Detailed Description

Defines the camera module, which provides access to a virtual camera reading reading the data from a video file or a real camera connected to different sockets.

Unless explicitly specified, all errors returned by DW APIs are non recoverable and the user application should transition to fail safe mode. In addition, any error code not described in this documentation should be consider as fatal and the user application should also transition to fail safe mode.

Data Structures
struct	dwCameraNotificationData
	NotificationData from SIPL. More...

struct	dwCameraProperties
	Camera Properties. More...

struct	dwCameraSIPLEErrorDetails
	Struct of the detailed error info from SIPL. More...

struct	dwCameraSIPLNotification
	Notification Data from SIPL. More...

Macros
#define	DW_CAMERA_MAX_CAMERAMODULES_PER_BLOCK 4U
	Indicates the maximum number of camera modules per device block. More...

#define	DW_CAMERA_MAX_DEVICE_GPIOS 8U
	Indicates the maximum number of gpio indices. More...

Typedefs
typedef void(*	dwCameraCallback) (dwCameraSIPLNotification *notification, dwSensorHandle_t sensor)
	Function type of the camera error event handling. More...

typedef struct dwCameraFrame *	dwCameraFrameHandle_t
	Handle to captured frame. More...

typedef void	NvMediaIPPManager

Enumerations
enum	dwCameraExposureControl { DW_CAMERA_EXPOSURE_NONE , DW_CAMERA_EXPOSURE_UNKNOWN , DW_CAMERA_EXPOSURE_AE , DW_CAMERA_EXPOSURE_BAE , DW_CAMERA_EXPOSURE_CUSTOM }
	Enum of exposure control types. More...

enum	dwCameraFOV { DW_CAMERA_FOV_UNKNOWN = 0 , DW_CAMERA_FOV_30 = 30 , DW_CAMERA_FOV_48 = 48 , DW_CAMERA_FOV_50 = 50 , DW_CAMERA_FOV_55 = 55 , DW_CAMERA_FOV_60 = 60 , DW_CAMERA_FOV_65 = 65 , DW_CAMERA_FOV_90 = 90 , DW_CAMERA_FOV_100 = 100 , DW_CAMERA_FOV_110 = 110 , DW_CAMERA_FOV_120 = 120 , DW_CAMERA_FOV_185 = 185 }
	Enum of available FOV in degrees for camera lenses. More...

enum	dwCameraOutputType { DW_CAMERA_OUTPUT_NATIVE_PROCESSED = 1 << 0 , DW_CAMERA_OUTPUT_NATIVE_RAW = 1 << 1 , DW_CAMERA_OUTPUT_CUDA_RGBA_UINT8 = 1 << 2 , DW_CAMERA_OUTPUT_CUDA_YUV420_UINT8_PLANAR = 1 << 3 , DW_CAMERA_OUTPUT_CUDA_RAW_UINT16 = 1 << 4 , DW_CAMERA_OUTPUT_CUDA_YUV420_UINT16_SEMIPLANAR = 1 << 5 , DW_CAMERA_OUTPUT_CUDA_YUV444_UINT8_PLANAR = 1 << 6 , DW_CAMERA_OUTPUT_CUDA_YUV444_UINT16_PLANAR = 1 << 7 , DW_CAMERA_OUTPUT_CUDA_YUV420_UINT8_SEMIPLANAR = 1 << 8 , DW_CAMERA_OUTPUT_NATIVE_PROCESSED1 = 1 << 9 , DW_CAMERA_OUTPUT_NATIVE_PROCESSED2 = 1 << 10 }
	Output types supported by the camera. More...

enum	dwCameraRawFormat { DW_CAMERA_RAW_FORMAT_UNKNOWN = 0 , DW_CAMERA_RAW_FORMAT_RGGB = 7000 , DW_CAMERA_RAW_FORMAT_BGGR = 7100 , DW_CAMERA_RAW_FORMAT_GRBG = 7200 , DW_CAMERA_RAW_FORMAT_GBRG = 7300 , DW_CAMERA_RAW_FORMAT_RCCB = 8000 , DW_CAMERA_RAW_FORMAT_BCCR = 8100 , DW_CAMERA_RAW_FORMAT_CRBC = 8200 , DW_CAMERA_RAW_FORMAT_CBRC = 8300 , DW_CAMERA_RAW_FORMAT_RCCC = 9000 , DW_CAMERA_RAW_FORMAT_CRCC = 9100 , DW_CAMERA_RAW_FORMAT_CCRC = 9200 , DW_CAMERA_RAW_FORMAT_CCCR = 9300 , DW_CAMERA_RAW_FORMAT_CCCC = 10000 , DW_CAMERA_RAW_FORMAT_TOF = 20000 }
	Raw encoding formats pixel-order. More...

enum	dwCameraSIPLNotificationData { DW_NOTIF_INFO_ICP_PROCESSING_DONE = 0 , DW_NOTIF_INFO_ISP_PROCESSING_DONE = 1 , DW_NOTIF_INFO_ACP_PROCESSING_DONE = 2 , DW_NOTIF_INFO_CDI_PROCESSING_DONE = 3 , DW_NOTIF_WARN_ICP_FRAME_DROP = 100 , DW_NOTIF_WARN_ICP_FRAME_DISCONTINUITY = 101 , DW_NOTIF_WARN_ICP_CAPTURE_TIMEOUT = 102 , DW_NOTIF_ERROR_ICP_BAD_INPUT_STREAM = 200 , DW_NOTIF_ERROR_ICP_CAPTURE_FAILURE = 201 , DW_NOTIF_ERROR_ICP_EMB_DATA_PARSE_FAILURE = 202 , DW_NOTIF_ERROR_ISP_PROCESSING_FAILURE = 203 , DW_NOTIF_ERROR_ACP_PROCESSING_FAILURE = 204 , DW_NOTIF_ERROR_CDI_SET_SENSOR_CTRL_FAILURE = 205 , DW_NOTIF_ERROR_DESER_LINK_FAILURE = 206 , DW_NOTIF_ERROR_DESERIALIZER_FAILURE = 207 , DW_NOTIF_ERROR_SERIALIZER_FAILURE = 208 , DW_NOTIF_ERROR_SENSOR_FAILURE = 209 , DW_NOTIF_ERROR_INTERNAL_FAILURE = 300 }
	Enum of available SIPL event notification type (Copy from nvsipl::NvSIPLPipelineNotifier::NotificationType). More...

