Detailed Description

Defines image abstractions, and streamer and format conversion APIs.

Data Structures
struct	dwImageCPU
	Defines a CPU-based image. More...

struct	dwImageCUDA
	Defines a CUDA image. More...

struct	dwImageDataLines
	Container for data lines from the camera. More...

struct	dwImageGL
	Defines a GL texture image. More...

struct	dwImageMetaData
	Additional meta information stored with each image. More...

struct	dwImageNvMedia
	Defines an NvMedia image. More...

struct	dwImageProperties
	Defines the properties of the image. More...

Modules
	Image Converter
	Defines the image conversion functions in the SDK, such as for converting YUV to RGBA.

	Image Streamer
	Defines the image streamer function, enabling streaming images between different APIs.

Macros
#define	DW_MAX_IMAGE_PLANES 3

Typedefs
typedef uint32_t	GLenum

typedef uint32_t	GLuint

Enumerations
enum	dwImageCUDAMemoryType { DW_IMAGE_CUDA_PITCH, DW_IMAGE_CUDA_BLOCK }
	Specifies the CUDA memory type. More...

enum	dwImageMetaDataFlags { DW_IMAGE_FLAGS_EMBEDDED_LINES = (1 << 2), DW_IMAGE_FLAGS_SENSOR_SETTINGS = (1 << 3) }
	Flags defining the meta information available in an image. More...

enum	dwImagePixelFormat { DW_IMAGE_PIXEL_FORMAT_UNKNOWN = 0, DW_IMAGE_R = 1000, DW_IMAGE_RGB = 2000, DW_IMAGE_RCB = 2100, DW_IMAGE_RCC = 2200, DW_IMAGE_RGBA = 3000, DW_IMAGE_YUV420 = 6000, DW_IMAGE_YUV422 = 6100, DW_IMAGE_RAW = 10000 }
	Specifies the pixel format of the image. More...

enum	dwImageType { DW_IMAGE_CPU = 0, DW_IMAGE_GL, DW_IMAGE_CUDA, DW_IMAGE_NVMEDIA }
	Specifies the image type. More...

Functions
DW_API_PUBLIC dwStatus	dwImage_getDataLayout (size_t elementSize, uint32_t planeChannelCount[DW_MAX_IMAGE_PLANES], dwVector2ui planeSize[DW_MAX_IMAGE_PLANES], const dwImageProperties prop)
	Returns the expected data layout of an image given its properties. More...

DW_API_PUBLIC dwStatus	dwImageCPU_create (dwImageCPU cpuImage, const dwImageProperties prop)
	Allocates memory for the data of a dwImageCPU based on the dwImageProperties. More...

DW_API_PUBLIC dwStatus	dwImageCPU_destroy (dwImageCPU *cpuImage)
	Deallocates data in a dwImageCPU. More...

DW_API_PUBLIC dwStatus	dwImageCPU_mapToROI (dwImageCPU dstImg, const dwImageCPU srcImg, dwRect roi)
	Returns a dwImageCPU that is mapped to a region of interest in the data of the srcImg. More...

DW_API_PUBLIC dwStatus	dwImageCUDA_create (dwImageCUDA cudaImage, const dwImageProperties prop, dwImageCUDAMemoryType layout)
	Allocates memory for the data of a dwImageCUDA based on the dwImageProperties and dwImageCUDAMemoryType memory layout. More...

DW_API_PUBLIC dwStatus	dwImageCUDA_destroy (dwImageCUDA *cudaImage)
	Deallocates data in a dwImageCUDA. More...

DW_API_PUBLIC dwStatus	dwImageCUDA_getPlaneAsImage (dwImageCUDA planeImage, const dwImageCUDA srcImage, uint32_t planeIdx)
	Returns a specific plane of a CUDA image as its own single-plane CUDA image. More...

