams

◆ dwPathNetPath

◆ dwPathNetPath3D

Macro Definition Documentation

◆ DW_PATH_MAX_COUNT

◆ DW_PATH_POINT_MAX_COUNT

Typedef Documentation

◆ dwPathDetectorHandle_t

Enumeration Type Documentation

◆ dwPathDetectorStage

Function Documentation

◆ dwPathDetector_bindInputTensor()

◆ dwPathDetector_bindPathsOutput()

◆ dwPathDetector_detectPaths()

◆ dwPathDetector_detectPathsAutoNet()

◆ dwPathDetector_getComputeCenterRailFrom3D()

◆ dwPathDetector_getCUDAStream()

◆ dwPathDetector_getDetectionROI()

◆ dwPathDetector_getDetectionThreshold()

◆ dwPathDetector_getDNNMetaData()

◆ dwPathDetector_getOppositeTrafficDetectionThreshold()

◆ dwPathDetector_getPathDetections()

◆ dwPathDetector_getTemporalSmoothingFactor()

◆ dwPathDetector_getUseFovea()

◆ dwPathDetector_initializeFromAutoNet()

◆ dwPathDetector_initializeFromPathNet()

◆ dwPathDetector_initializeFromPathNetWithCameraRig()

◆ dwPathDetector_interpretHost()

◆ dwPathDetector_process()

◆ dwPathDetector_processDeviceAsync()

◆ dwPathDetector_release()

◆ dwPathDetector_reset()

◆ dwPathDetector_setCameraExtrinsics()

◆ dwPathDetector_setComputeCenterRailFrom3D()

◆ dwPathDetector_setCUDAStream()

◆ dwPathDetector_setDetectionROI()

◆ dwPathDetector_setDetectionThreshold()

◆ dwPathDetector_setOppositeTrafficDetectionThreshold()

◆ dwPathDetector_setTemporalSmoothingFactor()

◆ dwPathDetector_setUseFovea()