enum	dwCameraType { DW_CAMERA_GENERIC = 0 , DW_CAMERA_GMSL_AR0231 = 3 , DW_CAMERA_USB_GENERIC = 4 , DW_CAMERA_GMSL_AR0144 = 5 , DW_CAMERA_GMSL_AR0138 = 6 , DW_CAMERA_GMSL_AR0220 = 7 , DW_CAMERA_GMSL_AR0820 = 8 , DW_CAMERA_GMSL_MN34906 = 9 , DW_CAMERA_GMSL_OV2311 = 10 , DW_CAMERA_GMSL_IMX390 = 11 , DW_CAMERA_GMSL_CUSTOM = 99 }
	Enum of available camera sensors. More...

enum	dwSIPLCameraInterfaceProviderType { DW_SIPL_CAMERA_INTERFACE_PROVIDER_TYPE_DESERIALIZER , DW_SIPL_CAMERA_INTERFACE_PROVIDER_TYPE_MODULE , DW_SIPL_CAMERA_INTERFACE_PROVIDER_TYPE_COUNT }
	Enum of available SIPL interface provider types. More...

Functions
DW_API_PUBLIC dwStatus	dwSensorCamera_appendAllocationAttributes (dwImageProperties *imgProps, dwCameraOutputType const outputType, dwSensorHandle_t const sensor)
	Append the allocation attribute such that images allocated by the application and given to the camera via dwSensorCamera_setImagePool() can be imported into the underlying driver. More...

DW_API_PUBLIC dwStatus	dwSensorCamera_disableLink (dwSensorHandle_t const sensor)
	Disable the camera link This method should only be called after dwSensor_start() and before dwSensor_stop(). More...

DW_API_PUBLIC dwStatus	dwSensorCamera_enableLink (dwSensorHandle_t const sensor, bool const resetModule)
	Enable the camera link This method enables a given link and, if reset is asserted, reconfigures the camera module to reestablish the link. More...

DW_API_PUBLIC dwStatus	dwSensorCamera_fillSyncAttributes (NvSciSyncAttrList syncAttrList, dwCameraOutputType outputType, dwSensorHandle_t sensor)
	Fill the sync attributes for the camera pipeline to signal EOF fences. More...

DW_API_PUBLIC dwStatus	dwSensorCamera_getCUDAStream (cudaStream_t *const stream, dwSensorHandle_t const sensor)
	Gets the CUDA stream used. More...

DW_API_PUBLIC dwStatus	dwSensorCamera_getEOFFence (NvSciSyncFence *syncFence, dwCameraOutputType outputType, dwCameraFrameHandle_t const frameHandle)
	Get EOF fence of the current camera frame. More...

DW_API_PUBLIC dwStatus	dwSensorCamera_getImage (dwImageHandle_t *const image, dwCameraOutputType const type, dwCameraFrameHandle_t const frame)
	Gets the output image/s image in a format specified by the output type. More...

DW_API_PUBLIC dwStatus	dwSensorCamera_getImageAsync (dwImageHandle_t *const image, dwCameraOutputType const type, dwCameraFrameHandle_t const frame)
	Gets the output image/s image in a format specified by the output type. More...

DW_API_PUBLIC dwStatus	dwSensorCamera_getImageProperties (dwImageProperties *const imageProperties, dwCameraOutputType const outputType, dwSensorHandle_t const sensor)
	Gets information about the image properties for a given 'dwCameraImageOutputType'. More...

DW_API_PUBLIC dwStatus	dwSensorCamera_getNumSupportedCaptureModes (uint32_t *const numModes, dwSensorHandle_t const sensor)
	Gets number of supported capture modes. More...

DW_API_PUBLIC dwStatus	dwSensorCamera_getNvMediaIPPManager (NvMediaIPPManager **const manager, dwSensorHandle_t const sensor)
	Gets the NvMediaIPPManager used for GMSL camera IPP setup and event callback. More...

DW_API_PUBLIC dwStatus	dwSensorCamera_getSensorProperties (dwCameraProperties *const properties, dwSensorHandle_t const sensor)
	Gets information about the camera sensor. More...

DW_API_PUBLIC dwStatus	dwSensorCamera_getSIPLInterfaceProvider (void **const interfaceProvider, dwSensorHandle_t const sensor, dwSIPLCameraInterfaceProviderType const type)
	Gets SIPL Interface provider for a custom camera sensor. More...

DW_API_PUBLIC dwStatus	dwSensorCamera_getSupportedCaptureMode (dwCameraProperties *const captureMode, uint32_t const modeIdx, dwSensorHandle_t const sensor)
	Gets capture modes by specified index. More...

DW_API_PUBLIC dwStatus	dwSensorCamera_getTimestamp (dwTime_t *const timestamp, dwCameraFrameHandle_t const frameHandle)
	Gets the timestamp of the current camera frame. More...

DW_API_PUBLIC dwStatus	dwSensorCamera_readEEPROM (uint32_t const paramId, void *const buffer, uint32_t const size, dwSensorHandle_t const sensor)
	Read data associated with a parameter stored on the EEPROM device and write to the provided buffer. More...

DW_API_PUBLIC dwStatus	dwSensorCamera_readFrame (dwCameraFrameHandle_t *const frameHandle, dwTime_t const timeoutUs, dwSensorHandle_t const sensor)
	Reads a frame handle from the camera sensor. More...