DW_API_PUBLIC dwStatus	dwImageCUDA_mapToROI (dwImageCUDA dstImg, const dwImageCUDA srcImg, dwRect roi)
	Returns a dwImageCUDA that is mapped to a region of interest in the data of the srcImg. More...

DW_API_PUBLIC dwStatus	dwImageCUDA_setFromPitch (dwImageCUDA result, void devicePtr, uint32_t width, uint32_t height, size_t pitchInBytes, dwImagePixelFormat pixelFormat)
	Fill out given `dwImageCUDA` structure from a raw pointer. More...

DW_API_PUBLIC dwStatus	dwImageGL_create (dwImageGL glImage, const dwImageProperties prop, GLenum target)
	Generates a texture for a dwImageGL based on the dwImageProperties for a GL target. More...

DW_API_PUBLIC dwStatus	dwImageGL_destroy (dwImageGL *glImage)
	Destroys the texture in a dwImageGL. More...

DW_API_PUBLIC dwStatus	dwImageGL_setupTexture (dwImageGL glImg, const uint8_t data, int32_t level, uint32_t depth)
	Sets up the texture defined in glImg->prop.tex from pixels stored in data. More...

DW_API_PUBLIC dwStatus	dwImageNvMedia_create (dwImageNvMedia nvmImage, const dwImageProperties prop, const dwContextHandle_t context)
	Sets up an NvMediaImage based on the dwImageProperties for the NvMediaDevice in the current dwContext. More...

DW_API_PUBLIC dwStatus	dwImageNvMedia_destroy (dwImageNvMedia *nvmImage)
	Destroys the texture in a dwImageNvMedia. More...

DW_API_PUBLIC dwStatus	dwImageNvMedia_setFromImage (dwImageNvMedia dstImage, const NvMediaImage srcImage)
	Fills `dwImageNvMedia` struct based on the contents of `NvMediaImage`. More...

Data Structure Documentation

◆ dwImageCPU

struct dwImageCPU

Data Fields
uint8_t *	data[DW_MAX_IMAGE_PLANES]	Specifies the raw image data.
size_t	pitch[DW_MAX_IMAGE_PLANES]	Specifies the pitch of the image in bytes.
dwImageProperties	prop	Specifies the properites of the image.
dwTime_t	timestamp_us	Specifies the time, in microseconds, when the image was acquired.

◆ dwImageCUDA

struct dwImageCUDA

Data Fields
cudaArray_t	array[DW_MAX_IMAGE_PLANES]	Holds the CUDA image plane data.
void *	dptr[DW_MAX_IMAGE_PLANES]	Holds the pointer to the image planes.
dwImageCUDAMemoryType	layout	Defines the memory layout of the image.
size_t	pitch[DW_MAX_IMAGE_PLANES]	Defines the pitch of each plane in bytes.
dwImageProperties	prop	Defines the properties of the image.
dwTime_t	timestamp_us	Specifies the time, in microseconds, when the image was acquired.

◆ dwImageDataLines

struct dwImageDataLines

Data Fields
uint8_t *	bottomLineData
uint32_t	bytesPerLine
dwVector2ui	embeddedDataSize	this defines the number of rows before and after the image
uint8_t *	topLineData	pointer to the beginning of top and bottom lines

◆ dwImageGL

struct dwImageGL

Data Fields
dwImageProperties	prop	Specifies the properties of the image.
GLenum	target	Specifies the OpenGL texture target.
GLuint	tex	Specifies the OpenGL texture handle.
dwTime_t	timestamp_us	Specifies the time, in microseconds, when the image was acquired.

