Pitch specification in Driveworks Image Interface

[HIENG_NS]

Please provide the following info (tick the boxes after creating this topic):
Software Version
DRIVE OS 6.0.8.1
DRIVE OS 6.0.6
DRIVE OS 6.0.5
DRIVE OS 6.0.4 (rev. 1)
DRIVE OS 6.0.4 SDK
other

Target Operating System
Linux
QNX
other

Hardware Platform
DRIVE AGX Orin Developer Kit (940-63710-0010-300)
DRIVE AGX Orin Developer Kit (940-63710-0010-200)
DRIVE AGX Orin Developer Kit (940-63710-0010-100)
DRIVE AGX Orin Developer Kit (940-63710-0010-D00)
DRIVE AGX Orin Developer Kit (940-63710-0010-C00)
DRIVE AGX Orin Developer Kit (not sure its number)
other

SDK Manager Version
1.9.3.10904
other

Host Machine Version
native Ubuntu Linux 20.04 Host installed with SDK Manager
native Ubuntu Linux 20.04 Host installed with DRIVE OS Docker Containers
native Ubuntu Linux 18.04 Host installed with DRIVE OS Docker Containers
other

The following page shows that DRIVE OS6.0.8.1 has a 512 byte alignment for pitch.

Import block linear NvSciBufObj with pitch to CUDA

Software Version DRIVE OS Linux 6.0.8.1 and DriveWorks 5.10 Hardware Platform DRIVE AGX Orin Hi, We try to port our codebase from DriveOS 5.2.6 to DriveOS 6.0.8.1. We want to access our block linear NvSciBufObj images from CUDA, so we import them as cudaMipmappedArray and cudaArray as it is shown in the following CUDA example: Under DriveOS 5.2.6 it worked well, but under DriveOS 6.0.8.1 our CUDA based algorithms produce broken images. The root cause is that under DriveOS 6 during the i…

However, when I checked the pitch of the image, the value was 11648.
Since it is an RGBA image with a width of 2896 pixels, I thought that it would be 11584 + 192 byte = 11776 byte, but the pitch was 11648.
Do you know why?

[SivaRamaKrishnaNV]

@HIENG_NS

when I checked the pitch of the image, the value was 11648

So this indicates the pitch is 128byte aligned? Let me check internally and get back to you.

[HIENG_NS]

Dear @SivaRamaKrishnaNV
As a result, it looks like 128byte alignment. However, I don’t know the specifications.

[HIENG_NS]

Dear @SivaRamaKrishnaNV
Any updates on this?

[SivaRamaKrishnaNV]

Dear @HIENG_NS,

@HIENG_NS

when I checked the pitch of the image,

May I know how did you verify this? Is it in a DW sample application? If so, could you share the details?

[HIENG_NS]

Dear @SivaRamaKrishnaNV

I used the DW sample “Camera Sample” to get frames from a Sony IMX490.
Size is {width,height} = {2896,1876}
①Call dwSensorCamera_readFrame()
②Call dwSensorCamera_getImage(&img, outputType, frame[i])
③Call dwImage_getCUDA(&imageCUDA, img) →format is RGBA
④Check imageCUDA->ptich[0]
Since width is 2896, 2896x4(RGBA) = 11584.
11584 / 512 = 22.625.
512 x 23 = 11776

From the above, I thought the pitch would be 11776, but it was actually 11648.

[HIENG_NS]

@SivaRamaKrishnaNV

Environment is
DRIVE OS 6.0.8.1
DRIVE WORKS 5.14

[SivaRamaKrishnaNV]

Dear @HIENG_NS,
The byte alignment size depends on type of layout and engines involved in the pipeline. When only GPU is present, it is expected to be 64K. 512K byte referred in the topic(bug) you pointed when VIC is involved in pipeline.