DW_API_PUBLIC dwStatus	dwSensorCamera_returnFrame (dwCameraFrameHandle_t *const frameHandle)
	Returns a frame to the camera after it has been consumed. More...

DW_API_PUBLIC dwStatus	dwSensorCamera_setCUDAStream (cudaStream_t const stream, dwSensorHandle_t const sensor)
	Sets the CUDA stream used by getImageAsync during internal cuda related operations. More...

DW_API_PUBLIC dwStatus	dwSensorCamera_setEventCallback (dwCameraCallback blkCallback, dwCameraCallback lineCallback, dwSensorHandle_t sensor)
	Set the Camera Error Handling callbacks. More...

dwStatus	dwSensorCamera_setImagePool (dwImagePool imagePool, dwSensorHandle_t const sensor)
	Sets a pool of image to be used as output by the camera layer. More...

DW_API_PUBLIC dwStatus	dwSensorCamera_setSyncObject (NvSciSyncObj syncObj, dwCameraOutputType outputType, dwSensorHandle_t sensor)
	Set the sync obj to which the camera pipeline will signal EOF fences. More...

Data Structure Documentation

◆ dwCameraNotificationData

struct dwCameraNotificationData

Data Fields
dwCameraSIPLNotificationData	eNotifyType	Holds the notification event type.
uint64_t	frameCaptureTSC	Holds the TSC timestamp of the frame capture.
uint32_t	gpioIdxs[DW_CAMERA_MAX_DEVICE_GPIOS]	Holds the GPIO indices.
uint32_t	numGpioIdxs	Holds the number of GPIO indices in the array.
uint32_t	uIndex	Holds the ID of each camera sensor.
uint8_t	uLinkMask	Holds the device block link mask.

◆ dwCameraProperties

struct dwCameraProperties

Data Fields
dwCameraType	cameraType	Type of the camera
dwCameraExposureControl	exposure	Exposure control
dwCameraFOV	fov	FOV of the lens
float32_t	framerate	Framerate in Hz
uint32_t	imageBitDepth	Bit depth of image
bool	isSimulated	Camera is being simulated
int32_t	outputTypes	Or'ed list of available 'dwCameraOutputType'
dwCameraRawFormat	rawFormat	Raw bayer pattern
dwVector2ui	resolution	Physical resolution of the camera sensor
uint32_t	revision	Revision of the camera (0 if info is not available)
uint32_t	siblings	Number of sibling frames

◆ dwCameraSIPLEErrorDetails

struct dwCameraSIPLEErrorDetails

Data Fields
uint8_t const *	errorBuffer	Pointer to buffer which is filled by driver with error information. Note: DO NOT delete/free this pointer. This is managed by DW
size_t	sizeWritten	Holds size of error written to the buffer, filled by driver.

◆ dwCameraSIPLNotification

struct dwCameraSIPLNotification

Data Fields
dwCameraNotificationData	data	NotificationData from SIPL, pipeline & device block event.
dwCameraSIPLEErrorDetails	deserializerErrorInfo	Error info for deserializer, valid only for device block event.
bool	isRemoteError	Set to true if remote (serializer) error detected, valid only for device block event.
uint8_t	linkErrorMask	Store link mask for link error state, valid only for device block event (1 in index position indicates error, all 0 means no link error detected).
uint32_t	numCameraModules	Number of the camera modules, valid only for device block event.
dwCameraSIPLEErrorDetails	sensorErrorInfoList[DW_CAMERA_MAX_CAMERAMODULES_PER_BLOCK]	Error info for sensor, valid only for device block event.
dwCameraSIPLEErrorDetails	serializerErrorInfoList[DW_CAMERA_MAX_CAMERAMODULES_PER_BLOCK]	Error info for serializer, valid only for device block event.

Macro Definition Documentation

◆ DW_CAMERA_MAX_CAMERAMODULES_PER_BLOCK

#define DW_CAMERA_MAX_CAMERAMODULES_PER_BLOCK 4U

Indicates the maximum number of camera modules per device block.

Definition at line 264 of file Camera.h.

◆ DW_CAMERA_MAX_DEVICE_GPIOS

#define DW_CAMERA_MAX_DEVICE_GPIOS 8U

Indicates the maximum number of gpio indices.

Definition at line 234 of file Camera.h.

Typedef Documentation

◆ dwCameraCallback

typedef void(* dwCameraCallback) (dwCameraSIPLNotification *notification, dwSensorHandle_t sensor)

Function type of the camera error event handling.

Definition at line 289 of file Camera.h.

◆ dwCameraFrameHandle_t

typedef struct dwCameraFrame* dwCameraFrameHandle_t

Handle to captured frame.

Definition at line 70 of file Camera.h.

◆ NvMediaIPPManager

typedef void NvMediaIPPManager

Definition at line 63 of file Camera.h.

Enumeration Type Documentation

◆ dwCameraExposureControl

enum dwCameraExposureControl

Enum of exposure control types.

Enumerator
DW_CAMERA_EXPOSURE_NONE	No exposure control.
DW_CAMERA_EXPOSURE_UNKNOWN	Unknown exposure control.
DW_CAMERA_EXPOSURE_AE	Default exposure control.
DW_CAMERA_EXPOSURE_BAE	Exposure control with bracketed auto exposure.
DW_CAMERA_EXPOSURE_CUSTOM	Exposure control using user's custom callback.

Definition at line 141 of file Camera.h.

◆ dwCameraFOV

enum dwCameraFOV

Enum of available FOV in degrees for camera lenses.

