Detailed Description

Defines the camera module, which provides access to a virtual camera reading reading the data from a video file or a real camera connected to different sockets.

Data Structures
struct	dwCameraProperties

Modules
	Vibrante Cameras
	Defines the Vibrante camera module.

Typedefs
typedef struct dwCameraFrame *	dwCameraFrameHandle_t
	Handle to captured frame. More...

Enumerations
enum	dwCameraOutputType { DW_CAMERA_PROCESSED_IMAGE = 1 << 0, DW_CAMERA_RAW_IMAGE = 1 << 1, DW_CAMERA_DATALINES = 1 << 2 }
	Output types supported by the camera. More...

enum	dwCameraRawFormat { DW_CAMERA_RAW_FORMAT_UNKNOWN = 0, DW_CAMERA_RAW_FORMAT_RGGB = 7000, DW_CAMERA_RAW_FORMAT_BGGR = 7100, DW_CAMERA_RAW_FORMAT_GRBG = 7200, DW_CAMERA_RAW_FORMAT_GBRG = 7300, DW_CAMERA_RAW_FORMAT_RCCB = 8000, DW_CAMERA_RAW_FORMAT_BCCR = 8100, DW_CAMERA_RAW_FORMAT_CRBC = 8200, DW_CAMERA_RAW_FORMAT_CBRC = 8300, DW_CAMERA_RAW_FORMAT_RCCC = 9000, DW_CAMERA_RAW_FORMAT_CRCC = 9100, DW_CAMERA_RAW_FORMAT_CCRC = 9200, DW_CAMERA_RAW_FORMAT_CCCR = 9300 }

enum	dwCameraType { DW_CAMERA_GENERIC = 0, DW_CAMERA_GMSL_OV10635 = 1, DW_CAMERA_GMSL_OV10640 = 2, DW_CAMERA_GMSL_AR0231_RGGB = 3, DW_CAMERA_GMSL_AR0231_RCCB = 4, DW_CAMERA_GMSL_AR0231_RCCB_SSC = 5, DW_CAMERA_USB_GENERIC = 6, DW_CAMERA_GMSL_AR0231_RCCB_BAE = 7, DW_CAMERA_GMSL_OV10640_SVC210 = 8, DW_CAMERA_GMSL_OV10640_SVC212 = 9, DW_CAMERA_GMSL_AR0231_RCCB_SS3322 = 10, DW_CAMERA_GMSL_AR0231_RCCB_SS3323 = 11, DW_CAMERA_GMSL_AR0144 = 12 }
	Enum of available cameras. More...

Functions
DW_API_PUBLIC dwStatus	dwSensorCamera_getDataLines (const dwImageDataLines **dataLines, dwCameraFrameHandle_t frameHandle)
	Gets the data lines sent by the camera sensor. More...

DW_API_PUBLIC dwStatus	dwSensorCamera_getImageCPU (dwImageCPU **image, dwCameraOutputType format, dwCameraFrameHandle_t frameHandle)
	Gets a frame from the camera sensor. More...

DW_API_PUBLIC dwStatus	dwSensorCamera_getImageCUDA (dwImageCUDA **image, dwCameraOutputType format, dwCameraFrameHandle_t frameHandle)
	Gets a frame from the camera sensor. More...

DW_API_PUBLIC dwStatus	dwSensorCamera_getImageProperties (dwImageProperties *imageProperties, dwCameraOutputType type, dwSensorHandle_t sensor)
	Gets information about the image properties for a given `dwCameraOutputType`. More...

DW_API_PUBLIC dwStatus	dwSensorCamera_getSensorProperties (dwCameraProperties *properties, dwSensorHandle_t sensor)
	Gets information about the camera sensor. More...

DW_API_PUBLIC dwStatus	dwSensorCamera_getTimestamp (dwTime_t *timestamp, dwCameraFrameHandle_t frameHandle)
	Gets the timestamp of the current camera frame. More...

DW_API_PUBLIC dwStatus	dwSensorCamera_readFrame (dwCameraFrameHandle_t *frameHandle, uint32_t sibling, dwTime_t timeout_us, dwSensorHandle_t sensor)
	Reads a frame handle from the camera sensor. More...

DW_API_PUBLIC dwStatus	dwSensorCamera_returnFrame (dwCameraFrameHandle_t *frameHandle)
	Returns a frame to the camera after it has been consumed. More...

Data Structure Documentation

◆ dwCameraProperties

struct dwCameraProperties

Data Fields
dwCameraType	cameraType	Type of the camera
float32_t	framerate	Framerate in Hz
int32_t	outputTypes	Or'ed list of available `dwCameraOutputType`
dwCameraRawFormat	rawFormat	Raw bayern pattern
dwVector2ui	resolution	Physical resolution of the camera sensor
uint32_t	siblings	Number of sibling frames

Typedef Documentation

◆ dwCameraFrameHandle_t

typedef struct dwCameraFrame* dwCameraFrameHandle_t

Handle to captured frame.

Definition at line 62 of file Camera.h.

Enumeration Type Documentation

◆ dwCameraOutputType

enum dwCameraOutputType

Output types supported by the camera.

