NVIDIA DriveOS Linux NSR SDK API Reference
7.0.3.0 Release
Data Structures | Macros | Typedefs | Functions
Pyramid Interface
DriveWorks » Image Processing Interface

Detailed Description

Defines the image pyramid structure.

Data Structures

struct  dwPyramidImage
 Pyramid image structure. More...
 
struct  dwPyramidImageProperties
 Pyramid image properties structure. More...
 

Macros

#define DW_PYRAMID_LEVEL_MAX_COUNT   12
 

Typedefs

typedef struct dwPyramidImage dwPyramidImage
 Pyramid image structure. More...
 
typedef struct dwPyramidImageProperties dwPyramidImageProperties
 Pyramid image properties structure. More...
 

Functions

DW_API_PUBLIC dwStatus dwPyramid_fillProperties (dwPyramidImageProperties *props, uint32_t levelCount, uint32_t width, uint32_t height, dwTrivialDataType pxlType)
 Fills the pyramid image properties structure. More...
 
DW_API_PUBLIC dwStatus dwPyramid_getProperties (dwPyramidImageProperties *props, dwPyramidImage *pyramid, dwContextHandle_t context)
 Gets the properties of a pyramid image. More...
 
DW_API_PUBLIC dwStatus dwPyramid_create (dwPyramidImage *pyramid, uint32_t levelCount, uint32_t width, uint32_t height, dwTrivialDataType pxlType, dwContextHandle_t context)
 Creates and initializes an image pyramid. More...
 
DW_API_PUBLIC dwStatus dwPyramid_createFromProperties (dwPyramidImage *pyramid, const dwPyramidImageProperties *props, dwContextHandle_t context)
 Creates and initializes an image pyramid. More...
 
DW_API_PUBLIC dwStatus dwPyramid_destroy (dwPyramidImage pyramid)
 Destroy pyramid images. More...
 
DW_API_PUBLIC dwStatus dwImageFilter_computePyramid (dwPyramidImage *pyramid, const dwImageCUDA *image, cudaStream_t stream, dwContextHandle_t context)
 Builds the pyramid from level 0 image. More...
 
enum  dwPyramidPVAState {
  DW_PYRAMID_PVA_STAGE_GPU_ASYNC_DATA_PREPARE = 0,
  DW_PYRAMID_PVA_STAGE_PVA_ASYNC_TRACK_PYRAMID = 1,
  DW_PYRAMID_PVA_STAGE_GPU_ASYNC_DATA_POSTPROCESS = 2
}
 Defines the Pyramid module. More...
 
DW_API_PUBLIC dwStatus dwPyramidPVA_bindInput (const dwImageHandle_t image, dwPyramidPVAHandle_t obj)
 Binds the input image to class member. More...
 
DW_API_PUBLIC dwStatus dwPyramidPVA_bindOutput (dwPyramidImage *pyramid, dwPyramidPVAHandle_t obj)
 Binds the initialized output pyramid to class. More...
 
DW_API_PUBLIC dwStatus dwPyramidPVA_process (dwPyramidPVAState stage, dwPyramidPVAHandle_t obj)
 Calls process functions based on the current state of execution. More...
 
typedef struct dwPyramidPVAObject * dwPyramidPVAHandle_t
 Defines the image pyramid structure. More...
 
typedef struct dwPyramidPVAParams dwPyramidPVAParams
 PVA image pyramid parameters. More...
 
DW_API_PUBLIC dwStatus dwPyramidPVA_initDefaultParams (dwPyramidPVAParams *params)
 Initializes default parameters for PVA image pyramid with default values. More...
 
DW_API_PUBLIC dwStatus dwPyramidPVA_initialize (dwPyramidPVAHandle_t *obj, dwPyramidPVAParams *params, const dwPyramidImage *pyramid, cudaStream_t cudaStream, dwContextHandle_t context)
 Initialize parameters for image pyramid. More...
 
DW_API_PUBLIC dwStatus dwPyramidPVA_reset (dwPyramidPVAHandle_t obj)
 Resets Pyramid module. More...
 