Enumerator
DW_CAMERA_FOV_UNKNOWN
DW_CAMERA_FOV_30
DW_CAMERA_FOV_48
DW_CAMERA_FOV_50
DW_CAMERA_FOV_55
DW_CAMERA_FOV_60
DW_CAMERA_FOV_65
DW_CAMERA_FOV_90
DW_CAMERA_FOV_100
DW_CAMERA_FOV_110
DW_CAMERA_FOV_120
DW_CAMERA_FOV_185

Definition at line 155 of file Camera.h.

◆ dwCameraOutputType

enum dwCameraOutputType

Output types supported by the camera.

DW_CAMERA_OUTPUT_NATIVE_* types return the image directly from the layer underneath as it is represented in system memory, while for non native output types images are converted and streamed through ad hoc streamers.

Enumerator
DW_CAMERA_OUTPUT_NATIVE_PROCESSED	processed images (usually be YUV420 planar or RGB planar)
DW_CAMERA_OUTPUT_NATIVE_RAW	raw image
DW_CAMERA_OUTPUT_CUDA_RGBA_UINT8	for processed images RGBA image supported in all processed use cases
DW_CAMERA_OUTPUT_CUDA_YUV420_UINT8_PLANAR	simple yuv420 output, supported in most use cases (see doc)
DW_CAMERA_OUTPUT_CUDA_RAW_UINT16	for raw images
DW_CAMERA_OUTPUT_CUDA_YUV420_UINT16_SEMIPLANAR	other YUV processed outputs (see devguide)
DW_CAMERA_OUTPUT_CUDA_YUV444_UINT8_PLANAR	other YUV processed outputs (see devguide)
DW_CAMERA_OUTPUT_CUDA_YUV444_UINT16_PLANAR	other YUV processed outputs (see devguide)
DW_CAMERA_OUTPUT_CUDA_YUV420_UINT8_SEMIPLANAR	simple yuv420 semiplanar output, supported in most use cases (see doc)
DW_CAMERA_OUTPUT_NATIVE_PROCESSED1	processed images from ISP1 output (usually be YUV420 planar or RGB planar)
DW_CAMERA_OUTPUT_NATIVE_PROCESSED2	processed images from ISP2 output (RGB-FP16)

Definition at line 75 of file Camera.h.

◆ dwCameraRawFormat

enum dwCameraRawFormat

Raw encoding formats pixel-order.

Enumerator
DW_CAMERA_RAW_FORMAT_UNKNOWN
DW_CAMERA_RAW_FORMAT_RGGB
DW_CAMERA_RAW_FORMAT_BGGR
DW_CAMERA_RAW_FORMAT_GRBG
DW_CAMERA_RAW_FORMAT_GBRG
DW_CAMERA_RAW_FORMAT_RCCB
DW_CAMERA_RAW_FORMAT_BCCR
DW_CAMERA_RAW_FORMAT_CRBC
DW_CAMERA_RAW_FORMAT_CBRC
DW_CAMERA_RAW_FORMAT_RCCC
DW_CAMERA_RAW_FORMAT_CRCC
DW_CAMERA_RAW_FORMAT_CCRC
DW_CAMERA_RAW_FORMAT_CCCR
DW_CAMERA_RAW_FORMAT_CCCC
DW_CAMERA_RAW_FORMAT_TOF

Definition at line 102 of file Camera.h.

◆ dwCameraSIPLNotificationData

enum dwCameraSIPLNotificationData

Enum of available SIPL event notification type (Copy from nvsipl::NvSIPLPipelineNotifier::NotificationType).

Enumerator
DW_NOTIF_INFO_ICP_PROCESSING_DONE	Pipeline event, indicates ICP processing is finished.
DW_NOTIF_INFO_ISP_PROCESSING_DONE	Pipeline event, indicates ISP processing is finished.
DW_NOTIF_INFO_ACP_PROCESSING_DONE	Pipeline event, indicates auto control processing is finished.
DW_NOTIF_INFO_CDI_PROCESSING_DONE	Pipeline event, indicates CDI processing is finished.
DW_NOTIF_WARN_ICP_FRAME_DROP	Pipeline event, indicates pipeline was forced to drop a frame due to a slow consumer or system issues.
DW_NOTIF_WARN_ICP_FRAME_DISCONTINUITY	Pipeline event, indicates a discontinuity was detected in parsed embedded data frame sequence number.
DW_NOTIF_WARN_ICP_CAPTURE_TIMEOUT	Pipeline event, indicates occurrence of timeout while capturing.
DW_NOTIF_ERROR_ICP_BAD_INPUT_STREAM	Pipeline event, indicates ICP bad input stream.
DW_NOTIF_ERROR_ICP_CAPTURE_FAILURE	Pipeline event, indicates ICP capture failure.
DW_NOTIF_ERROR_ICP_EMB_DATA_PARSE_FAILURE	Pipeline event, indicates embedded data parsing failure.
DW_NOTIF_ERROR_ISP_PROCESSING_FAILURE	Pipeline event, indicates ISP processing failure.
DW_NOTIF_ERROR_ACP_PROCESSING_FAILURE	Pipeline event, indicates auto control processing failure.
DW_NOTIF_ERROR_CDI_SET_SENSOR_CTRL_FAILURE	Pipeline event, indicates CDI set sensor control failure.
DW_NOTIF_ERROR_DESER_LINK_FAILURE	Device block event, indicates a deserializer link error. Deprecated in the future.
DW_NOTIF_ERROR_DESERIALIZER_FAILURE	Device block event, indicates a deserializer failure.
DW_NOTIF_ERROR_SERIALIZER_FAILURE	Device block event, indicates a serializer failure.
DW_NOTIF_ERROR_SENSOR_FAILURE	Device block event, indicates a sensor failure.
DW_NOTIF_ERROR_INTERNAL_FAILURE	Pipeline and device block event, indicates an unexpected internal failure.

Definition at line 194 of file Camera.h.

◆ dwCameraType

enum dwCameraType

Enum of available camera sensors.

