Detailed Description

Defines the image pyramid structure and functionality used for tracking.

Data Structures
struct	dwPyramidConfig
	Holds the configuration parameters for a pyramid. More...

Functions
DW_API_PUBLIC dwStatus	dwPyramid_build (const dwImageCUDA *image, dwPyramidHandle_t obj)
	Builds the pyramid from the level 0 image. More...

DW_API_PUBLIC dwStatus	dwPyramid_getCUDAStream (cudaStream_t *stream, dwConstPyramidHandle_t obj)
	Gets the CUDA stream used by the pyramid. More...

DW_API_PUBLIC dwStatus	dwPyramid_getLevelCount (uint32_t *levelCount, dwConstPyramidHandle_t obj)
	Gets the number of levels in the pyramid. More...

DW_API_PUBLIC dwStatus	dwPyramid_getLevelData (uint8_t *d_data, size_t strideBytes, const uint32_t level, dwPyramidHandle_t obj)
	Gets the data of a level in the pyramid. More...

DW_API_PUBLIC dwStatus	dwPyramid_getLevelImageCUDA (const dwImageCUDA **img, const uint32_t level, dwConstPyramidHandle_t obj)
	Gets the data of a level in the const pyramid as a dwImageCUDA. More...

DW_API_PUBLIC dwStatus	dwPyramid_getLevelSize (uint32_t width, uint32_t height, const uint32_t level, dwConstPyramidHandle_t obj)
	Gets the size of a level in the pyramid. More...

DW_API_PUBLIC dwStatus	dwPyramid_initialize (dwPyramidHandle_t *obj, dwContextHandle_t context, cudaStream_t stream, const dwPyramidConfig config)
	Creates and initializes an image pyramid. More...

DW_API_PUBLIC dwStatus	dwPyramid_release (dwPyramidHandle_t *obj)
	Releases the pyramid. More...

DW_API_PUBLIC dwStatus	dwPyramid_reset (dwPyramidHandle_t obj)
	Resets a pyramid. More...

DW_API_PUBLIC dwStatus	dwPyramid_setCUDAStream (cudaStream_t stream, dwPyramidHandle_t obj)
	Sets the CUDA stream for CUDA related operations. More...

Data Structure Documentation

◆ dwPyramidConfig

struct dwPyramidConfig

Data Fields
dwTrivialDataType	dataType	Data Type of pyramid.
uint32_t	height	Height of level 0.
uint32_t	levelCount	Number of levels in the pyramid.
uint32_t	width	Width of level 0.

Function Documentation

◆ dwPyramid_build()

DW_API_PUBLIC dwStatus dwPyramid_build	(	const dwImageCUDA *	image,
		dwPyramidHandle_t	obj
	)

Builds the pyramid from the level 0 image.

Parameters

[in]	image	Specifies the level 0 image.
[in]	obj	Specifies the pyramid handle where the pyramid will be built.

Returns: DW_INVALID_ARGUMENT if pyramid handle or image are NULL or pyramid handle is invalid.
DW_SUCCESS otherwise.

◆ dwPyramid_getCUDAStream()

DW_API_PUBLIC dwStatus dwPyramid_getCUDAStream	(	cudaStream_t *	stream,
		dwConstPyramidHandle_t	obj
	)

Gets the CUDA stream used by the pyramid.

Parameters

[out]	stream	The CUDA stream currently used.
[in]	obj	A handle to the pyramid module.

Returns: DW_INVALID_ARGUMENT if pyramid handle or stream are NULL.
DW_SUCCESS otherwise.

◆ dwPyramid_getLevelCount()

DW_API_PUBLIC dwStatus dwPyramid_getLevelCount	(	uint32_t *	levelCount,
		dwConstPyramidHandle_t	obj
	)

Gets the number of levels in the pyramid.

Parameters

[out]	levelCount	A pointer to the number of levels will be returned here.
[in]	obj	Specifies the pyramid handle.

Returns: DW_INVALID_ARGUMENT if pyramid handle or levelCount are NULL.
DW_SUCCESS otherwise.

◆ dwPyramid_getLevelData()

DW_API_PUBLIC dwStatus dwPyramid_getLevelData	(	uint8_t **	d_data,
		size_t *	strideBytes,
		const uint32_t	level,
		dwPyramidHandle_t	obj
	)

Gets the data of a level in the pyramid.

