Detailed Description

Defines the PilotNet detector module to utilize DNN based PilotNet path predictor.

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

Data Structures
struct	dwPilotNetDetectorInputSensor
	Holds the camera properties for PilotNetDetector. More...

struct	dwPilotNetDetectorOutput
	Holds the output trajectories and other predictions of PilotNetDetector. More...

struct	dwPilotNetDetectorParams
	Holds the parameters to initialize the PilotNetDetector module. More...

struct	dwPilotNetDetectorState
	Holds the input state values for PilotNetDetector. More...

struct	dwPilotNetLaneDivider
	Holds the left and right lane dividers for a single lane type. More...

Macros
#define	DW_PILOTNET_MAX_CAMERA_COUNT 7
	The maximum supported ROI Views. More...

#define	DW_PILOTNET_MAX_ROI_VIEWS DW_PILOTNET_MAX_CAMERA_COUNT* DW_PILOTNET_MAX_ROI_VIEWS_PER_CAMERA

#define	DW_PILOTNET_MAX_ROI_VIEWS_PER_CAMERA 3

#define	DW_PILOTNET_MAX_TRAJ_LEN 200
	The maximum trajectory length. More...

Typedefs
typedef struct dwPilotNetDetectorObject *	dwPilotNetDetectorHandle_t
	Handle for PilotNetDetector. More...

Enumerations
enum	dwPilotNetCameraType { DW_PILOTNET_FRONT_CENTER_60FOV, DW_PILOTNET_FRONT_CENTER_120FOV, DW_PILOTNET_FRONT_LEFT_120FOV, DW_PILOTNET_FRONT_RIGHT_120FOV, DW_PILOTNET_CROSS_LEFT_120FOV, DW_PILOTNET_CROSS_RIGHT_120FOV }
	The cameras supported by the PilotNetDetector module. More...

enum	dwPilotNetDrivingMode { DW_PILOTNET_LANE_STABLE, DW_PILOTNET_LANE_CHANGE_LEFT_FIRST_HALF, DW_PILOTNET_LANE_CHANGE_LEFT_SECOND_HALF, DW_PILOTNET_LANE_CHANGE_RIGHT_FIRST_HALF, DW_PILOTNET_LANE_CHANGE_RIGHT_SECOND_HALF, DW_PILOTNET_LANE_SPLIT_LEFT, DW_PILOTNET_LANE_SPLIT_RIGHT, DW_PILOTNET_TURN_LEFT, DW_PILOTNET_TURN_RIGHT, DW_PILOTNET_LANE_LEFT, DW_PILOTNET_LANE_RIGHT, DW_PILOTNET_MAX_DRIVING_MODES }
	Defines the different driving trajectories produced by the PilotNet network. More...

Functions
DW_API_PUBLIC dwStatus	dwPilotNetDetector_bindOutput (dwPilotNetDetectorOutput *output, dwPilotNetDetectorHandle_t pilotnet)
	Bind the memory of the output to a pre-allocated memory in the application. More...

DW_API_PUBLIC dwStatus	dwPilotNetDetector_convertPointsRigToSensor (dwVector2f points, size_t numPoints, const dwVector3f trajPoints, size_t numTrajPoints, uint32_t sensorId, dwPilotNetDetectorHandle_t pilotnet)
	Get the trajectory points based on the network output in image space. More...

DW_API_PUBLIC dwStatus	dwPilotNetDetector_getAvailableDrivingModes (bool *modes, dwPilotNetDetectorHandle_t pilotnet)
	Getting supported driving modes from PilotNetDetector. More...

DW_API_PUBLIC dwStatus	dwPilotNetDetector_getDrivingModeString (const char **string, dwPilotNetDrivingMode drivingMode)
	Getting the driving mode enum as a string. More...

DW_API_PUBLIC dwStatus	dwPilotNetDetector_getPatchU8 (const dwImageCUDA *dwImg, uint32_t numROI, uint32_t sensorId, dwPilotNetDetectorHandle_t pilotnet)
	Get a pointer to the CUDA patch buffer. More...

