Detailed Description

Defines the image pyramid structure.

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

Data Structures
struct	dwPyramidImage
	Pyramid image structure. More...

struct	dwPyramidImageProperties
	Pyramid image properties structure. More...

struct	dwPyramidPVAParams
	Image pyramid Parameters parameters. More...

Macros
#define	DW_PYRAMID_LEVEL_MAX_COUNT 16

#define	DW_PYRAMID_LEVEL_MAX_COUNT 16

Typedefs
typedef struct dwPyramidPVAObject *	dwPyramidPVAHandle_t
	Handle to a Pyramid object. More...

Functions
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...

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, 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	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	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_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	dwPyramidPVA_destroy (dwPyramidImage *pyramid)
	Destroy pyramid images. 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_initDefaultParams (dwPyramidPVAParams *params)
	Initializes default parameters for image pyramid with default values. More...

DW_API_PUBLIC dwStatus	dwPyramidPVA_initialize (dwPyramidPVAHandle_t obj, dwPyramidPVAParams params, dwContextHandle_t context)
	Initialize parameters for image pyramid. More...

DW_API_PUBLIC dwStatus	dwPyramidPVA_release (dwPyramidPVAHandle_t obj)
	Release Pyramid module. More...

DW_API_PUBLIC dwStatus	dwPyramidPVA_reset (dwPyramidPVAHandle_t obj)
	Resets Pyramid module. More...

DW_API_PUBLIC dwStatus	dwPyramidPVA_setCUDAStream (cudaStream_t stream, dwPyramidPVAHandle_t obj)
	Sets CUDA Stream to the given stream. More...

Data Structure Documentation

◆ dwPyramidImage

struct dwPyramidImage

Data Fields
uint32_t	levelCount	number of level images in pyramid
dwImageHandle_t	levelImages[DW_PYRAMID_LEVEL_MAX_COUNT]	level image data levelImages[0] is the level 0 image which has the highest resolution levelImages[N] is the level N image, it is half the size of level N-1 image

◆ dwPyramidImageProperties

struct dwPyramidImageProperties

Data Fields
uint32_t	levelCount	number of level images in pyramid
dwImageProperties	levelProps[DW_PYRAMID_LEVEL_MAX_COUNT]	level image properties levelProps[0] refers to the level 0 image which has the highest resolution levelProps[N] refers to the level N image, it is half the size of level N-1 image

◆ dwPyramidPVAParams

struct dwPyramidPVAParams

Data Fields
uint32_t	imageHeight	Input image height.
uint32_t	imageWidth	Input image width.
uint32_t	numOfPyrLevels	Output Number of Levels in Pyramid.
dwProcessorType	processorType	Indicates where the pipline should be executed. Valid options are DW_PROCESSOR_TYPE_GPU, DW_PROCESSOR_TYPE_PVA_0, DW_PROCESSOR_TYPE_PVA_1
float32_t	pyrScale	Output Pyramid scale.

Macro Definition Documentation

◆ DW_PYRAMID_LEVEL_MAX_COUNT [1/2]

#define DW_PYRAMID_LEVEL_MAX_COUNT 16

Definition at line 63 of file Pyramid.h.

◆ DW_PYRAMID_LEVEL_MAX_COUNT [2/2]

#define DW_PYRAMID_LEVEL_MAX_COUNT 16

Definition at line 65 of file PyramidPVA.h.

Typedef Documentation

◆ dwPyramidPVAHandle_t

typedef struct dwPyramidPVAObject* dwPyramidPVAHandle_t

Handle to a Pyramid object.

Definition at line 70 of file PyramidPVA.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]	pyramid	pyramid images that will be built, must be initialized by `dwPyramid_create` first
[in]	image	Specifies the level 0 image which has the highest resolution
[in]	stream	Specifies the CUDA stream to use during pyramid building.
[in]	context	Specifies 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_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

◆ 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]	pyramid	A pointer to the pyramid image will be returned here.
[in]	levelCount	Number of levels in the pyramid
[in]	width	Width of level 0 image
[in]	height	Height of level 0 image
[in]	pxlType	Data Type of pyramid, currently only `DW_TYPE_UINT8`, `DW_TYPE_UINT16`, `DW_TYPE_FLOAT16` and `DW_TYPE_FLOAT32` are supported
[in]	context	Specifies 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

◆ dwPyramid_createFromProperties()

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

Creates and initializes an image pyramid.

Parameters

[out]	pyramid	A pointer to the pyramid image will be returned here.
[in]	props	Properties of the pyramid image
[in]	context	Specifies 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

◆ dwPyramid_destroy()

DW_API_PUBLIC dwStatus dwPyramid_destroy ( dwPyramidImage pyramid )

Destroy pyramid images.

Parameters

[in] pyramid pyramid image to be destroyed

Returns: DW_INVALID_ARGUMENT if level image in pyramid contains invalid data
DW_SUCCESS otherwise.

◆ 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]	props	A pointer to properties structure to be filled.
[in]	levelCount	Number of levels in the pyramid
[in]	width	Width of level 0 image
[in]	height	Height of level 0 image
[in]	pxlType	Data 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

◆ dwPyramid_getProperties()

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

Gets the properties of a pyramid image.

