dwPyramidNode.hpp

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#ifndef DWFRAMEWORK_DWNODES_IMAGEPROCESSING_DWPYRAMIDNODE_DWPYRAMIDNODE_HPP_
#define DWFRAMEWORK_DWNODES_IMAGEPROCESSING_DWPYRAMIDNODE_DWPYRAMIDNODE_HPP_
 
#ifdef DW_SDK_BUILD_PVA
#include <dw/imageprocessing/pyramid/PyramidPVA_processpipeline.h>
#endif
#include <dw/core/system/PVA.h>
#include <dw/imageprocessing/pyramid/Pyramid.h>
#include <dwcgf/node/Node.hpp>
#include <dwcgf/parameter/ParameterDescriptor.hpp>
#include <dwcgf/parameter/SemanticParameterTypes.hpp>
#include <dwcgf/pass/PassDescriptor.hpp>
#include <dwcgf/port/Port.hpp>
#include <dwcgf/port/PortDescriptor.hpp>
#include <dwframework/dwnodes/common/channelpackets/Image.hpp>
#include <dwframework/dwnodes/common/channelpackets/Pyramid.hpp>
 
namespace dw
{
namespace framework
{
 
using dwPyramidNodeParams = struct dwPyramidNodeParams
{
    uint32_t width;                                                  
    uint32_t height;                                                 
    uint32_t levelCount;                                             
    dwTrivialDataType dataType = dwTrivialDataType::DW_TYPE_FLOAT32; 
    cupvaStream_t cupvastream;
    cudaStream_t stream;
};
 
class dwPyramidNodeBase : public ExceptionSafeProcessNode
{
public:
    static constexpr auto describeInputPorts()
    {
        return describePortCollection(
            DW_DESCRIBE_PORT(dwImageHandle_t, "IMAGE"_sv, PortBinding::REQUIRED));
    };
    static constexpr auto describeOutputPorts()
    {
        return describePortCollection(
            DW_DESCRIBE_PORT(dwPyramidImage, "LEVEL_IMAGES"_sv, PortBinding::REQUIRED));
    };
 
    using ExceptionSafeProcessNode::ExceptionSafeProcessNode;
};
 
class dwPyramidNode : public dwPyramidNodeBase
{
public:
    static constexpr char LOG_TAG[] = "dwPyramidNode";
 
    static constexpr auto describePasses()
    {
        return describePassCollection(
            describePass("SETUP"_sv, DW_PROCESSOR_TYPE_CPU),
            describePass("BUILD_PYRAMID"_sv, DW_PROCESSOR_TYPE_GPU),
            describePass("TEARDOWN"_sv, DW_PROCESSOR_TYPE_CPU));
    };
 
    static std::unique_ptr<dwPyramidNode> create(ParameterProvider& provider);
 
    static constexpr auto describeParameters()
    {
        return describeConstructorArguments<dwPyramidNodeParams, dwContextHandle_t>(
            describeConstructorArgument(
                DW_DESCRIBE_INDEX_PARAMETER_WITH_SEMANTIC(
                    uint32_t,
                    semantic_parameter_types::ImageWidth,
                    "cameraIndex"_sv,
                    &dwPyramidNodeParams::width),
                DW_DESCRIBE_INDEX_PARAMETER_WITH_SEMANTIC(
                    uint32_t,
                    semantic_parameter_types::ImageHeight,
                    "cameraIndex"_sv,
                    &dwPyramidNodeParams::height),
                DW_DESCRIBE_PARAMETER(
                    uint32_t,
                    "pyramidLevelCount"_sv,
                    &dwPyramidNodeParams::levelCount),
                DW_DESCRIBE_INDEX_PARAMETER(
                    cudaStream_t,
                    "streamIndex"_sv,
                    &dwPyramidNodeParams::stream)),
            describeConstructorArgument(
                DW_DESCRIBE_UNNAMED_PARAMETER(
                    dwContextHandle_t)));
    }
 
    dwPyramidNode(const dwPyramidNodeParams& config,
                  const dwContextHandle_t ctx);
};
} // namespace framework
} // namespace dw
 
#endif // DWFRAMEWORK_DWNODES_IMAGEPROCESSING_DWPYRAMIDNODE_DWPYRAMIDNODE_HPP_