◆ dwImageMetaData

struct dwImageMetaData

Data Fields
float32_t	analogGain	Specifies the analog Gain.
float32_t	conversionGain	Specifies the conversion Gain.
dwImageDataLines	dataLines	embedded data lines. This is where the meta data defined above are parsed from A RAW image coming from a sensor often contains this information arranged as extra lines before and after the image. The full image is stored in a buffer structured as [TOP DATA][IMAGE][BOTTOM DATA] (top * W) + (H * W) + (bott * W)
float32_t	digitalGain	Specifies the digital Gain.
float32_t	exposureTime	Specifies the exposure time (microsecond)
int32_t	flags	combination of multiple flags `dwImageMetaDataFlags` defining which of the meta fields are valid
float32_t	wbGain[4]	Specifies the sensor white balance gains : R(0) G1(1) G2(2) B(3)

◆ dwImageNvMedia

struct dwImageNvMedia

Data Fields
NvMediaImage *	img	Holds the pointer to the NvMedia image.
dwImageProperties	prop	Holds image properties.
dwTime_t	timestamp_us	Specifies the time, in microseconds, when the image was acquired.

◆ dwImageProperties

struct dwImageProperties

Data Fields
uint32_t	height	Specifies the height of the image in pixels.
dwImageMetaData	meta	additional meta information stored with the image. Not all images might provide it
uint32_t	planeCount	Specifies the plane count of the image. For interleaved images the plane count is 1.
dwImagePixelFormat	pxlFormat	Specifies the pixel format of the image.
dwTrivialDataType	pxlType	Specifies the pixel type of the image.
dwImageType	type	Specifies the type of image.
uint32_t	width	Specifies the width of the image in pixels.

Macro Definition Documentation

◆ DW_MAX_IMAGE_PLANES

#define DW_MAX_IMAGE_PLANES 3

Definition at line 80 of file Image.h.

Typedef Documentation

◆ GLenum

typedef uint32_t GLenum

Definition at line 58 of file Image.h.

◆ GLuint

typedef uint32_t GLuint

Definition at line 59 of file Image.h.

Enumeration Type Documentation

◆ dwImageCUDAMemoryType

enum dwImageCUDAMemoryType

Specifies the CUDA memory type.

Enumerator
DW_IMAGE_CUDA_PITCH
DW_IMAGE_CUDA_BLOCK

Definition at line 164 of file Image.h.

◆ dwImageMetaDataFlags

enum dwImageMetaDataFlags

Flags defining the meta information available in an image.

Enumerator
DW_IMAGE_FLAGS_EMBEDDED_LINES	If an image was extracted from a camera, additional embedded data lines might be provided The data lines are stored before and after the actual image content in memory.
DW_IMAGE_FLAGS_SENSOR_SETTINGS	Image contains valid sensor settings information, such as exposure, gain, whitebalance, etc.

Definition at line 182 of file Image.h.

◆ dwImagePixelFormat

enum dwImagePixelFormat

Specifies the pixel format of the image.

Enumerator
DW_IMAGE_PIXEL_FORMAT_UNKNOWN
DW_IMAGE_R	Grayscale Image 1 plane, 1 channel, WxH plane size
DW_IMAGE_RGB	planar: R0R1R2...G0G1G2...B0B1B2... (3 planes) WxH WxH WxH plane size 1 1 1 chnl count interl: R0G0B0R1G1B1R2G2B2... (1 plane) eaved WxH plane size 3 chnl count
DW_IMAGE_RCB	planar: R0R1R2...C0C1C2...B0B1B2... (3 planes) WxH WxH WxH plane size 1 1 1 chnl count NOTE: For CUDA RCB image, 3 planes have to be consecutive in device memory
DW_IMAGE_RCC	Red Clear Clear-Red Image, demoisaiced of an RCCC raw image. Same layout as DW_IMAGE_RGB
DW_IMAGE_RGBA	interl: R0G0B0A0R1G1B1A1R2G2B2A2... (1 plane) eaved WxH plane size 4 chnl count
DW_IMAGE_YUV420	planar: Y0Y1Y2...U0U1U2...V0V1V2... (3 planes) WxH W/2xH/2 W/2xH/2 plane size 1 1 1 chnl count semi-p: Y0Y1Y2...U0V0U1V1U2V2... (2 planes) WxH W/2xH/2 plane size 1 2 chnl count
DW_IMAGE_YUV422	planar: Y0Y1Y2...U0U1U2...V0V1V2... (3 planes) WxH (W/2)xH (W/2)xH plane size 1 1 1 chnl count semi-p: Y0Y1Y2...U0V0U1V1U2V2... (2 planes) WxH (W/2)xH plane size 1 2 chnl count
DW_IMAGE_RAW	RAW sensor data, single value per pixel. 1 plane, 1 channel, WxH plane size

Definition at line 93 of file Image.h.

