NVIDIA DriveWorks API: Stereo Methods
Description: This file defines stereo disparity computation methods.
Definition in file Stereo.h.
Go to the source code of this file.
Data Structures | |
| struct | dwStereoParams |
| Configuration parameters for a Stereo algorithm. More... | |
Macros | |
| #define | DW_STEREO_SIDE_COUNT 2 |
| #define | MAX_ALLOWED_DISPARITY_RANGE 1024 |
Typedefs | |
| typedef struct dwStereoObject * | dwStereoHandle_t |
| A pointer to the handle representing a stereo algorithm. More... | |
| typedef struct dwStereoRectifierObject * | dwStereoRectifierHandle_t |
| A pointer to the handle representing a stereo rectifier. More... | |
Enumerations | |
| enum | dwStereoCostType { DW_STEREO_COST_AD, DW_STEREO_COST_NCC, DW_STEREO_COST_SAD, DW_STEREO_COST_CENSUS, DW_STEREO_COST_ADCENSUS } |
| Cost types for matching. More... | |
| enum | dwStereoRectifierCrop { DW_STEREO_RECTIFIER_UNCHANGED, DW_STEREO_RECTIFIER_CROP } |
| Cropping. More... | |
| enum | dwStereoSide { DW_STEREO_SIDE_LEFT = 0, DW_STEREO_SIDE_RIGHT, DW_STEREO_SIDE_BOTH } |
| Side. More... | |
Functions | |
| DW_API_PUBLIC dwStatus | dwStereo_computeDisparity (const dwPyramidImage *leftPyramid, const dwPyramidImage *rightPyramid, dwStereoHandle_t obj) |
| Computes the disparity map given the two rectified views. More... | |
| DW_API_PUBLIC dwStatus | dwStereo_getConfidence (const dwImageCUDA **confidenceMap, dwStereoSide side, dwStereoHandle_t obj) |
| Returns the confidence map for a specified side. More... | |
| DW_API_PUBLIC dwStatus | dwStereo_getCUDAStream (cudaStream_t *stream, dwStereoHandle_t obj) |
| Gets CUDA stream used by the stereo algorithm. More... | |
| DW_API_PUBLIC dwStatus | dwStereo_getDisparity (const dwImageCUDA **disparityMap, dwStereoSide side, dwStereoHandle_t obj) |
| Returns the disparity map for a specified side. More... | |
| DW_API_PUBLIC dwStatus | dwStereo_getSize (uint32_t *dispWidth, uint32_t *dispHeight, uint32_t gLevel, dwStereoHandle_t obj) |
| Get size of image at a certain level. More... | |
| DW_API_PUBLIC dwStatus | dwStereo_initialize (dwStereoHandle_t *obj, uint32_t width, uint32_t height, const dwStereoParams *stereoParams, dwContextHandle_t ctx) |
| Initializes the stereo algorithm with the parameters. More... | |
| DW_API_PUBLIC dwStatus | dwStereo_initParams (dwStereoParams *stereoParams) |
| Initializes the stereo parameters. More... | |
| DW_API_PUBLIC dwStatus | dwStereo_release (dwStereoHandle_t obj) |
| Releases the stereo algorithm. More... | |
| DW_API_PUBLIC dwStatus | dwStereo_reset (dwStereoHandle_t obj) |
| Resets the Stereo module. More... | |
| DW_API_PUBLIC dwStatus | dwStereo_setCUDAStream (cudaStream_t stream, dwStereoHandle_t obj) |
| Sets CUDA stream used by the stereo algorithm. More... | |
| DW_API_PUBLIC dwStatus | dwStereo_setInfill (bool doInfill, dwStereoHandle_t obj) |
| Set invalid infill on/off. More... | |
| DW_API_PUBLIC dwStatus | dwStereo_setInvalidThreshold (float32_t threshold, dwStereoHandle_t obj) |
| Set invalidity threshold. More... | |
| DW_API_PUBLIC dwStatus | dwStereo_setOcclusionInfill (bool doInfill, dwStereoHandle_t obj) |
| Set occlusion infill on/off. More... | |
| DW_API_PUBLIC dwStatus | dwStereo_setOcclusionTest (bool doTest, dwStereoHandle_t obj) |
| Set occlusion test on/off. More... | |
| DW_API_PUBLIC dwStatus | dwStereo_setRefinementLevel (uint8_t refinementLvl, dwStereoHandle_t obj) |
| Sets the refinement level of the ongoing stereo algorithm. More... | |
| DW_API_PUBLIC dwStatus | dwStereoRectifier_getCropROI (dwBox2D *roi, dwStereoRectifierHandle_t obj) |
| Returns a rectangle which is the roi where all valid pixels after undistortion and rectification are. More... | |
| DW_API_PUBLIC dwStatus | dwStereoRectifier_getProjectionMatrix (dwMatrix34f *projectionMat, dwStereoSide side, dwStereoRectifierHandle_t obj) |
| Returns a 3x4 projection matrix for the side specified of the form: P_left = M_rect_left*[I|0] P_right = M_rict_right*[I|Tx] with M the rectified intrinsics matrix and Tx the baseline. More... | |
| DW_API_PUBLIC dwStatus | dwStereoRectifier_getRectificationMatrix (dwMatrix3f *rRectMat, dwStereoSide side, dwStereoRectifierHandle_t obj) |
| Returns a 3x3 rotation matrix for the side specified. More... | |
| DW_API_PUBLIC dwStatus | dwStereoRectifier_getReprojectionMatrix (dwMatrix4f *qMatrix, dwStereoRectifierHandle_t obj) |
| Returns a 4x4 reprojetion matrix of the form 1, 0, 0, -Cx Q = 0, 1, 0, -Cy 0, 0, 0, foc 0, 0,-1/Tx, (Cx - C'x)/Tx. More... | |
| DW_API_PUBLIC dwStatus | dwStereoRectifier_initialize (dwStereoRectifierHandle_t *obj, dwCameraModelHandle_t cameraLeft, dwCameraModelHandle_t cameraRight, dwTransformation3f leftToRig, dwTransformation3f rightToRig, dwContextHandle_t ctx) |
| Initializes the stereo rectifier. More... | |
| DW_API_PUBLIC dwStatus | dwStereoRectifier_rectify (dwImageCUDA *outputImageLeft, dwImageCUDA *outputImageRight, const dwImageCUDA *inputImageLeft, const dwImageCUDA *inputImageRight, dwStereoRectifierHandle_t obj) |
| Rectifies two images acquired by a stereo rig, epipolar lines will be parallel. More... | |
| DW_API_PUBLIC dwStatus | dwStereoRectifier_release (dwStereoRectifierHandle_t obj) |
| Releases the stereo rectifier. More... | |