Detailed Description

Defines the Dense Optical Flow module.

Note: SW Release Applicability: These APIs are available in both NVIDIA DriveWorks and NVIDIA DRIVE Software releases.

Data Structures
struct	dwDenseOpticalFlowParams
	Dense Optical Flow parameters. More...

Typedefs
typedef struct dwDenseOpticalFlowObject *	dwDenseOpticalFlowHandle_t
	Handle to a DenseOpticalFlow object. More...

Enumerations
enum	dwDenseOpticalFlowMode { DW_DENSE_OPTICAL_FLOW_MODE_HIGH_PERFORMANCE = 0, DW_DENSE_OPTICAL_FLOW_MODE_ULTRA_HIGH_PERFORMANCE = 1, DW_DENSE_OPTICAL_FLOW_MODE_HIGH_QUALITY = 2 }

enum	dwDenseOpticalFlowStage { DW_DENSE_OPTICAL_FLOW_STAGE_VIC_ASYNC_PREPARE_DATA = 0, DW_DENSE_OPTICAL_FLOW_STAGE_NVENC_ASYNC_PROCESS, DW_DENSE_OPTICAL_FLOW_STAGE_PVA_ASYNC_POSTPROCESS, DW_DENSE_OPTICAL_FLOW_STAGE_GPU_ASYNC_POSTPROCESS, DW_DENSE_OPTICAL_FLOW_STAGE_CPU_SYNC_PROCESS }
	Dense Optical Flow Pipeline stages. More...

Functions
DW_API_PUBLIC dwStatus	dwDenseOpticalFlow_bindInput (const dwImageHandle_t input, const dwImageHandle_t inputReference, dwDenseOpticalFlowHandle_t obj)
	Binds the input images to dense optical flow. More...

DW_API_PUBLIC dwStatus	dwDenseOpticalFlow_bindOutput (dwImageHandle_t output, dwDenseOpticalFlowHandle_t obj)
	Binds the output image that contains motion vectors. More...

DW_API_PUBLIC dwStatus	dwDenseOpticalFlow_calculateOpticalFlow (dwImageHandle_t output, const dwImageHandle_t input, const dwImageHandle_t inputReference, dwDenseOpticalFlowHandle_t obj)
	Calculates Dense Optical Flow between input and inputReference. More...

DW_API_PUBLIC dwStatus	dwDenseOpticalFlow_getCUDAStream (cudaStream_t *stream, dwDenseOpticalFlowHandle_t obj)
	Gets the CUDA stream. More...

DW_API_PUBLIC dwStatus	dwDenseOpticalFlow_getOutputImageProperties (dwImageProperties *outputProperties, dwDenseOpticalFlowHandle_t obj)
	Returns the required output image properties. More...

DW_API_PUBLIC dwStatus	dwDenseOpticalFlow_initDefaultParams (dwDenseOpticalFlowParams *params)
	Initializes DenseOpticalFlow parameters with default values. More...

DW_API_PUBLIC dwStatus	dwDenseOpticalFlow_initialize (dwDenseOpticalFlowHandle_t obj, const dwDenseOpticalFlowParams params, dwContextHandle_t ctx)
	Initializes Dense Optical Flow module. More...

DW_API_PUBLIC dwStatus	dwDenseOpticalFlow_process (dwDenseOpticalFlowStage stageToExecute, dwDenseOpticalFlowHandle_t obj)
	Executes a given stage of the pipeline. More...

DW_API_PUBLIC dwStatus	dwDenseOpticalFlow_release (dwDenseOpticalFlowHandle_t obj)
	Releases the DenseOpticalFlow module. More...

DW_API_PUBLIC dwStatus	dwDenseOpticalFlow_reset (dwDenseOpticalFlowHandle_t obj)
	Resets DenseOpticalFlow module. More...

DW_API_PUBLIC dwStatus	dwDenseOpticalFlow_setCUDAStream (cudaStream_t stream, dwDenseOpticalFlowHandle_t obj)
	Sets the CUDA stream. More...

Data Structure Documentation

◆ dwDenseOpticalFlowParams

struct dwDenseOpticalFlowParams

Data Fields
dwDenseOpticalFlowMode	estimationMode	Estimation mode that determines the speed and quality of the optical flow.
uint32_t	imageHeight	Input image height.
uint32_t	imageWidth	Input image width.
dwProcessorType	processorNVENC	Indicates which NVENC the corresponding part of the pipeline to be executed. Valid options are DW_PROCESSOR_TYPE_NVENC_0, DW_PROCESSOR_TYPE_NVENC_1
dwProcessorType	processorPVA	Indicates which PVA the corresponding part of the pipeline to be executed. Valid options are DW_PROCESSOR_TYPE_PVA_0, DW_PROCESSOR_TYPE_PVA_1

Typedef Documentation

◆ dwDenseOpticalFlowHandle_t

typedef struct dwDenseOpticalFlowObject* dwDenseOpticalFlowHandle_t

Handle to a DenseOpticalFlow object.