Enumerator
DW_CAMERA_PROCESSED_IMAGE
DW_CAMERA_RAW_IMAGE
DW_CAMERA_DATALINES

Definition at line 65 of file Camera.h.

◆ dwCameraRawFormat

enum dwCameraRawFormat

Enumerator
DW_CAMERA_RAW_FORMAT_UNKNOWN	Raw encoding formats pixel-order.
DW_CAMERA_RAW_FORMAT_RGGB
DW_CAMERA_RAW_FORMAT_BGGR
DW_CAMERA_RAW_FORMAT_GRBG
DW_CAMERA_RAW_FORMAT_GBRG
DW_CAMERA_RAW_FORMAT_RCCB
DW_CAMERA_RAW_FORMAT_BCCR
DW_CAMERA_RAW_FORMAT_CRBC
DW_CAMERA_RAW_FORMAT_CBRC
DW_CAMERA_RAW_FORMAT_RCCC
DW_CAMERA_RAW_FORMAT_CRCC
DW_CAMERA_RAW_FORMAT_CCRC
DW_CAMERA_RAW_FORMAT_CCCR

Definition at line 71 of file Camera.h.

◆ dwCameraType

enum dwCameraType

Enum of available cameras.

Enumerator
DW_CAMERA_GENERIC	Generic video source, e.g. video file with raw or processed data
DW_CAMERA_GMSL_OV10635	GMSL OV10635 camera
DW_CAMERA_GMSL_OV10640	GMSL OV10640 camera
DW_CAMERA_GMSL_AR0231_RGGB	GMSL AR0231 RGGB camera (GRBG, rev-3/4 model ss3321, rev-6 all models)
DW_CAMERA_GMSL_AR0231_RCCB	GMSL AR0231 RCCB camera (rev-4/6 all models)
DW_CAMERA_GMSL_AR0231_RCCB_SSC	GMSL AR0231 RCCB camera with sensor computed statistics
DW_CAMERA_USB_GENERIC	Generic USB camera
DW_CAMERA_GMSL_AR0231_RCCB_BAE	GMSL AR0231 RCCB camera with Bracketed AE.
DW_CAMERA_GMSL_OV10640_SVC210	GMSL OV10640 camera SVC210 type (185 deg fov)
DW_CAMERA_GMSL_OV10640_SVC212	GMSL OV10640 camera SVC212 type (65 deg fov)
DW_CAMERA_GMSL_AR0231_RCCB_SS3322	GMSL AR0231 RCCB camera SS3322 type (100 deg fov, rev-4/6)
DW_CAMERA_GMSL_AR0231_RCCB_SS3323	GMSL AR0231 RCCB camera SS3322 type (60 deg fov)
DW_CAMERA_GMSL_AR0144	GMSL AR0144 camera (GRBG, rev-3 model)

Definition at line 92 of file Camera.h.

Function Documentation

◆ dwSensorCamera_getDataLines()

DW_API_PUBLIC dwStatus dwSensorCamera_getDataLines	(	const dwImageDataLines **	dataLines,
		dwCameraFrameHandle_t	frameHandle
	)

Gets the data lines sent by the camera sensor.

Parameters

[out]	dataLines	Additional data lines sent from the sensor with this image.
[in]	frameHandle	Handle to a captured frame.

Note: The returned lines have the lifetime of the associated frame handle, e.g., when the handle is returned, the data gets invalid.

Returns: DW_INVALID_HANDLE - if given handle is not valid.
DW_NOT_IMPLEMENTED - if given camera does not support datalines.
DW_SUCCESS

◆ dwSensorCamera_getImageCPU()

DW_API_PUBLIC dwStatus dwSensorCamera_getImageCPU	(	dwImageCPU **	image,
		dwCameraOutputType	format,
		dwCameraFrameHandle_t	frameHandle
	)

Gets a frame from the camera sensor.

Note: The returned image has the lifetime of the associated frame handle, e.g., when the handle is returned, the data gets invalid.

Parameters

[out]	image	A pointer to a pointer to an image read from the camera. The format or the image depends on camera type. The frame must be returned to be put back into the internal pool.
[in]	format	Format of the image to get.
[in]	frameHandle	Handle to a captured frame.

Returns: DW_INVALID_HANDLE - if given handle is not valid.
DW_NOT_IMPLEMENTED - if the method for this image type is not implemented by given camera.
DW_NOT_AVAILABLE - if sensor has not been configured to deliver CPU images of format type.
DW_SUCCESS

◆ dwSensorCamera_getImageCUDA()

DW_API_PUBLIC dwStatus dwSensorCamera_getImageCUDA	(	dwImageCUDA **	image,
		dwCameraOutputType	format,
		dwCameraFrameHandle_t	frameHandle
	)

Gets a frame from the camera sensor.

Note: The returned image has the lifetime of the associated frame handle, e.g., when the handle is returned, the data gets invalid.

Parameters

[out]	image	A pointer to a pointer to an image read from the camera. The format or the image depends on camera type. The frame must be returned to be put back into the internal pool.
[in]	format	Format of the image to get.
[in]	frameHandle	Handle to a captured frame.