Enumerator
DW_CAMERA_GENERIC	Generic video source, e.g. video file with raw or processed data
DW_CAMERA_GMSL_AR0231	GMSL AR0231 camera (rev-7)
DW_CAMERA_USB_GENERIC	Generic USB camera
DW_CAMERA_GMSL_AR0144	GMSL AR0144 camera
DW_CAMERA_GMSL_AR0138	GMSL AR0138 camera
DW_CAMERA_GMSL_AR0220	GMSL AR0220 camera
DW_CAMERA_GMSL_AR0820	GMSL AR0820 camera
DW_CAMERA_GMSL_MN34906	GMSL MN34906 camera
DW_CAMERA_GMSL_OV2311	GMSL OV2311 camera
DW_CAMERA_GMSL_IMX390	GMSL IMX390 camera
DW_CAMERA_GMSL_CUSTOM	GMSL custom camera defined using NvSIPL

Definition at line 126 of file Camera.h.

◆ dwSIPLCameraInterfaceProviderType

enum dwSIPLCameraInterfaceProviderType

Enum of available SIPL interface provider types.

Enumerator
DW_SIPL_CAMERA_INTERFACE_PROVIDER_TYPE_DESERIALIZER
DW_SIPL_CAMERA_INTERFACE_PROVIDER_TYPE_MODULE
DW_SIPL_CAMERA_INTERFACE_PROVIDER_TYPE_COUNT

Definition at line 171 of file Camera.h.

Function Documentation

◆ dwSensorCamera_appendAllocationAttributes()

DW_API_PUBLIC dwStatus dwSensorCamera_appendAllocationAttributes	(	dwImageProperties *	imgProps,
		dwCameraOutputType const	outputType,
		dwSensorHandle_t const	sensor
	)

Append the allocation attribute such that images allocated by the application and given to the camera via dwSensorCamera_setImagePool() can be imported into the underlying driver.

Parameters

[in,out]	imgProps	Image properties
[in]	outputType	Ouptut type of the camera.
[in]	sensor	Sensor handle of the camera sensor previously created with dwSAL_createSensor().

Note: The given imgProps should be compatible with that returned by dwSensorCamra_getImageProperties API.; The imgProps are read and used to generate the allocation attributes needed by the driver. The allocation attributes are stored back into imgProps.meta.allocAttrs. Applications do not need to free or alter the imgProps.meta.allocAttrs in any way. The imgProps.meta.allocAttrs are only used by DriveWorks as needed when the given imgProps are used to allocate dwImages. If the application alters the imgProps after calling this API, the imgProps.meta.allocAttrs may no longer be applicable to the imgProps and calls related to allocating images will fail.; if imgProps.meta.allocAttrs does not have allocated Memory, this would be allocated by DW and will be owned by DW context until context is destroyed and should be used wisely as it the space is limited.; Must be called after dwSAL_start().

Returns: DW_NVMEDIA_ERROR - if underlying camera driver had an NvMedia error.
DW_INVALID_HANDLE - if given handle is not valid.
DW_NOT_IMPLEMENTED - if the method for this image type is not implemented by given camera.
DW_SUCCESS

◆ dwSensorCamera_disableLink()

DW_API_PUBLIC dwStatus dwSensorCamera_disableLink ( dwSensorHandle_t const sensor )

Disable the camera link This method should only be called after dwSensor_start() and before dwSensor_stop().

Parameters

[in] sensor A handle to the camera GMSL

Returns: DW_NOT_SUPPORTED If current SDK/PDK version is not supported DW_INTERNAL_ERROR If the disableLink failed DW_SUCCESS

◆ dwSensorCamera_enableLink()

DW_API_PUBLIC dwStatus dwSensorCamera_enableLink	(	dwSensorHandle_t const	sensor,
		bool const	resetModule
	)

Enable the camera link This method enables a given link and, if reset is asserted, reconfigures the camera module to reestablish the link.

This method should only be called after dwSensor_start() and before dwSensor_stop(). Please note, it is not necessary to call dwSensorCamera_enableLink() after dwSensor_start(). This API is used to enable the link again after the link has been disabled by dwSensorCamera_disableLink().

Parameters

[in]	sensor	A handle to the camera GMSL
[in]	resetModule	If true, reconfigure the camera module before enabling the link.

Returns: DW_NOT_SUPPORTED If current SDK/PDK version is not supported DW_INTERNAL_ERROR If the enableLink failed DW_SUCCESS

◆ dwSensorCamera_fillSyncAttributes()

DW_API_PUBLIC dwStatus dwSensorCamera_fillSyncAttributes	(	NvSciSyncAttrList	syncAttrList,
		dwCameraOutputType	outputType,
		dwSensorHandle_t	sensor
	)

Fill the sync attributes for the camera pipeline to signal EOF fences.

Note that multiple calls on the same syncAttrList will append attributes on the same

Parameters

[out]	syncAttrList	The sync attributes list to be filled
[in]	outputType	The output type
[in]	sensor	The sensor handle

◆ dwSensorCamera_getCUDAStream()

DW_API_PUBLIC dwStatus dwSensorCamera_getCUDAStream	(	cudaStream_t *const	stream,
		dwSensorHandle_t const	sensor
	)

Gets the CUDA stream used.

Parameters

[out]	stream	Returns the CUDA stream in sensor.
[in]	sensor	A pointer to the camera handle that is updated.

Returns: DW_INVALID_ARGUMENT: if the sensor handle or cudaStream is null
DW_INVALID_HANDLE: if the sensor handle is not a camera
DW_SUCCESS

◆ dwSensorCamera_getEOFFence()

DW_API_PUBLIC dwStatus dwSensorCamera_getEOFFence	(	NvSciSyncFence *	syncFence,
		dwCameraOutputType	outputType,
		dwCameraFrameHandle_t const	frameHandle
	)

Get EOF fence of the current camera frame.