DW_API_PUBLIC dwStatus	dwPilotNetDetector_getROIParams (dwRectf roi, uint32_t numROI, uint32_t sensorId, dwPilotNetDetectorHandle_t pilotnet)
	Get the parameters for the region of interest (ROI) calculated by dwPilotNetDetector_processFrames. More...

DW_API_PUBLIC dwStatus	dwPilotNetDetector_getVisMaskU8 (const dwImageCUDA *dwImg, uint32_t numROI, uint32_t sensorId, dwPilotNetDetectorHandle_t pilotnet)
	Gets a pointer to the CUDA visualization mask buffer. More...

DW_API_PUBLIC dwStatus	dwPilotNetDetector_infer (dwPilotNetDetectorHandle_t pilotnet)
	Runs the inference on the patch produced by dwPilotNetDetector_processFrames to output the driving trajectory. More...

DW_API_PUBLIC dwStatus	dwPilotNetDetector_initialize (dwPilotNetDetectorHandle_t pilotnet, const dwPilotNetDetectorParams params, dwPilotNetHandle_t pilotnetDNN)
	Creates and initializes the PilotNetDetector module with the given dwPilotNetHandle that is used for predicting driving commands for a vehicle based on an input image. More...

DW_API_PUBLIC dwStatus	dwPilotNetDetector_initParams (dwPilotNetDetectorParams *params, dwPilotNetHandle_t pilotnetDNN)
	Initializes the PilotNetDetector module params with the given dwPilotNetHandle. More...

DW_API_PUBLIC dwStatus	dwPilotNetDetector_processFrames (dwPilotNetDetectorHandle_t pilotnet)
	Processes the input image(s) by calculating a patch for the region of interest (ROI) by compensating for calibration and other pre-processing based on the model params. More...

DW_API_PUBLIC dwStatus	dwPilotNetDetector_processOutput (dwPilotNetDetectorHandle_t pilotnet)
	Gets the driving state (mode, commands) for the last processed image. More...

DW_API_PUBLIC dwStatus	dwPilotNetDetector_release (dwPilotNetDetectorHandle_t pilotnet)
	Releases the PilotNetDetector module. More...

DW_API_PUBLIC dwStatus	dwPilotNetDetector_reset (dwPilotNetDetectorHandle_t pilotnet)
	Resets the PilotNetDetector module. More...

DW_API_PUBLIC dwStatus	dwPilotNetDetector_setCameraFrame (const dwImageCUDA *inputFrame, uint32_t sensorId, dwPilotNetDetectorHandle_t pilotnet)
	Sets the input camera frame for inferencing. More...

DW_API_PUBLIC dwStatus	dwPilotNetDetector_setSensorExtrinsics (const dwTransformation3f *tx, const uint32_t sensorId, dwPilotNetDetectorHandle_t pilotnet)
	Setting PilotNetDetector extrinsic camera calibration parameters . More...

DW_API_PUBLIC dwStatus	dwPilotNetDetector_setState (dwPilotNetDetectorState inputState, dwPilotNetDetectorHandle_t pilotnet)
	Sets the driving state for the current frame. More...

Data Structure Documentation

◆ dwPilotNetDetectorInputSensor

struct dwPilotNetDetectorInputSensor

Data Fields
dwPilotNetCameraType	camera	PilotNetDetector camera type.
dwTransformation3f	cameraExtrinsics	Camera Extrinsics.
dwCameraModelHandle_t	cameraModel	Camera model.
float32_t	fps	Update rate of the data from this sensor.
dwRect	inDimensions	Input Image dimensions of the data from this sensor.
uint32_t	sensorId	Sensor ID of the sensor from the vehicle rig.
cudaStream_t	stream	Stream to be used for a particular sensor.