Parameters

[out]	props	A pointer to properties structure to be filled.
[in]	pyramid	A pointer to the pyramid image
[in]	context	Specifies 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

◆ 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]	pyramid	pyramid images that will be built, must be initialized by `dwPyramid_create` first
[in]	image	Specifies 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_UINT8`, `DW_IMAGE_FORMAT_R_FLOAT16` and `DW_IMAGE_FORMAT_R_FLOAT32`.
[in]	stream	Specifies the CUDA stream to use during pyramid building.
[in]	obj	Specifies the handle to the active Pyramid Object

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_BAD_CAST if level image in pyramid has invalid types DW_SUCCESS otherwise.

Note: Before computing pyramid, dwPyramidImage must be initialized by dwPyramid_initialize and dwPyramid_create, input image must have the same width/height as in dwPyramid_create

◆ dwPyramidPVA_create()

DW_API_PUBLIC dwStatus dwPyramidPVA_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]	pyramid	A pointer to the pyramid image will be returned here.
[in]	levelCount	Number of levels in the pyramid
[in]	width	Width of level 0 image
[in]	height	Height of level 0 image
[in]	pxlType	Data Type of pyramid, currently only `DW_TYPE_UINT8`, `DW_TYPE_UINT16`, `DW_TYPE_FLOAT16` and `DW_TYPE_FLOAT32` are supported
[in]	context	Specifies 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

◆ dwPyramidPVA_destroy()

DW_API_PUBLIC dwStatus dwPyramidPVA_destroy ( dwPyramidImage * pyramid )

Destroy pyramid images.

Parameters

[in] pyramid pyramid image to be destroyed

Returns: DW_INVALID_ARGUMENT if level image in pyramid contains invalid data
DW_SUCCESS otherwise.

◆ dwPyramidPVA_getCUDAStream()

DW_API_PUBLIC dwStatus dwPyramidPVA_getCUDAStream	(	cudaStream_t *	stream,
		dwPyramidPVAHandle_t	obj
	)

Get CUDA Stream to the used.

Parameters

[out]	stream	cuda stream
[in]	obj	dyramid module object

Returns: DW_INVALID_ARGUMENT, DW_INVALID_HANDLE or DW_SUCCESS

◆ dwPyramidPVA_initDefaultParams()

DW_API_PUBLIC dwStatus dwPyramidPVA_initDefaultParams ( dwPyramidPVAParams * params )

Initializes default parameters for image pyramid with default values.

Parameters

[out] params Image Pyramid parameters

Returns: DW_INVALID_ARGUMENT if params is NULL.
DW_SUCCESS otherwise.

◆ dwPyramidPVA_initialize()

DW_API_PUBLIC dwStatus dwPyramidPVA_initialize	(	dwPyramidPVAHandle_t *	obj,
		dwPyramidPVAParams *	params,
		dwContextHandle_t	context
	)

Initialize parameters for image pyramid.

Parameters

[out]	obj	A pointer to handle that is initialized with parameters
[in]	params	Image pyramid parameters
[in]	context	Specifies the handle to the context under which it is created.

Returns: DW_SUCCESS, DW_INVALID_ARGUMENT, DW_INVALID_HANDLE, DW_BAD_CAST

◆ dwPyramidPVA_release()

DW_API_PUBLIC dwStatus dwPyramidPVA_release ( dwPyramidPVAHandle_t obj )

Release Pyramid module.

Parameters

[in] obj Handle to reset.

Returns: DW_SUCCESS, DW_INVALID_HANDLE, DW_BAD_CAST

◆ dwPyramidPVA_reset()

DW_API_PUBLIC dwStatus dwPyramidPVA_reset ( dwPyramidPVAHandle_t obj )

Resets Pyramid module.

Parameters

[in] obj Handle to reset.

Returns: DW_SUCCESS, DW_INVALID_HANDLE, DW_BAD_CAST

◆ dwPyramidPVA_setCUDAStream()

DW_API_PUBLIC dwStatus dwPyramidPVA_setCUDAStream	(	cudaStream_t	stream,
		dwPyramidPVAHandle_t	obj
	)

Sets CUDA Stream to the given stream.

Parameters

[in]	stream	cuda stream
[in]	obj	dyramid module object

Returns: DW_INVALID_ARGUMENT, DW_INVALID_HANDLE or DW_SUCCESS

Detailed Description

Data Structures

Macros

Typedefs

Functions

Data Structure Documentation

◆ dwPyramidImage

◆ dwPyramidImageProperties

◆ dwPyramidPVAParams

Macro Definition Documentation

◆ DW_PYRAMID_LEVEL_MAX_COUNT [1/2]

◆ DW_PYRAMID_LEVEL_MAX_COUNT [2/2]

Typedef Documentation

◆ dwPyramidPVAHandle_t

Function Documentation

◆ dwImageFilter_computePyramid()

◆ dwPyramid_create()

◆ dwPyramid_createFromProperties()

◆ dwPyramid_destroy()

◆ dwPyramid_fillProperties()

◆ dwPyramid_getProperties()

◆ dwPyramidPVA_computePyramid()

◆ dwPyramidPVA_create()

◆ dwPyramidPVA_destroy()

◆ dwPyramidPVA_getCUDAStream()

◆ dwPyramidPVA_initDefaultParams()

◆ dwPyramidPVA_initialize()

◆ dwPyramidPVA_release()

◆ dwPyramidPVA_reset()

◆ dwPyramidPVA_setCUDAStream()