The Stereo Disparity sample demonstrates the stereo pipeline running on multiple hardware engines, namely:
The sample reads frames from two stereo videos and rectifies them on the basis of the camera calibration contained in the rig configuration file. Then, it runs the frames through the stereo pipeline mentioned above and displays final stereo output.
The command line for the sample is:
./sample_stereo_disparity_pva --rigconfig=[path/to/rig/configuration/file] --video-left=[path/to/the/left/video] --video-right=[path/to/the/right/video] --sensor-left=[name/of/left/camera/in/rig/file] --sensor-right=[name/of/right/camera/in/rig/file] --maxDistance=[maximum/distance/in/meters/for/depth/rendering] --estimationMode=[LQ|MQ|HQ] --nvencNo=[0|1] --pvaNo=[0|1]
where
--rigconfig=[path/to/rig/configuration/file] Points to the rig file that contains the intrinsics and extrinsics for the stereo camera. Default value: path/to/data/samples/stereo/full.json --video-left=[path/to/the/left/video] Is the path to the video recorded from the left camera. Default value: path/to/data/samples/stereo/left_1.h264 --sensor-left=[name/of/left/camera/in/rig/file] Is the name of the left input sensor in the rig file. Defaul value: left_60FOV --sensor-right=[name/of/right/camera/in/rig/file] Is the name of the right input sensor in the rig file. Defaul value: right_60FOV --video-right=[path/to/the/right/video] Is the path to the video recorded from the right camera. Default value: path/to/data/samples/stereo/right_1.h264 --maxDistance=[maximum/distance/in/meters/for/depth/rendering] Maximum distance in meters for depth rendering. Every pixel with a depth greater than maxDistance is rendered as blue Default value: 40.0 --estimationMode=[LQ|MQ|HQ] Indicates the quality and the performance of Stereo algorithm: - LQ: Low Quality - MQ: Medium Quality - HQ: High Quality Default value: MQ --nvencNo=[0|1] Indicates on which Nvidia Video Encoder the corresponding stage of the pipeline is to be executed. Default value: 0 --pvaNo=[0|1] Indicates on which PVA engine the corresponding stage of the pipeline is to be executed. Default value: 0
The sample creates a window and displays the disparity view composed by:
The stereo output is color coded for clarity.
For more details see Stereo .