Definition at line 61 of file DenseOpticalFlow.h.

Enumeration Type Documentation

◆ dwDenseOpticalFlowMode

enum dwDenseOpticalFlowMode

Enumerator
DW_DENSE_OPTICAL_FLOW_MODE_HIGH_PERFORMANCE	High performance with lower quality.
DW_DENSE_OPTICAL_FLOW_MODE_ULTRA_HIGH_PERFORMANCE	Ultra high performance with lowest quality.
DW_DENSE_OPTICAL_FLOW_MODE_HIGH_QUALITY	High quality with low performance.

Definition at line 63 of file DenseOpticalFlow.h.

◆ dwDenseOpticalFlowStage

enum dwDenseOpticalFlowStage

Dense Optical Flow Pipeline stages.

Enumerator
DW_DENSE_OPTICAL_FLOW_STAGE_VIC_ASYNC_PREPARE_DATA	Prepares data by converting pitch linear NvMedia image to block linear on VIC.
DW_DENSE_OPTICAL_FLOW_STAGE_NVENC_ASYNC_PROCESS	Estimates motion vectors on NVENC.
DW_DENSE_OPTICAL_FLOW_STAGE_PVA_ASYNC_POSTPROCESS	Refines motion vectors on PVA.
DW_DENSE_OPTICAL_FLOW_STAGE_GPU_ASYNC_POSTPROCESS	Extracts motion vectors on GPU.
DW_DENSE_OPTICAL_FLOW_STAGE_CPU_SYNC_PROCESS	Synchronizes the output.

Definition at line 58 of file DenseOpticalFlow_processpipeline.h.

Function Documentation

◆ dwDenseOpticalFlow_bindInput()

DW_API_PUBLIC dwStatus dwDenseOpticalFlow_bindInput	(	const dwImageHandle_t	input,
		const dwImageHandle_t	inputReference,
		dwDenseOpticalFlowHandle_t	obj
	)

Binds the input images to dense optical flow.

The optical flow will be estimated relative to reference.

Parameters

[in]	input	Image of format DW_IMAGE_FORMAT_YUV420_UINT8_SEMIPLANAR
[in]	inputReference	Reference image of format DW_IMAGE_FORMAT_YUV420_UINT8_SEMIPLANAR
[in]	obj	Specifies the DenseOpticalFlow handle.

Returns: DW_SUCCESS, DW_INVALID_HANDLE, DW_BAD_CAST

Note: InputRGBA and InputYUV420 are the same image in different formats.; InputReferenceRGBA and InputReferenceYUV420 are the same image in different formats.

◆ dwDenseOpticalFlow_bindOutput()

DW_API_PUBLIC dwStatus dwDenseOpticalFlow_bindOutput	(	dwImageHandle_t	output,
		dwDenseOpticalFlowHandle_t	obj
	)

Binds the output image that contains motion vectors.

Parameters

[in]	output	output Image of format DW_IMAGE_FORMAT_RG_UINT16. This image contains the motion vectors on each pixel, where R channel contains X dimension and G channel contains Y dimension.
[in]	obj	Specifies the DenseOpticalFlow handle.

Returns: DW_SUCCESS, DW_INVALID_HANDLE, DW_BAD_CAST

◆ dwDenseOpticalFlow_calculateOpticalFlow()

DW_API_PUBLIC dwStatus dwDenseOpticalFlow_calculateOpticalFlow	(	dwImageHandle_t	output,
		const dwImageHandle_t	input,
		const dwImageHandle_t	inputReference,
		dwDenseOpticalFlowHandle_t	obj
	)

Calculates Dense Optical Flow between input and inputReference.

Parameters

[out]	output	Image of format DW_IMAGE_FORMAT_RG_INT16 where R channel contains X coordinates and G channel contains Y coordinates of a motion vector for each pixel. Output image is owned by the application.
[in]	input	Image of format DW_IMAGE_FORMAT_YUV420_UINT8_SEMIPLANAR
[in]	inputReference	Reference image of format DW_IMAGE_FORMAT_YUV420_UINT8_SEMIPLANAR
[in]	obj	Specifies the DenseOpticalFlow handle.

Returns: DW_SUCCESS, DW_INVALID_HANDLE, DW_BAD_CAST

Note: output must be created via dwDenseOpticalFlow_createOutputImage.

◆ dwDenseOpticalFlow_getCUDAStream()

DW_API_PUBLIC dwStatus dwDenseOpticalFlow_getCUDAStream	(	cudaStream_t *	stream,
		dwDenseOpticalFlowHandle_t	obj
	)

Gets the CUDA stream.