DW_API_PUBLIC dwStatus dwPyramidPVA_release (dwPyramidPVAHandle_t obj)
 Release Pyramid module. More...
 
DW_API_PUBLIC dwStatus dwPyramidPVA_computePyramid (dwPyramidImage *pyramid, const dwImageHandle_t image, cudaStream_t stream, dwPyramidPVAHandle_t obj)
 Builds the pyramid from level 0 image. More...
 
DW_API_PUBLIC dwStatus dwPyramidPVA_setCUDAStream (cudaStream_t stream, dwPyramidPVAHandle_t obj)
 Sets CUDA Stream to the given stream. More...
 
DW_API_PUBLIC dwStatus dwPyramidPVA_getCUDAStream (cudaStream_t *stream, dwPyramidPVAHandle_t obj)
 Get CUDA Stream to the used. More...
 
DW_API_PUBLIC dwStatus dwPyramidPVA_setPVAStream (cupvaStream_t stream, dwPyramidPVAHandle_t obj)
 Sets cuPVA Stream to the given stream. More...
 
DW_API_PUBLIC dwStatus dwPyramidPVA_getPVAStream (cupvaStream_t *stream, dwPyramidPVAHandle_t obj)
 Get cuPVA Stream to the used. More...
 

Macro Definition Documentation

◆ DW_PYRAMID_LEVEL_MAX_COUNT

#define DW_PYRAMID_LEVEL_MAX_COUNT   12

Definition at line 44 of file Pyramid_1.h.

Typedef Documentation

◆ dwPyramidImage

typedef struct dwPyramidImage dwPyramidImage

Pyramid image structure.

◆ dwPyramidImageProperties

typedef struct dwPyramidImageProperties dwPyramidImageProperties

Pyramid image properties structure.

◆ dwPyramidPVAHandle_t

typedef struct dwPyramidPVAObject* dwPyramidPVAHandle_t

Defines the image pyramid structure.

Handle to a Pyramid object.

Definition at line 49 of file PyramidPVA_1.h.

◆ dwPyramidPVAParams

typedef struct dwPyramidPVAParams dwPyramidPVAParams

PVA image pyramid parameters.

Enumeration Type Documentation

◆ dwPyramidPVAState

enum dwPyramidPVAState

Defines the Pyramid module.

The dwPyramidPVAState enum represents the current state the module is in

Enumerator
DW_PYRAMID_PVA_STAGE_GPU_ASYNC_DATA_PREPARE 

Process the preprocessing part of pyramid creation on GPU.

DW_PYRAMID_PVA_STAGE_PVA_ASYNC_TRACK_PYRAMID 

Process the tracking part of pyramid creation on PVA.

DW_PYRAMID_PVA_STAGE_GPU_ASYNC_DATA_POSTPROCESS 

Process the postprocess part of pyramid creation on GPU.

Definition at line 40 of file PyramidPVA_processpipeline_1.h.

Function Documentation

◆ dwImageFilter_computePyramid()

DW_API_PUBLIC dwStatus dwImageFilter_computePyramid ( dwPyramidImage *  pyramid,
const dwImageCUDA *  image,
cudaStream_t  stream,
dwContextHandle_t  context 
)

Builds the pyramid from level 0 image.

Parameters
[in,out]pyramidpyramid images that will be built, must be initialized by 'dwPyramid_create' first
[in]imageSpecifies the level 0 image which has the highest resolution
[in]streamSpecifies the CUDA stream to use during pyramid building.
[in]contextSpecifies the handle to the active DW context
Returns
DW_INVALID_ARGUMENT if pyramid, image or context are NULL
DW_INVALID_ARGUMENT if width/height of input 'image' differs from the one in 'dwPyramid_create'
DW_INVALID_ARGUMENT if memory layout of input 'input' is not DW_IMAGE_MEMORY_TYPE_PITCH DW_BAD_CAST if level image in pyramid has invalid types
DW_SUCCESS otherwise
Note
Before computing pyramid, 'dwPyramidImage' must be initialized by 'dwPyramid_create', input 'image' must have the same width/height as in 'dwPyramid_create'
API Group
  • Init: Yes
  • Runtime: Yes
  • De-Init: Yes

◆ dwPyramid_create()

DW_API_PUBLIC dwStatus dwPyramid_create ( dwPyramidImage *  pyramid,
uint32_t  levelCount,
uint32_t  width,
uint32_t  height,
dwTrivialDataType  pxlType,
dwContextHandle_t  context 
)

Creates and initializes an image pyramid.