Parameters

[out]	syncFence	The sync fence of the frame
[in]	outputType	The output type
[in]	frameHandle	Handle to the camera frame

◆ dwSensorCamera_getImage()

DW_API_PUBLIC dwStatus dwSensorCamera_getImage	(	dwImageHandle_t *const	image,
		dwCameraOutputType const	type,
		dwCameraFrameHandle_t const	frame
	)

Gets the output image/s image in a format specified by the output type.

Depending on the type requested, conversion and streaming handled by the camera implicitly might be required. The call is blocking NOTE: the underlying resources are still in the frame handle and the image returned is intended not to be modified. For this reason, any modifications to this 'dwImageHandle_t' or 'dwImageCPU', 'dwImageCUDA', 'dwImageGL' or 'dwImageNvMedia' returned by 'dwImage_getCPU' ('dwImage_getCUDA', 'dwImage_getGL' and 'dwImage_getNvMedia') will result in undefined behavior.

Parameters

[out]	image	Handle to the image received by the camera
[in]	type	Ouptut type of the image. This is represented by a limited useful number of options which can be chosen at runtime
[in]	frame	Camera frame handle of the captured frame

Returns: DW_CUDA_ERROR - if the underlying camera driver had a CUDA error.
In such case it is not possible to recover a DW_CAMERA_OUTOUT_CUDA_X output, however it is
possible to successfully request a DW_CAMERA_NATIVE_X output and work with it
DW_NVMEDIA_ERROR - if underlying camera driver had an NvMedia error.
DW_INVALID_HANDLE - if given camera frame handle is not valid.
DW_INVALID_ARGUMENT - if given image handle is null.
DW_NOT_IMPLEMENTED - if the method for this image type is not implemented by given camera.
DW_SUCCESS

◆ dwSensorCamera_getImageAsync()

DW_API_PUBLIC dwStatus dwSensorCamera_getImageAsync	(	dwImageHandle_t *const	image,
		dwCameraOutputType const	type,
		dwCameraFrameHandle_t const	frame
	)

Gets the output image/s image in a format specified by the output type.

Depending on the type requested, conversion and streaming handled by the camera implicitly might be required, which happens on the cudaStream specified at 'dwSensorCamera_setCUDAStream()' NOTE: the underlying resources are still in the frame handle and the image returned is intended not to be modified. For this reason, any modifications to this 'dwImageHandle_t' or 'dwImageCPU', 'dwImageCUDA', 'dwImageGL' or 'dwImageNvMedia' returned by 'dwImage_getCPU' ('dwImage_getCUDA', 'dwImage_getGL' and 'dwImage_getNvMedia') will result in undefined behavior.

Parameters

[out]	image	Handle to the image received by the camera
[in]	type	Ouptut type of the image. This is represented by a limited useful number of options which can be chosen at runtime
[in]	frame	Camera frame handle of the captured frame

Returns: DW_CUDA_ERROR - if the underlying camera driver had a CUDA error.
In such case it is not possible to recover a DW_CAMERA_OUTOUT_CUDA_X output, however it is
possible to successfully request a DW_CAMERA_NATIVE_X output and work with it
DW_NVMEDIA_ERROR - if underlying camera driver had an NvMedia error.
DW_INVALID_HANDLE - if given handle is not valid.
DW_NOT_IMPLEMENTED - if the method for this image type is not implemented by given camera.
DW_SUCCESS

◆ dwSensorCamera_getImageProperties()

DW_API_PUBLIC dwStatus dwSensorCamera_getImageProperties	(	dwImageProperties *const	imageProperties,
		dwCameraOutputType const	outputType,
		dwSensorHandle_t const	sensor
	)

Gets information about the image properties for a given 'dwCameraImageOutputType'.

Parameters

[out]	imageProperties	A pointer to image properties of the frames captured by the camera.
[in]	outputType	Format of the output image to get the properties of
[in]	sensor	Sensor handle of the camera sensor previously created with dwSAL_createSensor().

Note: The dimensions of the returned properties corresponds to the dimension of the image returned through 'dwSensorCamera_getImage*' methods

Returns: DW_INVALID_ARGUMENT: if the sensor handle is null
DW_INVALID_HANDLE: if the sensor handle is not a camera
DW_NOT_AVAILABLE: when the setup of the sensor is incompatible with the output type requested
DW_SUCCESS

◆ dwSensorCamera_getNumSupportedCaptureModes()

DW_API_PUBLIC dwStatus dwSensorCamera_getNumSupportedCaptureModes	(	uint32_t *const	numModes,
		dwSensorHandle_t const	sensor
	)

Gets number of supported capture modes.

Parameters

[out]	numModes	A pointer to the number of available capture modes.
[in]	sensor	Sensor handle of the camera sensor previously created with dwSAL_createSensor().

Returns: DW_INVALID_ARGUMENT: if the sensor handle is null
DW_INVALID_HANDLE: if the sensor handle is not a camera
DW_SUCCESS

◆ dwSensorCamera_getNvMediaIPPManager()

DW_API_PUBLIC dwStatus dwSensorCamera_getNvMediaIPPManager	(	NvMediaIPPManager **const	manager,
		dwSensorHandle_t const	sensor
	)

Gets the NvMediaIPPManager used for GMSL camera IPP setup and event callback.

Parameters

[out]	manager	A pointer to the NvMediaIPPManager instance created by the sensor.
[in]	sensor	Sensor handle of the camera sensor previously created with dwSAL_createSensor().

Returns: DW_NOT_AVAILABLE if NvMedia is not available.
DW_INVALID_ARGUMENT if given sensor handle or output pointer are NULL
DW_SUCCESS

Note: The ownership of the NvMedia IPP manager remains with the sensor.

◆ dwSensorCamera_getSensorProperties()

DW_API_PUBLIC dwStatus dwSensorCamera_getSensorProperties	(	dwCameraProperties *const	properties,
		dwSensorHandle_t const	sensor
	)

Gets information about the camera sensor.