◆ dwPilotNetDetectorOutput

struct dwPilotNetDetectorOutput

Data Fields
float32_t	cameraPitch	Predicted camera pitch.
bool	cameraPitchValid	If set to true, camera pitch is valid.
dwTime_t	commandTimeStamp	Timestamp when the output values are filled in.
dwTime_t	inputTimestamp	Timestamp of the input image.
dwPilotNetLaneDivider	laneDividers[DW_PILOTNET_MAX_DRIVING_MODES]	Lane Divider outputs in car coordinates.
float32_t	lcStatus[DW_PILOTNET_MAX_DRIVING_MODES]	CNN output indicating the progress of lane change, left (pos) and right (neg).
bool	lcStatusValid[DW_PILOTNET_MAX_DRIVING_MODES]	If set to true, lcStatus is valid.
float32_t	rotation	Off-orientation position (yaw) of vehicle in degrees.
bool	rotationValid	If set to true, off-orientation output is valid.
dwVector3f	trajectory[DW_PILOTNET_MAX_DRIVING_MODES][DW_PILOTNET_MAX_TRAJ_LEN]	Trajectory output in car coordinates.
size_t	trajectoryLen[DW_PILOTNET_MAX_DRIVING_MODES]	Trajectory length.
bool	trajectoryValid[DW_PILOTNET_MAX_DRIVING_MODES]	Trajectory validity.

◆ dwPilotNetDetectorParams

struct dwPilotNetDetectorParams

Data Fields
uint32_t	numSensors	PilotNetDetector camera type.
dwPilotNetDetectorInputSensor	sensors[DW_PILOTNET_MAX_CAMERA_COUNT]	PilotNetDetector Sensor params.

◆ dwPilotNetDetectorState

struct dwPilotNetDetectorState

Data Fields
float32_t	curSpeed	Speed in m/s.
float32_t	lcLength	Lane change length in m.

◆ dwPilotNetLaneDivider

struct dwPilotNetLaneDivider

Data Fields
dwVector3f	leftLaneDivider[DW_PILOTNET_MAX_TRAJ_LEN]	Left lane divider.
bool	leftLaneDividerValid	Left lane divider validity.
dwVector3f	rightLaneDivider[DW_PILOTNET_MAX_TRAJ_LEN]	Right lane divider.
bool	rightLaneDividerValid	Right lane divider validity.

Macro Definition Documentation

◆ DW_PILOTNET_MAX_CAMERA_COUNT

#define DW_PILOTNET_MAX_CAMERA_COUNT 7

The maximum supported ROI Views.

Definition at line 65 of file PilotNetDetector.h.

◆ DW_PILOTNET_MAX_ROI_VIEWS

#define DW_PILOTNET_MAX_ROI_VIEWS DW_PILOTNET_MAX_CAMERA_COUNT* DW_PILOTNET_MAX_ROI_VIEWS_PER_CAMERA

Definition at line 67 of file PilotNetDetector.h.

◆ DW_PILOTNET_MAX_ROI_VIEWS_PER_CAMERA

#define DW_PILOTNET_MAX_ROI_VIEWS_PER_CAMERA 3

Definition at line 66 of file PilotNetDetector.h.

◆ DW_PILOTNET_MAX_TRAJ_LEN

#define DW_PILOTNET_MAX_TRAJ_LEN 200

The maximum trajectory length.

Definition at line 62 of file PilotNetDetector.h.

Typedef Documentation

◆ dwPilotNetDetectorHandle_t

typedef struct dwPilotNetDetectorObject* dwPilotNetDetectorHandle_t

Handle for PilotNetDetector.

Definition at line 214 of file PilotNetDetector.h.

Enumeration Type Documentation

◆ dwPilotNetCameraType

enum dwPilotNetCameraType

The cameras supported by the PilotNetDetector module.