Parameters
[out]pyramidA pointer to the pyramid image will be returned here.
[in]levelCountNumber of levels in the pyramid
[in]widthWidth of level 0 image
[in]heightHeight of level 0 image
[in]pxlTypeData Type of pyramid, currently only 'DW_TYPE_UINT8', 'DW_TYPE_UINT16', 'DW_TYPE_FLOAT16' and 'DW_TYPE_FLOAT32' are supported
[in]contextSpecifies the handle to the context under which it is created.
Returns
DW_INVALID_ARGUMENT if pyramid or context are NULL
DW_INVALID_ARGUMENT if pxlType is unsupported
DW_INVALID_ARGUMENT if levelCount > DW_PYRAMID_LEVEL_MAX_COUNT
DW_SUCCESS otherwise
Note
Level 0 image has the highest resolution in all pyramid level images, level 0 image size should be the same as input image in 'dwImageFilter_buildPyramid'
API Group
  • Init: Yes
  • Runtime: No
  • De-Init: No

◆ dwPyramid_createFromProperties()

DW_API_PUBLIC dwStatus dwPyramid_createFromProperties ( dwPyramidImage *  pyramid,
const dwPyramidImageProperties *  props,
dwContextHandle_t  context 
)

Creates and initializes an image pyramid.

Parameters
[out]pyramidA pointer to the pyramid image will be returned here.
[in]propsProperties of the pyramid image
[in]contextSpecifies the handle to the context under which it is created.
Returns
DW_INVALID_ARGUMENT if pyramid or context are NULL DW_INVALID_ARGUMENT if pxlType is unsupported DW_INVALID_ARGUMENT if levelCount > DW_PYRAMID_LEVEL_MAX_COUNT DW_SUCCESS otherwise
API Group
  • Init: Yes
  • Runtime: No
  • De-Init: No

◆ dwPyramid_destroy()

DW_API_PUBLIC dwStatus dwPyramid_destroy ( dwPyramidImage  pyramid)

Destroy pyramid images.

Parameters
[in]pyramidpyramid image to be destroyed
Returns
DW_INVALID_ARGUMENT if level image in pyramid contains invalid data
DW_SUCCESS otherwise.
API Group
  • Init: Yes
  • Runtime: No
  • De-Init: Yes

◆ dwPyramid_fillProperties()

DW_API_PUBLIC dwStatus dwPyramid_fillProperties ( dwPyramidImageProperties *  props,
uint32_t  levelCount,
uint32_t  width,
uint32_t  height,
dwTrivialDataType  pxlType 
)

Fills the pyramid image properties structure.

Parameters
[out]propsA pointer to properties structure to be filled.
[in]levelCountNumber of levels in the pyramid
[in]widthWidth of level 0 image
[in]heightHeight of level 0 image
[in]pxlTypeData Type of pyramid, currently only 'DW_TYPE_UINT8', 'DW_TYPE_UINT16', 'DW_TYPE_FLOAT16' and 'DW_TYPE_FLOAT32' are supported
Returns
DW_INVALID_ARGUMENT if props is NULL DW_INVALID_ARGUMENT if pxlType is unsupported DW_INVALID_ARGUMENT if levelCount > DW_PYRAMID_LEVEL_MAX_COUNT DW_SUCCESS otherwise
Note
Level 0 image has the highest resolution in all pyramid level images, level 0 image size should be the same as input image in 'dwImageFilter_buildPyramid'
API Group
  • Init: Yes
  • Runtime: Yes
  • De-Init: Yes

◆ dwPyramid_getProperties()

DW_API_PUBLIC dwStatus dwPyramid_getProperties ( dwPyramidImageProperties *  props,
dwPyramidImage *  pyramid,
dwContextHandle_t  context 
)

Gets the properties of a pyramid image.

