Depth information from DriveNet detects

Autonomous Vehicles DRIVE AGX Xavier DRIVE AGX Xavier General
1

Hardware Platform: DRIVE AGX Xavier™ Developer Kit
Software Version: DRIVE Software 10
Host Machine Version: native Ubuntu 18.04
SDK Manager Version: 1.0.1.5538

I’m attempting to get depth information from DriveNet dwCameraObject detects, which the DriveNet documentation indicates should be possible.

I thought that setting the hasObjectDepth flag to true in m_driveNetParams would do the trick. However, when I do that, my program crashes with this error:

Driveworks exception thrown: DW_INVALID_ARGUMENT: DriveNet[model=apollo_v10_stateful_urgency arch=gv11b; network path: gv11b/drivenet/apollo_v10_stateful_urgency/fp32/drivenet.depth.batch1.dnn

It looks like the depth flag causes Driveworks to try to load a DNN which it can’t find: gv11b/drivenet/apollo_v10_stateful_urgency/fp32/drivenet.depth.batch1.dnn

Questions

  1. Is there a valid DriveNet DNN that supports depth which I could use?
  2. Is there a way I could view a list of all the drivenet networks that exist? It seems like Driveworks is looking for an existing network at some path, but I don’t know how to find the list it’s referencing

Thanks.

2

Dear @evanmt03s,
Could you share all the drivenet configuration parameters you have used when initializing Drivenet? I will check internally and get back to you

5

Here’s an example of a parameter configuration I tried (different from above):

    m_driveNetParams.maxClustersPerClass  = nv_maxDetClustersPerClass;
    m_driveNetParams.maxProposalsPerClass = 1000U;
    m_driveNetParams.batchSize            = DW_DRIVENET_BATCH_SIZE_1;
    m_driveNetParams.hasObjectDepth       = true;
    m_driveNetParams.hasObjectUrgency     = false;
    m_driveNetParams.networkModel         = DW_DRIVENET_MODEL_FRONT;
    m_driveNetParams.networkPrecision     = DW_PRECISION_FP32;

Does this help?

6

Hi @SivaRamaKrishnaNV, just wondering if you have an update or if you need any information from me. Thanks.

7

Dear @evanmt03s,
It is a bug and fixed in next DRIVE SW release. Unfortunately work around can not be provided in the current release. We will let you know the release schedule soon. Note that you should use m_driveNetParams.networkPrecision = DW_PRECISION_FP16.

8

Hi @SivaRamaKrishnaNV , thanks for the update.

Looking forward to information about the release schedule as depth information is very important for our application. Thanks.