This module provides the APIs to initialize, query, and run the NVIDIA proprietary pathnet detection neural network: PathNet. The included data structures include the following. dwPathPositionType
, which lists the types of paths the network will detect. dwPathNetModel
allows users to choose from a default or user trained PathNet model. And dwPathNetParams
, which defines the PathNet model variant with specific precision and processor optimization to be loaded.
PathNet consumes FP16 planar frames with a resolution of 960x604 pixels from AR0231 cameras (revision >= 4) and processes only the bottom 960x400 pixels (cropping is handled in the code). PathNet has been trained specifically on the front camera location with a 60° field of view.
PathNet detects between zero and three paths as polygons with a left and a right edge.
The following classes are currently supported:
Pathnet also produces a confidence that a given path contains traffic traveling in the opposite direction as the ego vehicle. This is only valid for the left and right adjacent paths as, by definition, traffic in the ego path is headed in the direction of the ego vehicle.
Detections coming from PathNet are associated with:
confidenceThreshold
field in the configuration file.