◆ dwImageType

enum dwImageType

Specifies the image type.

Enumerator
DW_IMAGE_CPU
DW_IMAGE_GL
DW_IMAGE_CUDA
DW_IMAGE_NVMEDIA

Definition at line 83 of file Image.h.

Function Documentation

◆ dwImage_getDataLayout()

DW_API_PUBLIC dwStatus dwImage_getDataLayout	(	size_t *	elementSize,
		uint32_t	planeChannelCount[DW_MAX_IMAGE_PLANES],
		dwVector2ui	planeSize[DW_MAX_IMAGE_PLANES],
		const dwImageProperties *	prop
	)

Returns the expected data layout of an image given its properties.

The byte size for plane i's row is:

elementSize*planeChannelCount[i]*planeWidth[i]

Parameters

[out]	elementSize	Size in bytes of the pixel type
[out]	planeChannelCount	Number of channels within each plane
[out]	planeSize	Size of each plane
[in]	prop	A pointer to the image properties to compute data layout from.

◆ dwImageCPU_create()

DW_API_PUBLIC dwStatus dwImageCPU_create	(	dwImageCPU *	cpuImage,
		const dwImageProperties *	prop
	)

Allocates memory for the data of a dwImageCPU based on the dwImageProperties.

All variables in the struct will be automatically initialized. Timestamp is 0 by default.

Parameters

[out]	cpuImage	A pointer to the dwImageCPU struct. The data pointed by it will be allocated
[in]	prop	Properties of the dwImageCPU.

Returns: DW_SUCCESS, DW_INVALID_ARGUMENT

◆ dwImageCPU_destroy()

DW_API_PUBLIC dwStatus dwImageCPU_destroy ( dwImageCPU * cpuImage )

Deallocates data in a dwImageCPU.

Parameters

[in] cpuImage A pointer to the dwImageCPU struct.

Returns: DW_SUCCESS, DW_INVALID_ARGUMENT

◆ dwImageCPU_mapToROI()

DW_API_PUBLIC dwStatus dwImageCPU_mapToROI	(	dwImageCPU *	dstImg,
		const dwImageCPU *	srcImg,
		dwRect	roi
	)

Returns a dwImageCPU that is mapped to a region of interest in the data of the srcImg.

NOTE: only single plane images are supported.

Parameters

[out]	dstImg	A pointer to the dwImageCPU containing the roi. NOTE: the properties will reflect the size of the roi. (NOTE: this is not a copy)
[in]	srcImg	A pointer to the source dwImageCPU.
[in]	roi	A dwRect specifying the coordinates of the region of interest.

Returns: DW_SUCCESS, DW_INVALID_ARGUMENT

◆ dwImageCUDA_create()

DW_API_PUBLIC dwStatus dwImageCUDA_create	(	dwImageCUDA *	cudaImage,
		const dwImageProperties *	prop,
		dwImageCUDAMemoryType	layout
	)

Allocates memory for the data of a dwImageCUDA based on the dwImageProperties and dwImageCUDAMemoryType memory layout.

All variables in the struct will be automatically initialized. Timestamp is 0 by default.

Parameters

[out]	cudaImage	A pointer to the dwImageCUDA struct. The data pointed by either the device pointer (for DW_IMAGE_CUDA_PITCH layout) or (for DW_IMAGE_CUDA_BLOCK layout) will be allocated
[in]	prop	Properties of the dwImageCUDA.
[in]	layout	the CUDA memory layout.