The nominal extrensic values and tolerances of each camera is mentioned for each camera type

Enumerator
DW_PILOTNET_FRONT_CENTER_60FOV	Forward facing center camera with 60deg FOV. Extrensics: X: 1.75±0.2m, Y: 0±0.2m, Z: 1.5±0.2m, roll: 0±1.5deg, pitch: 0±1.5deg, yaw: 0±1.5deg
DW_PILOTNET_FRONT_CENTER_120FOV	Forward facing center camera with 120deg FOV. Extrensics: X: 1.75±0.2m, Y: 0±0.2m, Z: 1.5±0.2m, roll: 0±1.5deg, pitch: 0±1.5deg, yaw: 0±1.5deg
DW_PILOTNET_FRONT_LEFT_120FOV	Forward facing left offset camera with 120deg FOV. Extrensics: X: 1.75±0.2m, Y: 0.5±0.2m, Z: 1.5±0.2m, roll: 0±1.5deg, pitch: 0±1.5deg, yaw: 0±1.5deg
DW_PILOTNET_FRONT_RIGHT_120FOV	Forward facing right offset camera with 120deg FOV. Extrensics: X: 1.75±0.2m, Y: -0.5±0.2m, Z: 1.5±0.2m, roll: 0±1.5deg, pitch: 0±1.5deg, yaw: 0±1.5deg
DW_PILOTNET_CROSS_LEFT_120FOV	Forward facing left cross camera with 120deg FOV. Extrensics: X: 1.65±0.2m, Y: 0.6±0.2m, Z: 1.5±0.2m, roll: 0±1.5deg, pitch: 0±1.5deg, yaw: 45±1.5deg
DW_PILOTNET_CROSS_RIGHT_120FOV	Forward facing right cross camera with 120deg FOV. Extrensics: X: 1.65±0.2m, Y: -0.6±0.2m, Z: 1.5±0.2m, roll: 0±1.5deg, pitch: 0±1.5deg, yaw: -45±1.5deg

Definition at line 93 of file PilotNetDetector.h.

◆ dwPilotNetDrivingMode

enum dwPilotNetDrivingMode

Defines the different driving trajectories produced by the PilotNet network.

Enumerator
DW_PILOTNET_LANE_STABLE
DW_PILOTNET_LANE_CHANGE_LEFT_FIRST_HALF
DW_PILOTNET_LANE_CHANGE_LEFT_SECOND_HALF
DW_PILOTNET_LANE_CHANGE_RIGHT_FIRST_HALF
DW_PILOTNET_LANE_CHANGE_RIGHT_SECOND_HALF
DW_PILOTNET_LANE_SPLIT_LEFT
DW_PILOTNET_LANE_SPLIT_RIGHT
DW_PILOTNET_TURN_LEFT
DW_PILOTNET_TURN_RIGHT
DW_PILOTNET_LANE_LEFT
DW_PILOTNET_LANE_RIGHT
DW_PILOTNET_MAX_DRIVING_MODES

Definition at line 73 of file PilotNetDetector.h.

Function Documentation

◆ dwPilotNetDetector_bindOutput()

DW_API_PUBLIC dwStatus dwPilotNetDetector_bindOutput	(	dwPilotNetDetectorOutput *	output,
		dwPilotNetDetectorHandle_t	pilotnet
	)

Bind the memory of the output to a pre-allocated memory in the application.

Parameters

[in]	output	The address to store the pilotNet result.
[in]	pilotnet	Handle for the PilotNetDetector module.

Returns: DW_SUCCESS if no errors
DW_INVALID_HANDLE if PilotNetDetector out output is null
DW_FAILURE otherwise

◆ dwPilotNetDetector_convertPointsRigToSensor()

DW_API_PUBLIC dwStatus dwPilotNetDetector_convertPointsRigToSensor	(	dwVector2f *	points,
		size_t	numPoints,
		const dwVector3f *	trajPoints,
		size_t	numTrajPoints,
		uint32_t	sensorId,
		dwPilotNetDetectorHandle_t	pilotnet
	)

Get the trajectory points based on the network output in image space.

Parameters

[out]	points	Pointer to the array holding the coordinates in image space.
[in]	numPoints	Number of trajectory points to plot.
[in]	trajPoints	points from network output.
[in]	numTrajPoints	of trajectory points from network output.
[in]	sensorId	Sensor Id according to car rig.
[in]	pilotnet	Handle for the PilotNetDetector module.

