VPI-4.0.5
This VPI version supports
- Jetson AGX Thor DevKit
- Jetson AGX Thor T5000 and T4000
- IGX Thor DevKit + Blackwell RTX6000 dGPU
- IGX Thor T7000 and T5000
- IGX Thor Safety DevKit
Linux x86_64 with NVIDIA dGPUs
- CUDA 12: Maxwell or newer (sm_52 or newer)
- CUDA 13: Volta or newer (sm_70 or newer)
- tested with Ubuntu 24.04
Key Highlights
Major Features
- Multistream Stereo Sample - High-performance concurrent stream processing
- VPI_DEBUG Environment Variable - Runtime debugging without recompilation
Critical Bug Fixes
- ORB PVA Output Array Size - Fixed values in array size reporting
- Sample 18 Python PVA - Fixed visualization for PVA backend
- FAST on Hopper/Blackwell dGPUs - Fixed nondeterministic negative scores
- OptFlow Dense (v4.0.1) - Fixed pyramid size rounding error
- Sample 19 DCF Tracker (v4.0.3) - Fixed target tracking list management
Performance Improvements
- Gaussian Pyramid PVA - Multiple optimizations (unroll, vectorization, agen fixes)
- Multistream Stereo - Optimized sync logic for 4ms per frame
Compatibility
- API: Fully compatible with VPI 4.0.0
- ABI: Maintained across all 4.0.x releases
- Platform: All VPI 4.0.x supported platforms
- Requirements: BSP 38.2.1-PRC2+, CUDA 13.0
VPI_DEBUG Environment Variable
# Enable exception backtraces
VPI_DEBUG=exception ./your_application
# Shows thread names with VPIStream handles
# Backtraces at exception throw points
Known Issues Resolved
- Dense Optical Flow: Pyramid levels > 3 is now working.
- Sample 18: ORB Python PVA backend now produces FAST keypoints
- FAST/ORB algo on Hopper/Blackwell dGPUs works
- Sample 19: DCF tracker works for all nvpmodel settings
- Fisheye sample work with default opencv version
Known Issues
- StereoDisparity: The following block linear formats are not working: VPI_IMAGE_FORMAT_NV12_ER_BL, VPI_IMAGE_FORMAT_NV12_ER_BL16, VPI_IMAGE_FORMAT_NV12_BL, VPI_IMAGE_FORMAT_NV12_BL16. Workaround is to convert those image formats.
- Dense Optical Flow: There is no discernible difference in quality from low, medium to high.
- Background Subtractor: Initial frames may produce unstable background model.
- PyTorch: 16-vpi_pytorch sample fails due to the absence of a compatible PyTorch module for CUDA Toolkit 13.0.
- ORB: pva backend does only produce FAST keypoints.
- Jetson Thor - VIC, Interpolation Limitation: VPI_INTERP_NEAREST not available.