perception/landmarks/camera/docs/usecase_segmentation.md

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# Copyright (c) 2019-2020, NVIDIA CORPORATION.  All rights reserved.

@page landmarks_usecase_segmentation Landmark Detector Segmentation Init Workflow
@note SW Release Applicability: This tutorial is applicable to modules in **NVIDIA DRIVE Software** releases.

The following code snippet demonstrates the general structure of a program utilizing @ref landmarks_mainsection to detect landmarks from a single camera. Error handling is left out for clarity.
@note Afer the initialization phase this workflow is identical to @ref landmarks_usecase_regressor.

### Initializing MapNet's Default Parameters and MapNet Module using Segmentation Network

```{.cpp}
dwMapNetParams mapNetParams{};
dwMapNet_initDefaultParams(&mapNetParams, DW_MAPNET_TYPE_SEGMENTATION, sdkHandle);
dwMapNet_initialize(&mapNetHandle, &mapNetParams, sdkHandle);

```

### Initializing the Landmark Detection Module from the Initialized MapNet Handle

```{.cpp}
// Initialize LandmarkDetector from MapNet
uint32_t frameWidth;
uint32_t frameHeight;

// initialize parameters
dwLandmarkDetectorParams params;
dwLandmarkDetector_initializeDefaultParams(&params, frameWidth, frameHeight));
params.landmarkDetectionThreshold[DW_LANDMARK_TYPE_LANES] = 0.3;
params.landmarkTypesEnabled = DW_LANDMARK_SELECTION_MASK_LANE_MARKING | DW_LANDMARK_SELECTION_MASK_POLES;
params.isModelParameterFitting[DW_LANDMARK_TYPE_LANES] = true;
params.detectionROI = {0, 0, 960, 480};

dwLandmarkDetector_initializeFromMapNet(&landmarkDetectorHandle, mapNetHandle, params, frameWidth, frameHeight, sdkHandle);
```

### Detecting Landmark Markings from a Video Sequence

```{.cpp}
dwLaneDetection lanes{};
dwLandmarkDetection landmarks{};
while (true)
{
    dwLandmarkDetector_detectLandmarks(&lanes, &landmarks, frame, landmarkDetectorHandle);
}

```

### Releasing the Module Handles when Finished

```{.cpp}
dwLandmarkDetector_release(landmarkDetectorHandle);
dwMapNet_release(mapNetHandle);
```

For a more detailed workflow, please refer to the following samples:
- @ref dwx_landmark_perception_sample.