Returns: DW_SUCCESS if no errors
DW_INVALID_HANDLE if PilotNetDetector is null
DW_INVALID_ARGUMENT if xCord, yCord are null

◆ dwPilotNetDetector_getAvailableDrivingModes()

DW_API_PUBLIC dwStatus dwPilotNetDetector_getAvailableDrivingModes	(	bool *	modes,
		dwPilotNetDetectorHandle_t	pilotnet
	)

Getting supported driving modes from PilotNetDetector.

Parameters

[out]	modes	Boolean indicator for supported PilotNetDetector modes. Pre-allocated array of size DW_PILOTNET_MAX_DRIVING_MODES.
[in]	pilotnet	Handle for PilotNetDetector module.

Returns: DW_SUCCESS if no error
DW_INVALID_HANDLE if PilotNetDetector is null
DW_FAILURE Any other failure

◆ dwPilotNetDetector_getDrivingModeString()

DW_API_PUBLIC dwStatus dwPilotNetDetector_getDrivingModeString	(	const char **	string,
		dwPilotNetDrivingMode	drivingMode
	)

Getting the driving mode enum as a string.

Parameters

[out]	string	String of the enum if available, else nullptr
[in]	drivingMode	Driving mode enum to be converted to string

Returns: DW_SUCCESS if no error
DW_INVALID_ARGUMENT if drivingMode is invalid

◆ dwPilotNetDetector_getPatchU8()

DW_API_PUBLIC dwStatus dwPilotNetDetector_getPatchU8	(	const dwImageCUDA **	dwImg,
		uint32_t *	numROI,
		uint32_t	sensorId,
		dwPilotNetDetectorHandle_t	pilotnet
	)

Get a pointer to the CUDA patch buffer.

Parameters

[out]	dwImg	Pointer to an array of image pointers to return the ROIpatch used by PilotNetDetector for inference.
[out]	numROI	Number of ROI patches present.
[in]	sensorId	Sensor Id according to car rig.
[in]	pilotnet	Handle for PilotNetDetector module

Returns: DW_SUCCESS if no errors
DW_INVALID_HANDLE if PilotNetDetector is null
DW_INVALID_ARGUMENT if other arguments are null

◆ dwPilotNetDetector_getROIParams()

DW_API_PUBLIC dwStatus dwPilotNetDetector_getROIParams	(	dwRectf *	roi,
		uint32_t *	numROI,
		uint32_t	sensorId,
		dwPilotNetDetectorHandle_t	pilotnet
	)

Get the parameters for the region of interest (ROI) calculated by dwPilotNetDetector_processFrames.

The area is an approximate rectangle enclosing the ROI with coordinates normalized with the dimensions of the input image.

Parameters

[out]	roi	Pointer to an array of rectangle that defines the ROI.
[out]	numROI	Number of ROI in the given sensor.
[in]	sensorId	Sensor Id according to car rig.
[in]	pilotnet	Handle for the PilotNetDetector module.

Returns: DW_SUCCESS if no errors
DW_INVALID_HANDLE if PilotNetDetector is null
DW_INVALID_ARGUMENT if other arguments are null DW_OUT_OF_BOUNDS if roiIndex is greater than the available views

◆ dwPilotNetDetector_getVisMaskU8()

DW_API_PUBLIC dwStatus dwPilotNetDetector_getVisMaskU8	(	const dwImageCUDA **	dwImg,
		uint32_t *	numROI,
		uint32_t	sensorId,
		dwPilotNetDetectorHandle_t	pilotnet
	)

Gets a pointer to the CUDA visualization mask buffer.

Parameters

[out]	dwImg	Pointer to an array of image pointers to return the visualization mask generated by PilotNetDetector.
[out]	numROI	Number of visualization masks present.
[in]	sensorId	Sensor Id according to car rig.
[in]	pilotnet	Handle for PilotNetDetector module.