Returns: DW_CUDA_ERROR - if the underlying camera driver had a CUDA error.
DW_INVALID_HANDLE - if given handle is not valid.
DW_NOT_IMPLEMENTED - if the method for this image type is not implemented by given camera.
DW_NOT_AVAILABLE - if sensor has not been configured to deliver CUDA images of format type.
DW_SUCCESS

◆ dwSensorCamera_getImageProperties()

DW_API_PUBLIC dwStatus dwSensorCamera_getImageProperties	(	dwImageProperties *	imageProperties,
		dwCameraOutputType	type,
		dwSensorHandle_t	sensor
	)

Gets information about the image properties for a given dwCameraOutputType.

Parameters

[out]	imageProperties	A pointer to image properties of the frames captured by the camera.
[in]	type	Format of the image to get. This is an OR'ed list of dwCameraOutputType.
[in]	sensor	Sensor handle of the camera sensor previously created with dwSAL_createSensor().

Note: The dimensions of the returned properties corresponds to the dimension of the image returned through dwSensorCamera_getImage* methods. However the dimensions might be different depending on the provided type.

◆ dwSensorCamera_getSensorProperties()

DW_API_PUBLIC dwStatus dwSensorCamera_getSensorProperties	(	dwCameraProperties *	properties,
		dwSensorHandle_t	sensor
	)

Gets information about the camera sensor.

Parameters

[out]	properties	A pointer to the properties of the camera.
[in]	sensor	Sensor handle of the camera sensor previously created with dwSAL_createSensor().

◆ dwSensorCamera_getTimestamp()

DW_API_PUBLIC dwStatus dwSensorCamera_getTimestamp	(	dwTime_t *	timestamp,
		dwCameraFrameHandle_t	frameHandle
	)

Gets the timestamp of the current camera frame.

Parameters

[out]	timestamp	The timestamp of the current camera frame.
[in]	frameHandle	Handle to a captured frame.

Returns: DW_INVALID_HANDLE - if given handle is not valid.
DW_SUCCESS

◆ dwSensorCamera_readFrame()

DW_API_PUBLIC dwStatus dwSensorCamera_readFrame	(	dwCameraFrameHandle_t *	frameHandle,
		uint32_t	sibling,
		dwTime_t	timeout_us,
		dwSensorHandle_t	sensor
	)

Reads a frame handle from the camera sensor.

The reading is a blocking call. With the frame handle, the associated data can be queried from the sensor. Available data is configured during sensor creation.

Parameters

[out]	frameHandle	A pointer to a handle to a frame read from the camera. With the handle, different data can be queried. The frame handle must be returned to be put back into the internal pool.
[in]	sibling	Number of camera siblings from which to retrieve frames.
[in]	timeout_us	Timeout in microseconds to wait for a new frame. Special values: DW_TIMEOUT_INFINITE - to wait infinitly. Zero - means polling of internal queue.
[in]	sensor	Sensor handle of the camera previously created with `dwSAL_createSensor()`.

Returns: DW_CUDA_ERROR - if the underlying camera driver had a CUDA error.
DW_NVMEDIA_ERROR - if underlying camera driver had an NvMedia error.
DW_INVALID_HANDLE - if given handle is not valid.
DW_NOT_IMPLEMENTED - if the method for this image type is not implemented by given camera.
DW_TIME_OUT - if no frame could not be acquired within given time interval.
DW_NOT_AVAILABLE - if sensor has not been started or data is not available in polling mode.
DW_SAL_SENSOR_ERROR - if there was an i/o error.
DW_END_OF_STREAM - if end of stream reached.
DW_SUCCESS

◆ dwSensorCamera_returnFrame()

DW_API_PUBLIC dwStatus dwSensorCamera_returnFrame ( dwCameraFrameHandle_t * frameHandle )

Returns a frame to the camera after it has been consumed.

All data associated with this handle is invalid after the handle has been returned.

Parameters

[in] frameHandle Handle previously read from the camera to be returned to the pool.

Returns: DW_CUDA_ERROR - if the underlying camera driver had a CUDA error.
DW_NVMEDIA_ERROR - if underlying camera driver had NvMedia error.
DW_INVALID_HANDLE - if given handle is not valid.
DW_CALL_NOT_ALLOWED - if the sensor this frame camera from has already been released.
DW_SUCCESS

DriveWorks SDK Reference

| 0.6.67 Release

Detailed Description

Data Structures

Modules

Typedefs

Enumerations

Functions

Data Structure Documentation

◆ dwCameraProperties

Typedef Documentation

◆ dwCameraFrameHandle_t

Enumeration Type Documentation

◆ dwCameraOutputType

◆ dwCameraRawFormat

◆ dwCameraType

Function Documentation

◆ dwSensorCamera_getDataLines()

◆ dwSensorCamera_getImageCPU()

◆ dwSensorCamera_getImageCUDA()

◆ dwSensorCamera_getImageProperties()

◆ dwSensorCamera_getSensorProperties()

◆ dwSensorCamera_getTimestamp()

◆ dwSensorCamera_readFrame()

◆ dwSensorCamera_returnFrame()