Parameters
[out]propsA pointer to properties structure to be filled.
[in]pyramidA pointer to the pyramid image
[in]contextSpecifies the handle to the context under which it is created.
Returns
DW_INVALID_ARGUMENT if props or pyramid or context are NULL DW_SUCCESS otherwise
Note
Level 0 image has the highest resolution in all pyramid level images, level 0 image size should be the same as input image in 'dwImageFilter_buildPyramid'
API Group
  • Init: Yes
  • Runtime: Yes
  • De-Init: Yes

◆ dwPyramidPVA_bindInput()

DW_API_PUBLIC dwStatus dwPyramidPVA_bindInput ( const dwImageHandle_t  image,
dwPyramidPVAHandle_t  obj 
)

Binds the input image to class member.

Parameters
[in]imageinput image of type dwImageHandle_t(Generic CUDA image) Currently the supported image type is DW_IMAGE_CUDA, the supported image formats are DW_IMAGE_FORMAT_R_UINT16.
[in]objdyramid module object
Returns
DW_INVALID_ARGUMENT if image or obj are NULL.
DW_INVALID_HANDLE if image is not a CUDA image.
DW_SUCCESS otherwise.
API Group
  • Init: Yes
  • Runtime: Yes
  • De-Init: Yes

◆ dwPyramidPVA_bindOutput()

DW_API_PUBLIC dwStatus dwPyramidPVA_bindOutput ( dwPyramidImage *  pyramid,
dwPyramidPVAHandle_t  obj 
)

Binds the initialized output pyramid to class.

Parameters
[in]pyramidimage pyramid(CUDA Images)
[in]objdyramid module object
Returns
DW_INVALID_ARGUMENT if pyramid or obj are NULL.
DW_BAD_CAST if level image in pyramid has invalid types.
DW_SUCCESS otherwise.
API Group
  • Init: Yes
  • Runtime: Yes
  • De-Init: Yes

◆ dwPyramidPVA_computePyramid()

DW_API_PUBLIC dwStatus dwPyramidPVA_computePyramid ( dwPyramidImage *  pyramid,
const dwImageHandle_t  image,
cudaStream_t  stream,
dwPyramidPVAHandle_t  obj 
)

Builds the pyramid from level 0 image.

Parameters
[in,out]pyramidpyramid images that will be built, must be initialized by dwPyramidPVA_create first
[in]imageSpecifies the level 0 image which has the highest resolution. Currently the supported image type is DW_IMAGE_CUDA, the supported image formats are DW_IMAGE_FORMAT_R_UINT16.
[in]streamSpecifies the CUDA stream to use during pyramid building.
[in]objSpecifies the handle to the active Pyramid Object
Returns
DW_INVALID_ARGUMENT if pyramid, image or obj are NULL.
DW_INVALID_ARGUMENT if width/height of input image differs from the one in dwPyramidPVA_create.
DW_BAD_CAST if level image in pyramid has invalid types.
DW_SUCCESS otherwise.
Note
Before computing pyramid, dwPyramidImage must be initialized by dwPyramidPVA_create, input image must have the same width/height as in dwPyramidPVA_create
API Group
  • Init: Yes
  • Runtime: Yes
  • De-Init: Yes

◆ dwPyramidPVA_getCUDAStream()

DW_API_PUBLIC dwStatus dwPyramidPVA_getCUDAStream ( cudaStream_t *  stream,
dwPyramidPVAHandle_t  obj 
)

Get CUDA Stream to the used.

Parameters
[out]streamcuda stream
[in]objdyramid module object
Returns
DW_INVALID_ARGUMENT if stream or obj are NULL DW_SUCCESS otherwise.
API Group
  • Init: Yes
  • Runtime: Yes
  • De-Init: Yes

◆ dwPyramidPVA_getPVAStream()

DW_API_PUBLIC dwStatus dwPyramidPVA_getPVAStream ( cupvaStream_t *  stream,
dwPyramidPVAHandle_t  obj 
)

Get cuPVA Stream to the used.