Parameters

[out]	properties	A pointer to the properties of the camera.
[in]	sensor	Sensor handle of the camera sensor previously created with dwSAL_createSensor().

Returns: DW_INVALID_ARGUMENT: if the sensor handle is null
DW_INVALID_HANDLE: if the sensor handle is not a camera
DW_SUCCESS

◆ dwSensorCamera_getSIPLInterfaceProvider()

DW_API_PUBLIC dwStatus dwSensorCamera_getSIPLInterfaceProvider	(	void **const	interfaceProvider,
		dwSensorHandle_t const	sensor,
		dwSIPLCameraInterfaceProviderType const	type
	)

Gets SIPL Interface provider for a custom camera sensor.

Parameters

[out]	interfaceProvider	nvsipl::IInterfaceProvider*& for given sensor
[in]	sensor	Handle to sensor
[in]	type	type of interface provider

Returns: DW_INVALID_HANDLE - if given handle is not valid.
DW_NOT_SUPPORTED - if the APIis not supported on platform DW_SUCCESS

◆ dwSensorCamera_getSupportedCaptureMode()

DW_API_PUBLIC dwStatus dwSensorCamera_getSupportedCaptureMode	(	dwCameraProperties *const	captureMode,
		uint32_t const	modeIdx,
		dwSensorHandle_t const	sensor
	)

Gets capture modes by specified index.

Parameters

[out]	captureMode	A pointer to available capture mode.
[in]	modeIdx	Index of a mode to retrieve.
[in]	sensor	Sensor handle of the camera sensor previously created with dwSAL_createSensor().

Returns: DW_INVALID_ARGUMENT: if the sensor handle is null
DW_INVALID_HANDLE: if the sensor handle is not a camera
DW_SUCCESS

◆ dwSensorCamera_getTimestamp()

DW_API_PUBLIC dwStatus dwSensorCamera_getTimestamp	(	dwTime_t *const	timestamp,
		dwCameraFrameHandle_t const	frameHandle
	)

Gets the timestamp of the current camera frame.

Parameters

[out]	timestamp	The timestamp of the current camera frame.
[in]	frameHandle	Handle to a captured frame.

Returns: DW_INVALID_HANDLE - if given handle is not valid.
DW_SUCCESS

◆ dwSensorCamera_readEEPROM()

DW_API_PUBLIC dwStatus dwSensorCamera_readEEPROM	(	uint32_t const	paramId,
		void *const	buffer,
		uint32_t const	size,
		dwSensorHandle_t const	sensor
	)

Read data associated with a parameter stored on the EEPROM device and write to the provided buffer.

If the parameter is not present, does not contain valid data, or is corrupted, then this API call will fail, and no data will be written to the provided buffer. Currently doesn't support virtual sensors.

Note: This reads from the copy of the EEPROM data in local memory, so this can be done, even if the ISC device is in a state where it cannot be read from.

Parameters

[in]	paramId	The ID of the parameter to be read
[out]	buffer	A pointer to the buffer that the data is to be read to. It must be at least 'size' bytes long.
[in]	size	The number of bytes that are to be read from the parameter. This must be greater than zero and less than or equal to the maximum size of the parameter.
[in]	sensor	A handle to the camera GMSL

Returns: DW_SUCCESS,
DW_NVMEDIA_ERROR If the read is unsuccessful due to nvmedia,
DW_NOT_SUPPORTED for unsupported platforms,
DW_INVALID_HANDLE if the given sensor handle is invalid,i.e null or of wrong type

◆ dwSensorCamera_readFrame()

DW_API_PUBLIC dwStatus dwSensorCamera_readFrame	(	dwCameraFrameHandle_t *const	frameHandle,
		dwTime_t const	timeoutUs,
		dwSensorHandle_t const	sensor
	)

Reads a frame handle from the camera sensor.

The reading is a blocking call. With the frame handle, the associated data can be queried from the sensor. Available data is configured during sensor creation.

Parameters

[out]	frameHandle	A pointer to a handle to a frame read from the camera. With the handle, different data can be queried. The frame handle must be returned to be put back into the internal pool.
[in]	timeoutUs	Timeout in microseconds to wait for a new frame. Special values: DW_TIMEOUT_INFINITE - to wait infinitly. Zero - means polling of internal queue.
[in]	sensor	Sensor handle of the camera previously created with 'dwSAL_createSensor()'.

Returns: DW_CUDA_ERROR - if the underlying camera driver had a CUDA error.
DW_NVMEDIA_ERROR - if underlying camera driver had an NvMedia error.
DW_INVALID_HANDLE - if given sensor handle is not valid.
DW_INVALID_ARGUMENT - if given frame pointer is NULL
DW_NOT_IMPLEMENTED - if the method for this image type is not implemented by given camera.
DW_TIME_OUT - if no frame could be acquired within given time interval.
This is a recoverable error if the following behavior is observed: the expected rate
at which frames are returned is a single frame every 1/fps seconds, therefore a timeout
should be set such as to cover one frame instance. Frames in a live camera are not returned
consistently therefore a time delta duration is to be expected close to the rate (ie +-10%).
If the total timeouts that have been accummulated after all retries amount to 3 frames interval
the camera is to be considered unresponsive.
DW_NOT_AVAILABLE - if sensor has not been started or data is not available in polling mode.
DW_NOT_READY - if sensor is stopped or not started or has started but hasn't begun acquiring frames after the specified timeout. If the sensor is in a stopped or not started state, the sensor should be started with dwSensor_start. After that The status will be returned until the first frame acquired. If this doesn't happen within 2 seconds, the sensor is to be considered unresponsive.
DW_SAL_SENSOR_ERROR - if there was an i/o error.
DW_END_OF_STREAM - if end of stream reached.
DW_BUFFER_FULL - if there are no more available frames to be read. To recover, return frames to free buffer space
DW_SUCCESS

◆ dwSensorCamera_returnFrame()

DW_API_PUBLIC dwStatus dwSensorCamera_returnFrame ( dwCameraFrameHandle_t *const frameHandle )

Returns a frame to the camera after it has been consumed.