Returns: DW_SUCCESS, DW_INVALID_ARGUMENT, DW_CUDA_ERROR

◆ dwImageCUDA_destroy()

DW_API_PUBLIC dwStatus dwImageCUDA_destroy ( dwImageCUDA * cudaImage )

Deallocates data in a dwImageCUDA.

Parameters

[in] cudaImage A pointer to the dwImageCUDA struct.

Returns: DW_SUCCESS, DW_INVALID_ARGUMENT, DW_CUDA_ERROR

◆ dwImageCUDA_getPlaneAsImage()

DW_API_PUBLIC dwStatus dwImageCUDA_getPlaneAsImage	(	dwImageCUDA *	planeImage,
		const dwImageCUDA *	srcImage,
		uint32_t	planeIdx
	)

Returns a specific plane of a CUDA image as its own single-plane CUDA image.

No data is copied, only the pointers are duplicated.

Parameters

[out]	planeImage	`dwImageCUDA` to be filled with a single plane from `srcImage`
[in]	srcImage	Source image to extract plane from
[in]	planeIdx	Index of the plane to extract

Returns: DW_INVALID_ARGUMENT - if planeImage or srcImage are NULL, or if planeIdx is invalid
DW_SUCCESS

◆ dwImageCUDA_mapToROI()

DW_API_PUBLIC dwStatus dwImageCUDA_mapToROI	(	dwImageCUDA *	dstImg,
		const dwImageCUDA *	srcImg,
		dwRect	roi
	)

Returns a dwImageCUDA that is mapped to a region of interest in the data of the srcImg.

NOTE: only single plane images are supported.

Parameters

[out]	dstImg	A pointer to the dwImageCUDA containing the roi. NOTE: the properties will reflect the size of the roi. (NOTE: this is not a copy)
[in]	srcImg	A pointer to the source dwImageCUDA.
[in]	roi	A dwRect specifying the coordinates of the region of interest.

Returns: DW_SUCCESS, DW_INVALID_ARGUMENT

◆ dwImageCUDA_setFromPitch()

DW_API_PUBLIC dwStatus dwImageCUDA_setFromPitch	(	dwImageCUDA *	result,
		void *	devicePtr,
		uint32_t	width,
		uint32_t	height,
		size_t	pitchInBytes,
		dwImagePixelFormat	pixelFormat
	)

Fill out given dwImageCUDA structure from a raw pointer.

Parameters

[out]	result	`dwImageCUDA` struct to be set up
[in]	devicePtr	pointer into device memory
[in]	width	Width of the image at `devicePtr` in pixels
[in]	height	Height of the image at `devicePtr` in pixels
[in]	pitchInBytes	Pitch in bytes of the image at `devicePtr`
[in]	pixelFormat	Format of the pixels representing the image

Returns: DW_INVALID_ARGUMENT - if result or devicePtr are NULL
DW_SUCCESS

◆ dwImageGL_create()

DW_API_PUBLIC dwStatus dwImageGL_create	(	dwImageGL *	glImage,
		const dwImageProperties *	prop,
		GLenum	target
	)

Generates a texture for a dwImageGL based on the dwImageProperties for a GL target.

. All variables in the struct will be automatically initialized. Timestamp is 0 by default.

Parameters

[out]	glImage	A pointer to the dwImageGL struct. The tex pointed by it will be generated, if valid prop
[in]	prop	Properties of the dwImageGL.
[in]	target	GL target (usually GL_TEXTURE_2D).

Returns: DW_SUCCESS, DW_INVALID_ARGUMENT, DW_GL_ERROR

◆ dwImageGL_destroy()

DW_API_PUBLIC dwStatus dwImageGL_destroy ( dwImageGL * glImage )

Destroys the texture in a dwImageGL.

Parameters

[in] glImage A pointer to the dwImageGL struct.