Parameters

[out]	stream	The CUDA stream currently used.
[in]	obj	Specifies the DenseOpticalFlow handle.

Returns: DW_SUCCESS, DW_INVALID_HANDLE, DW_BAD_CAST

◆ dwDenseOpticalFlow_getOutputImageProperties()

DW_API_PUBLIC dwStatus dwDenseOpticalFlow_getOutputImageProperties	(	dwImageProperties *	outputProperties,
		dwDenseOpticalFlowHandle_t	obj
	)

Returns the required output image properties.

Parameters

[out]	outputProperties	Output image properties
[in]	obj	Specifies the DenseOpticalFlow handle.

Returns: DW_SUCCESS, DW_INVALID_HANDLE, DW_BAD_CAST

◆ dwDenseOpticalFlow_initDefaultParams()

DW_API_PUBLIC dwStatus dwDenseOpticalFlow_initDefaultParams ( dwDenseOpticalFlowParams * params )

Initializes DenseOpticalFlow parameters with default values.

Parameters

[out] params DenseOpticalFlow parameters.

Returns: DW_SUCCESS, DW_INVALID_ARGUMENT

◆ dwDenseOpticalFlow_initialize()

DW_API_PUBLIC dwStatus dwDenseOpticalFlow_initialize	(	dwDenseOpticalFlowHandle_t *	obj,
		const dwDenseOpticalFlowParams *	params,
		dwContextHandle_t	ctx
	)

Initializes Dense Optical Flow module.

Parameters

[out]	obj	A pointer to DenseOpticalFlow handle to be initialized.
[in]	params	DenseOpticalFlow parameters
[in]	ctx	Specifies the handle to the context

Returns: DW_SUCCESS, DW_INVALID_HANDLE, DW_BAD_CAST, DW_INVALID_ARGUMENT

◆ dwDenseOpticalFlow_process()

DW_API_PUBLIC dwStatus dwDenseOpticalFlow_process	(	dwDenseOpticalFlowStage	stageToExecute,
		dwDenseOpticalFlowHandle_t	obj
	)

Executes a given stage of the pipeline.

Parameters

[in]	stageToExecute	stageToExecute Stage to execute.
[in]	obj	Specifies the DenseOpticalFlow handle.

Returns: DW_SUCCESS, DW_INVALID_HANDLE, DW_BAD_CAST, DW_INVALID_ARGUMENT

◆ dwDenseOpticalFlow_release()

DW_API_PUBLIC dwStatus dwDenseOpticalFlow_release ( dwDenseOpticalFlowHandle_t obj )

Releases the DenseOpticalFlow module.

Parameters

[in] obj The object handle to release.

Returns: DW_SUCCESS, DW_INVALID_HANDLE, DW_BAD_CAST

Note: This method renders the handle unusable.

◆ dwDenseOpticalFlow_reset()

DW_API_PUBLIC dwStatus dwDenseOpticalFlow_reset ( dwDenseOpticalFlowHandle_t obj )

Resets DenseOpticalFlow module.

Parameters

[in] obj Handle to reset.

Returns: DW_SUCCESS, DW_INVALID_HANDLE, DW_BAD_CAST

◆ dwDenseOpticalFlow_setCUDAStream()

DW_API_PUBLIC dwStatus dwDenseOpticalFlow_setCUDAStream	(	cudaStream_t	stream,
		dwDenseOpticalFlowHandle_t	obj
	)

Sets the CUDA stream.

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

Parameters

[in]	stream	The CUDA stream to be used. Default is the stream 0, resulting in synchronous operations.
[in]	obj	Specifies the DenseOpticalFlow handle.

Returns: DW_SUCCESS, DW_INVALID_HANDLE, DW_BAD_CAST

Detailed Description

Data Structures

Typedefs

Enumerations

Functions

Data Structure Documentation

◆ dwDenseOpticalFlowParams

Typedef Documentation

◆ dwDenseOpticalFlowHandle_t

Enumeration Type Documentation

◆ dwDenseOpticalFlowMode

◆ dwDenseOpticalFlowStage

Function Documentation

◆ dwDenseOpticalFlow_bindInput()

◆ dwDenseOpticalFlow_bindOutput()

◆ dwDenseOpticalFlow_calculateOpticalFlow()

◆ dwDenseOpticalFlow_getCUDAStream()

◆ dwDenseOpticalFlow_getOutputImageProperties()

◆ dwDenseOpticalFlow_initDefaultParams()

◆ dwDenseOpticalFlow_initialize()

◆ dwDenseOpticalFlow_process()

◆ dwDenseOpticalFlow_release()

◆ dwDenseOpticalFlow_reset()

◆ dwDenseOpticalFlow_setCUDAStream()