All data associated with this handle is invalid after the handle has been returned.

Parameters

[in] frameHandle Handle previously read from the camera to be returned to the pool.

Returns: DW_CUDA_ERROR - if the underlying camera driver had a CUDA error.
DW_NVMEDIA_ERROR - if underlying camera driver had NvMedia error.
DW_INVALID_ARGUMENT - if given handle is NULL
DW_INVALID_HANDLE - if given handle is not valid.
DW_CALL_NOT_ALLOWED - if the sensor this frame camera from has already been released.
DW_SUCCESS

◆ dwSensorCamera_setCUDAStream()

DW_API_PUBLIC dwStatus dwSensorCamera_setCUDAStream	(	cudaStream_t const	stream,
		dwSensorHandle_t const	sensor
	)

Sets the CUDA stream used by getImageAsync during internal cuda related operations.

Parameters

[in]	stream	The CUDA stream to use.
[in]	sensor	A pointer to the camera handle that is updated.

Returns: DW_INVALID_ARGUMENT: if the sensor handle is null
DW_INVALID_HANDLE: if the sensor handle is not a camera
DW_CUDA_ERROR: when the cudaStream cannot be set
DW_SUCCESS

◆ dwSensorCamera_setEventCallback()

DW_API_PUBLIC dwStatus dwSensorCamera_setEventCallback	(	dwCameraCallback	blkCallback,
		dwCameraCallback	lineCallback,
		dwSensorHandle_t	sensor
	)

Set the Camera Error Handling callbacks.

If receiving the device block error event, the blkCallback will be invoked. If receiving the pipeline error event, the lineCallback will be invoked.

Note

At least one of the blkCallback and lineCallback should not be "nullptr"
The callback functions need to return in a very short time and they shouldn't block the caller thread

Parameters

[in]	blkCallback	device block error handling function. Set to nullptr if not used
[in]	lineCallback	pipeline error handling function. Set to nullptr if not used
[in]	sensor	A handle to the camera GMSL

Returns: DW_NOT_SUPPORTED If current SDK/PDK version is not supported DW_SUCCESS

◆ dwSensorCamera_setImagePool()

dwStatus dwSensorCamera_setImagePool	(	dwImagePool	imagePool,
		dwSensorHandle_t const	sensor
	)

Sets a pool of image to be used as output by the camera layer.

If this is called, the default pool is not allocated. The pool's type (raw/isp0/isp1/isp2) is deduced automatically by the format of the image. All images in the pool must match in properties If the size of the pool mismatches fifo-size, the fifo-size will be overridden.

Parameters

[in]	imagePool	Handle to the dwImagePool, ownership remains of the creator of the pool, the camera will be using the images as outputs during capture and processing
[in]	sensor	Camera sensor handle

Returns: DW_NVMEDIA_ERROR - if underlying camera driver had an NvMedia error.
DW_INVALID_HANDLE - if given handle is not valid.
DW_NOT_IMPLEMENTED - if the method for this image type is not implemented by given camera.
DW_SUCCESS

◆ dwSensorCamera_setSyncObject()

DW_API_PUBLIC dwStatus dwSensorCamera_setSyncObject	(	NvSciSyncObj	syncObj,
		dwCameraOutputType	outputType,
		dwSensorHandle_t	sensor
	)

Set the sync obj to which the camera pipeline will signal EOF fences.

The sync object is not reference counted

Parameters

[in]	syncObj	The sync object
[in]	outputType	The output type
[in]	sensor	The sensor handle

Detailed Description

Data Structures

Macros

Typedefs

Enumerations

Functions

Data Structure Documentation

◆ dwCameraNotificationData

◆ dwCameraProperties

◆ dwCameraSIPLEErrorDetails

◆ dwCameraSIPLNotification

Macro Definition Documentation

◆ DW_CAMERA_MAX_CAMERAMODULES_PER_BLOCK

◆ DW_CAMERA_MAX_DEVICE_GPIOS

Typedef Documentation

◆ dwCameraCallback

◆ dwCameraFrameHandle_t

◆ NvMediaIPPManager

Enumeration Type Documentation

◆ dwCameraExposureControl

◆ dwCameraFOV

◆ dwCameraOutputType

◆ dwCameraRawFormat

◆ dwCameraSIPLNotificationData

◆ dwCameraType

◆ dwSIPLCameraInterfaceProviderType

Function Documentation

◆ dwSensorCamera_appendAllocationAttributes()

◆ dwSensorCamera_disableLink()

◆ dwSensorCamera_enableLink()

◆ dwSensorCamera_fillSyncAttributes()

◆ dwSensorCamera_getCUDAStream()

◆ dwSensorCamera_getEOFFence()

◆ dwSensorCamera_getImage()

◆ dwSensorCamera_getImageAsync()

◆ dwSensorCamera_getImageProperties()

◆ dwSensorCamera_getNumSupportedCaptureModes()

◆ dwSensorCamera_getNvMediaIPPManager()

◆ dwSensorCamera_getSensorProperties()

◆ dwSensorCamera_getSIPLInterfaceProvider()

◆ dwSensorCamera_getSupportedCaptureMode()

◆ dwSensorCamera_getTimestamp()

◆ dwSensorCamera_readEEPROM()

◆ dwSensorCamera_readFrame()

◆ dwSensorCamera_returnFrame()

◆ dwSensorCamera_setCUDAStream()

◆ dwSensorCamera_setEventCallback()

◆ dwSensorCamera_setImagePool()

◆ dwSensorCamera_setSyncObject()