Returns: DW_SUCCESS, DW_INVALID_ARGUMENT, DW_GL_ERROR

◆ dwImageGL_setupTexture()

DW_API_PUBLIC dwStatus dwImageGL_setupTexture	(	dwImageGL *	glImg,
		const uint8_t *	data,
		int32_t	level,
		uint32_t	depth
	)

Sets up the texture defined in glImg->prop.tex from pixels stored in data.

Parameters

[in]	glImg	A pointer to the dwImageGl struct.
[in]	data	A pointer to the image data in cpu memory.
[in]	level	Level at which the texture data has to be set. Should be 0 if texture is not MIPMAP.
[in]	depth	Texel depth in case of a texture3D, should be 0 if 2D.

Returns: DW_SUCCESS, DW_INVALID_ARGUMENT, DW_GL_ERROR

◆ dwImageNvMedia_create()

DW_API_PUBLIC dwStatus dwImageNvMedia_create	(	dwImageNvMedia *	nvmImage,
		const dwImageProperties *	prop,
		const dwContextHandle_t	context
	)

Sets up an NvMediaImage based on the dwImageProperties for the NvMediaDevice in the current dwContext.

All variables in the struct will be automatically initialized. Timestamp is 0 by default.

Parameters

[out]	nvmImage	A pointer to the dwImageNvMedia struct. The NvMediaImage pointed by it will be created, if the properties are valid.
[in]	prop	A Pointer to the properties of the dwImageNvMedia.
[in]	context	Current dwContext, contains current NvMediaDevice.

Returns: DW_SUCCESS, DW_INVALID_ARGUMENT, DW_NVMEDIA_ERROR

◆ dwImageNvMedia_destroy()

DW_API_PUBLIC dwStatus dwImageNvMedia_destroy ( dwImageNvMedia * nvmImage )

Destroys the texture in a dwImageNvMedia.

Parameters

[in] nvmImage A pointer to the dwImageNvMedia struct.

Returns: DW_SUCCESS, DW_INVALID_ARGUMENT, DW_NVMEDIA_ERROR

◆ dwImageNvMedia_setFromImage()

DW_API_PUBLIC dwStatus dwImageNvMedia_setFromImage	(	dwImageNvMedia *	dstImage,
		const NvMediaImage *	srcImage
	)

Fills dwImageNvMedia struct based on the contents of NvMediaImage.

Parameters

[out]	dstImage	`dwImageNvMedia` to be filled from `srcImage`
[in]	srcImage	Source image

Returns: DW_INVALID_ARGUMENT - if srcImage or dstImage are NULL
DW_SUCCESS

DriveWorks SDK Reference

| 0.6.67 Release

Detailed Description

Data Structures

Modules

Macros

Typedefs

Enumerations

Functions

Data Structure Documentation

◆ dwImageCPU

◆ dwImageCUDA

◆ dwImageDataLines

◆ dwImageGL

◆ dwImageMetaData

◆ dwImageNvMedia

◆ dwImageProperties

Macro Definition Documentation

◆ DW_MAX_IMAGE_PLANES

Typedef Documentation

◆ GLenum

◆ GLuint

Enumeration Type Documentation

◆ dwImageCUDAMemoryType

◆ dwImageMetaDataFlags

◆ dwImagePixelFormat

◆ dwImageType

Function Documentation

◆ dwImage_getDataLayout()

◆ dwImageCPU_create()

◆ dwImageCPU_destroy()

◆ dwImageCPU_mapToROI()

◆ dwImageCUDA_create()

◆ dwImageCUDA_destroy()

◆ dwImageCUDA_getPlaneAsImage()

◆ dwImageCUDA_mapToROI()

◆ dwImageCUDA_setFromPitch()

◆ dwImageGL_create()

◆ dwImageGL_destroy()

◆ dwImageGL_setupTexture()

◆ dwImageNvMedia_create()

◆ dwImageNvMedia_destroy()

◆ dwImageNvMedia_setFromImage()