Returns: DW_SUCCESS if no errors
DW_INVALID_HANDLE if PilotNetDetector is null
DW_INVALID_ARGUMENT if other arguments are null

◆ dwPilotNetDetector_infer()

DW_API_PUBLIC dwStatus dwPilotNetDetector_infer ( dwPilotNetDetectorHandle_t pilotnet )

Runs the inference on the patch produced by dwPilotNetDetector_processFrames to output the driving trajectory.

Parameters

[in] pilotnet Handle for the PilotNetDetector module.

Returns: DW_SUCCESS if no errors
DW_INVALID_HANDLE if PilotNetDetector is null
DW_FAILURE otherwise

◆ dwPilotNetDetector_initialize()

DW_API_PUBLIC dwStatus dwPilotNetDetector_initialize	(	dwPilotNetDetectorHandle_t *	pilotnet,
		const dwPilotNetDetectorParams *	params,
		dwPilotNetHandle_t	pilotnetDNN
	)

Creates and initializes the PilotNetDetector module with the given dwPilotNetHandle that is used for predicting driving commands for a vehicle based on an input image.

Parameters

[out]	pilotnet	Pointer to the PilotNetDetector handle.
[in]	params	Properies created by dwPilotNetDetector_initParams and then filled by the application.
[in]	pilotnetDNN	Handle to the pilotnet module initialized with the right version and precision.

Returns: DW_SUCCESS if PilotNetDetector module is initialized properly
DW_INVALID_ARGUMENT if PilotNetDetector handle is null
DW_FAILURE Otherwise

◆ dwPilotNetDetector_initParams()

DW_API_PUBLIC dwStatus dwPilotNetDetector_initParams	(	dwPilotNetDetectorParams *	params,
		dwPilotNetHandle_t	pilotnetDNN
	)

Initializes the PilotNetDetector module params with the given dwPilotNetHandle.

Parameters

[out]	params	Properies of the module based on the model being loaded. This needs to completed before calling dwPilotNetDetector_initialize.
[in]	pilotnetDNN	Handle to the pilotnet module initialized with the right version and precision.

Returns: DW_SUCCESS if PilotNetDetector module is initialized properly
DW_INVALID_ARGUMENT if PilotNetDetector handle is null
DW_FAILURE Otherwise

◆ dwPilotNetDetector_processFrames()

DW_API_PUBLIC dwStatus dwPilotNetDetector_processFrames ( dwPilotNetDetectorHandle_t pilotnet )

Processes the input image(s) by calculating a patch for the region of interest (ROI) by compensating for calibration and other pre-processing based on the model params.

Parameters

[in] pilotnet Handle for the PilotNetDetector module.

Returns: DW_SUCCESS if no errors
DW_INVALID_HANDLE if PilotNetDetector is null
DW_FAILURE otherwise

◆ dwPilotNetDetector_processOutput()

DW_API_PUBLIC dwStatus dwPilotNetDetector_processOutput ( dwPilotNetDetectorHandle_t pilotnet )

Gets the driving state (mode, commands) for the last processed image.

Parameters

[in] pilotnet Handle for the PilotNetDetector module.

Returns: DW_SUCCESS if no errors
DW_INVALID_HANDLE if PilotNetDetector is null
DW_INVALID_ARGUMENT if other arguments are null

◆ dwPilotNetDetector_release()

DW_API_PUBLIC dwStatus dwPilotNetDetector_release ( dwPilotNetDetectorHandle_t pilotnet )

Releases the PilotNetDetector module.

Parameters

[in] pilotnet Handle of an already initialized PilotNetDetector module to release.

◆ dwPilotNetDetector_reset()

DW_API_PUBLIC dwStatus dwPilotNetDetector_reset ( dwPilotNetDetectorHandle_t pilotnet )

Resets the PilotNetDetector module.

Parameters

[in] pilotnet Handle for an already initialized PilotNetDetector module to reset.