Parameters

[out]	d_data	A GPU pointer to the data of the level.
[out]	strideBytes	A pointer to the stride of each row of the level data, in bytes.
[in]	level	Specifies the level number to get the data for.
[in]	obj	Specifies the pyramid handle.

Returns: DW_INVALID_ARGUMENT if pyramid handle, d_data or strideBytes are NULL or level is out of range.
DW_SUCCESS otherwise.

◆ dwPyramid_getLevelImageCUDA()

DW_API_PUBLIC dwStatus dwPyramid_getLevelImageCUDA	(	const dwImageCUDA **	img,
		const uint32_t	level,
		dwConstPyramidHandle_t	obj
	)

Gets the data of a level in the const pyramid as a dwImageCUDA.

Parameters

[out]	img	A pointer to a dwImageCUDA that maps to a level of the pyramid.
[in]	level	Specifies the level number to get the data for.
[in]	obj	Specifies the pyramid handle.

Returns: DW_INVALID_ARGUMENT if pyramid handle or img are NULL or level is out of range.
DW_SUCCESS otherwise.

◆ dwPyramid_getLevelSize()

DW_API_PUBLIC dwStatus dwPyramid_getLevelSize	(	uint32_t *	width,
		uint32_t *	height,
		const uint32_t	level,
		dwConstPyramidHandle_t	obj
	)

Gets the size of a level in the pyramid.

Parameters

[out]	width	A pointer to the width of the level.
[out]	height	A pointer to the height of the level.
[in]	level	Specifies the level number to get the size for.
[in]	obj	Specifies the pyramid handle.

Returns: DW_INVALID_ARGUMENT if pyramid handle, widht or height are NULL or level is out of range.
DW_SUCCESS otherwise.

◆ dwPyramid_initialize()

DW_API_PUBLIC dwStatus dwPyramid_initialize	(	dwPyramidHandle_t *	obj,
		dwContextHandle_t	context,
		cudaStream_t	stream,
		const dwPyramidConfig	config
	)

Creates and initializes an image pyramid.

Level 0 of the pyramid is of size config.width x config.height. It has config.levelCount number of levels. For each level, width[n] = (width[n-1]+1)/2.

Parameters

[out]	obj	A pointer to the pyramid handle will be returned here.
[in]	context	Specifies the handle to the context under which it is created.
[in]	stream	Specifies the CUDA stream to use for pyramid operations.
[in]	config	Specifies the configuration parameters.

Returns: DW_INVALID_ARGUMENT if pyramid handle or context are NULL or config is invalid.
DW_SUCCESS otherwise.

◆ dwPyramid_release()

DW_API_PUBLIC dwStatus dwPyramid_release ( dwPyramidHandle_t * obj )

Releases the pyramid.

This method releases all resources associated with a pyramid.

Note: This method renders the handle unusable.

Parameters

[in] obj A pointer to the object handle to be released.

Returns: DW_INVALID_ARGUMENT if pyramid handle is NULL.
DW_SUCCESS otherwise.

◆ dwPyramid_reset()

DW_API_PUBLIC dwStatus dwPyramid_reset ( dwPyramidHandle_t obj )

Resets a pyramid.

Parameters

[in] obj Specifies the pyramid handle to reset.

Returns: DW_INVALID_ARGUMENT if pyramid handle is NULL.
DW_SUCCESS otherwise.

◆ dwPyramid_setCUDAStream()

DW_API_PUBLIC dwStatus dwPyramid_setCUDAStream	(	cudaStream_t	stream,
		dwPyramidHandle_t	obj
	)

Sets the CUDA stream for CUDA related operations.

Note: The ownership of the stream remains by the callee.

Parameters

[in]	stream	The CUDA stream to be used. Default is the one passed during dwPyramid_initialize.
[in]	obj	A handle to the pyramid module to set CUDA stream for.

Returns: DW_INVALID_ARGUMENT if pyramid handle is NULL.
DW_SUCCESS otherwise.

DriveWorks SDK Reference

| 0.6.67 Release

Detailed Description

Data Structures

Functions

Data Structure Documentation

◆ dwPyramidConfig

Function Documentation

◆ dwPyramid_build()

◆ dwPyramid_getCUDAStream()

◆ dwPyramid_getLevelCount()

◆ dwPyramid_getLevelData()

◆ dwPyramid_getLevelImageCUDA()

◆ dwPyramid_getLevelSize()

◆ dwPyramid_initialize()

◆ dwPyramid_release()

◆ dwPyramid_reset()

◆ dwPyramid_setCUDAStream()