Parameters
[out]streamcupva stream
[in]objdyramid module object
Returns
DW_NOT_AVAILABLE if PVA is not available on the platform.
DW_INVALID_ARGUMENT if obj is NULL DW_SUCCESS otherwise.
API Group
  • Init: Yes
  • Runtime: Yes
  • De-Init: Yes

◆ dwPyramidPVA_initDefaultParams()

DW_API_PUBLIC dwStatus dwPyramidPVA_initDefaultParams ( dwPyramidPVAParams *  params)

Initializes default parameters for PVA image pyramid with default values.

Parameters
[out]paramsPVA image pyramid parameters.
Returns
DW_INVALID_ARGUMENT if params is NULL.
DW_SUCCESS otherwise.
API Group
  • Init: Yes
  • Runtime: No
  • De-Init: No

◆ dwPyramidPVA_initialize()

DW_API_PUBLIC dwStatus dwPyramidPVA_initialize ( dwPyramidPVAHandle_t *  obj,
dwPyramidPVAParams *  params,
const dwPyramidImage *  pyramid,
cudaStream_t  cudaStream,
dwContextHandle_t  context 
)

Initialize parameters for image pyramid.

Parameters
[out]objA pointer to handle that is initialized with parameters.
[in]paramsImage pyramid parameters.
[in]pyramidthe sample allocated output buffer with correct size information.
[in]cudaStreamthe CUDA stream to use for cuda operations.
[in]contextSpecifies the handle to the context under which it is created.
Returns
DW_INVALID_ARGUMENT if obj, params or context are NULL.
DW_SUCCESS otherwise.
API Group
  • Init: Yes
  • Runtime: No
  • De-Init: No

◆ dwPyramidPVA_process()

DW_API_PUBLIC dwStatus dwPyramidPVA_process ( dwPyramidPVAState  stage,
dwPyramidPVAHandle_t  obj 
)

Calls process functions based on the current state of execution.

Parameters
[in]stagecurrent execution state
[in]objdyramid module object
Returns
DW_INVALID_ARGUMENT if obj is NULL or stage is invalid.
DW_SUCCESS otherwise.
API Group
  • Init: Yes
  • Runtime: Yes
  • De-Init: Yes

◆ dwPyramidPVA_release()

DW_API_PUBLIC dwStatus dwPyramidPVA_release ( dwPyramidPVAHandle_t  obj)

Release Pyramid module.

Parameters
[in]objHandle to reset.
Returns
DW_INVALID_ARGUMENT if obj is NULL.
DW_SUCCESS otherwise.
API Group
  • Init: Yes
  • Runtime: No
  • De-Init: Yes

◆ dwPyramidPVA_reset()

DW_API_PUBLIC dwStatus dwPyramidPVA_reset ( dwPyramidPVAHandle_t  obj)

Resets Pyramid module.

Parameters
[in]objHandle to reset.
Returns
DW_INVALID_ARGUMENT if obj is NULL.
DW_SUCCESS otherwise.
API Group
  • Init: Yes
  • Runtime: Yes
  • De-Init: Yes

◆ dwPyramidPVA_setCUDAStream()

DW_API_PUBLIC dwStatus dwPyramidPVA_setCUDAStream ( cudaStream_t  stream,
dwPyramidPVAHandle_t  obj 
)

Sets CUDA Stream to the given stream.

Parameters
[in]streamcuda stream
[in]objdyramid module object
Returns
DW_INVALID_ARGUMENT if obj is NULL DW_SUCCESS otherwise.
API Group
  • Init: Yes
  • Runtime: Yes
  • De-Init: Yes

◆ dwPyramidPVA_setPVAStream()

DW_API_PUBLIC dwStatus dwPyramidPVA_setPVAStream ( cupvaStream_t  stream,
dwPyramidPVAHandle_t  obj 
)

Sets cuPVA Stream to the given stream.

Parameters
[in]streamcupva stream
[in]objdyramid module object
Returns
DW_NOT_AVAILABLE if PVA is not available on the platform.
DW_INVALID_ARGUMENT if obj is NULL DW_SUCCESS otherwise.
API Group
  • Init: Yes
  • Runtime: Yes
  • De-Init: Yes