LigthSourceDetector Workflow

Initialization

The LightSourceDetector module creates handle of type dwLightSourceDetectorHandle_t. This handle is owned by the application and must be released by the application when not needed anymore.

An instance of type dwLightSourceDetectorParams encodes parameters (currently only perception ROI) and encapsulates a handle to LightSourceNet (of type dwLightSourceNetHandle_t) that configures the LightSourceDetector module.

To initialize a pointer to a dwLightSourceDetectorHandle_t instance with an initialized LightSourceNet handle and default parameter values:

dwStatus dwLightSourceDetector_initialize(dwLightSourceDetectorHandle_t* obj,
                                          dwLightSourceNetHandle_t ligthSourceNet,
                                          dwContextHandle_t ctx);

An example code snippet to initialize required modules with default values:

dwLightSourceNetHandle_t m_lightSourceNet = DW_NULL_HANDLE;
dwLightSourceNetParams m_lightSourceNetParams{};
dwLightSourceDetectorHandle_t m_lightSourceDetector = DW_NULL_HANDLE;

// Initialize LightSourceNet
CHECK_DW_ERROR(dwLightSourceNet_initDefaultParams(&m_lightSourceNetParams));
CHECK_DW_ERROR(dwLightSourceNet_initialize(&m_lightSourceNet, &m_lightSourceNetParams, m_sdk));

// dwLightSourceDetector_initialize
CHECK_DW_ERROR(dwLightSourceDetector_initialize(&m_lightSourceDetector, m_lightSourceNet, m_sdk));

where m_sdk is an initialized instance of dwContextHandle_t.

Processing

With initialized handle to the LightSourceDetector module, the following functions can be used to perform inference on an image and retrieve the processed output, which indicate binary ON/OFF high beam signal:

typedef struct
{
    bool flag;

} dwLightSourceDetectorAutoBeamStatus;

DW_API_PUBLIC
dwStatus dwLightSourceDetector_bindInput(const dwImageCUDA* imageRGB,
                                         const dwImageCUDA* imageBayer,
                                         dwLightSourceDetectorHandle_t obj);

DW_API_PUBLIC
dwStatus dwLightSourceDetector_bindOutputAutoBeamStatus(dwLightSourceDetectorAutoBeamStatus* output,
                                                        dwLightSourceDetectorHandle_t obj);

DW_API_PUBLIC
dwStatus dwLightSourceDetector_bindOutputDetectorMask(dwLightSourceDetectorMask* output,
                                                      dwLightSourceDetectorHandle_t obj);

typedef enum {
    DW_LSP_DETECTOR_STAGE_GPU_PREPROCESS = 0,

    DW_LSP_DETECTOR_STAGE_GPU_INFERENCE = 1,

    DW_LSP_DETECTOR_STAGE_GPU_POSTPROCESS = 2,

    DW_LSP_DETECTOR_STAGE_CPU_POSTPROCESS = 3,

} dwLightSourceDetectorStage;

DW_API_PUBLIC
dwStatus dwLightSourceDetector_process(dwLightSourceDetectorStage stage,
                                       dwLightSourceDetectorHandle_t obj);

Release

The following functions can be used to reset or release the initialized module handles whenever necessary:

dwStatus dwLightSourceDetector_release(dwLightSourceDetectorHandle_t obj);

For usage of a sample application, please refer to LightSourcePerception Sample (LightSourceNet).

Additional Information

See LightSourceNet for information on DNN used in this perception module (LightSourceNet).