How to use dwClusterer

Autonomous Vehicles DRIVE AGX Xavier DRIVE AGX General
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#1

Please provide the following info (check/uncheck the boxes after clicking “+ Create Topic”):
Software Version
DRIVE OS Linux 5.2.0
DRIVE OS Linux 5.2.0 and DriveWorks 3.5
NVIDIA DRIVE™ Software 10.0 (Linux)
NVIDIA DRIVE™ Software 9.0 (Linux)
other DRIVE OS version
other

Target Operating System
Linux
QNX
other

Hardware Platform
NVIDIA DRIVE™ AGX Xavier DevKit (E3550)
NVIDIA DRIVE™ AGX Pegasus DevKit (E3550)
other

SDK Manager Version
1.4.1.7402
other

Host Machine Version
native Ubuntu 18.04
other

Hello Nvidia, can you provide some sample codes using Clusterer module for performing DBSCAN. I am not quite understand how to use dwClusterer_bindOutput and get invalid argument status or segfault.

#2

Hi @v.hunglx2 ,

I’ll check if any plan of adding its sample application.
But now please give us more information about the issue, e.g. logs . Thanks.

#4

Hi, I am trying to run this code.
https://pastebin.com/raw/VLmyZhsb.
Am I doing it right? Appreciate your help.

#5

The following is the code you shared.
Please tell us which function call causes the issue and provide the log. Thanks.

//
// Created by hunglx on 31/03/2021.
//

#include <dw/Driveworks.h>
#include <dw/core/VersionCurrent.h>
#include <iostream>
#include <vector>
#include <stdlib.h>

using namespace std;

#define DW_CALL_CHECK(call) { dw_ck((call), __FILE__, __LINE__); }
inline void dw_ck(dwStatus code, const char *file, int line, bool abort=true)
{
  if (code != DW_SUCCESS)
  {
    fprintf(stderr,"DW: %s %d. %d\n", file, line, code);
    if (abort)
    {
      exit(code);
    }
  }
}

int main() {

  dwContextHandle_t sdk = DW_NULL_HANDLE;
  dwContextParameters sdk_params = {};
  dwVersion sdkVersion;
  DW_CALL_CHECK(dwGetVersion(&sdkVersion));
  DW_CALL_CHECK(dwInitialize(&sdk, DW_VERSION, &sdk_params));

  dwClustererHandle_t clusterer = DW_NULL_HANDLE;
  dwClustererParams params;
  DW_CALL_CHECK(dwClusterer_initParams(&params));

  cout << params.epsilon << endl;
  cout << params.maxSampleCount << endl;
  cout << params.minSamples << endl;
  cout << params.minSumOfWeights << endl;

  DW_CALL_CHECK(dwClusterer_initialize(&clusterer, &params, sdk));

  vector<dwRectf> boxes;
  vector<float32_t> weights;

  for (int i = 0; i < 100; i++) {
    dwRectf box;
    box.x = float(rand() % 500 + 1);
    box.y = float(rand() % 500 + 1);
    box.width = float(rand() % 500 + 1);
    box.height = float(rand() % 500 + 1);

    boxes.push_back(box);
    weights.push_back(1.0f / 100);
  }

  DW_CALL_CHECK(dwClusterer_bindInput(reinterpret_cast<const dwRectf *const *>(boxes.data()),
                        reinterpret_cast<const float32_t *const *>(weights.data()),
                        reinterpret_cast<const uint32_t *>(boxes.size()), clusterer));

  uint32_t clusterLabelsCount;
  uint32_t clusterCount;
  int32_t *clusterLabels = nullptr;

  DW_CALL_CHECK(dwClusterer_bindOutput(&clusterLabels, &clusterLabelsCount, &clusterCount, clusterer));
  DW_CALL_CHECK(dwClusterer_process(clusterer));

  cout << "done" << endl;
}
#6

Here’s the log
0.4
100
3
0
Segmentation fault (core dumped)

I get seg fault at line 68, function “dwClusterer_process”

#7

I haven’t tried to reproduce the issue with your code but it may be due to you passing a nullptr clusterLabels to dwClusterer_bindOutput().

#8

Thank you, I follow this tutorial and get it worked.
DriveWorks SDK Reference: Clusterer.
At first, i thought that Driveworks will internally allocate memory for clusterLabels binding.

1 Like
#10