◆ dwPilotNetDetector_setCameraFrame()

DW_API_PUBLIC dwStatus dwPilotNetDetector_setCameraFrame	(	const dwImageCUDA *	inputFrame,
		uint32_t	sensorId,
		dwPilotNetDetectorHandle_t	pilotnet
	)

Sets the input camera frame for inferencing.

Parameters

[in]	inputFrame	Sensor Image for inferencing with the following properties format: DW_IMAGE_FORMAT_RGB_UINT8_PLANAR, DW_IMAGE_FORMAT_YUV420_UINT8_PLANAR or DW_IMAGE_FORMAT_RGB_FLOAT16_PLANAR memoryLayot: DW_IMAGE_MEMORY_TYPE_PITCH
[in]	sensorId	sensor ID of the corresponding frame
[in]	pilotnet	Handle for the PilotNetDetector module.

Returns: DW_SUCCESS if no errors
DW_INVALID_HANDLE if PilotNetDetector is null
DW_FAILURE otherwise

◆ dwPilotNetDetector_setSensorExtrinsics()

DW_API_PUBLIC dwStatus dwPilotNetDetector_setSensorExtrinsics	(	const dwTransformation3f *	tx,
		const uint32_t	sensorId,
		dwPilotNetDetectorHandle_t	pilotnet
	)

Setting PilotNetDetector extrinsic camera calibration parameters .

Parameters

[in]	tx	Calibration transformation matrix.
[in]	sensorId	Sensor Id according to car rig.
[in]	pilotnet	Handle for PilotNetDetector module.

Returns: DW_SUCCESS if no error
DW_INVALID_HANDLE if PilotNetDetector is null
DW_INVALID_ARGUMENT if inverseR is null
DW_FAILURE Any other failure

Note: At the moment only AR0231 cameras with Evetar 60 degree wide lens are supported.

◆ dwPilotNetDetector_setState()

DW_API_PUBLIC dwStatus dwPilotNetDetector_setState	(	dwPilotNetDetectorState	inputState,
		dwPilotNetDetectorHandle_t	pilotnet
	)

Sets the driving state for the current frame.

Parameters

[in]	inputState	Driving state to set in module.
[in]	pilotnet	Handle for the PilotNetDetector module.

Returns: DW_SUCCESS if no errors
DW_INVALID_HANDLE if PilotNetDetector is null
DW_FAILURE otherwise

Detailed Description

Data Structures

Macros

Typedefs

Enumerations

Functions

Data Structure Documentation

◆ dwPilotNetDetectorInputSensor

◆ dwPilotNetDetectorOutput

◆ dwPilotNetDetectorParams

◆ dwPilotNetDetectorState

◆ dwPilotNetLaneDivider

Macro Definition Documentation

◆ DW_PILOTNET_MAX_CAMERA_COUNT

◆ DW_PILOTNET_MAX_ROI_VIEWS

◆ DW_PILOTNET_MAX_ROI_VIEWS_PER_CAMERA

◆ DW_PILOTNET_MAX_TRAJ_LEN

Typedef Documentation

◆ dwPilotNetDetectorHandle_t

Enumeration Type Documentation

◆ dwPilotNetCameraType

◆ dwPilotNetDrivingMode

Function Documentation

◆ dwPilotNetDetector_bindOutput()

◆ dwPilotNetDetector_convertPointsRigToSensor()

◆ dwPilotNetDetector_getAvailableDrivingModes()

◆ dwPilotNetDetector_getDrivingModeString()

◆ dwPilotNetDetector_getPatchU8()

◆ dwPilotNetDetector_getROIParams()

◆ dwPilotNetDetector_getVisMaskU8()

◆ dwPilotNetDetector_infer()

◆ dwPilotNetDetector_initialize()

◆ dwPilotNetDetector_initParams()

◆ dwPilotNetDetector_processFrames()

◆ dwPilotNetDetector_processOutput()

◆ dwPilotNetDetector_release()

◆ dwPilotNetDetector_reset()

◆ dwPilotNetDetector_setCameraFrame()

◆ dwPilotNetDetector_setSensorExtrinsics()

◆ dwPilotNetDetector_setState()