Runs the stereo pipeline and computes disparity map on PVA.
- Note
- SW Release Applicability: These APIs are available in both NVIDIA DriveWorks and NVIDIA DRIVE Software releases.
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DW_API_PUBLIC dwStatus | dwStereoPVA_computeDisparity (dwImageHandle_t disparityMap, dwImageHandle_t confidenceMap, const dwImageHandle_t leftImage, const dwImageHandle_t rightImage, dwStereoPVAHandle_t obj) |
| Executes the full pipeline and computes disparity map. More...
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DW_API_PUBLIC dwStatus | dwStereoPVA_getConfidenceImageProperties (dwImageProperties *props, dwStereoPVAHandle_t obj) |
| Get output confidence image properties. More...
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DW_API_PUBLIC dwStatus | dwStereoPVA_getCUDAStream (cudaStream_t *stream, dwStereoPVAHandle_t obj) |
| Gets CUDA stream used by the stereo algorithm. More...
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DW_API_PUBLIC dwStatus | dwStereoPVA_getDisparityImageProperties (dwImageProperties *props, dwStereoPVAHandle_t obj) |
| Get output disparity image properties. More...
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DW_API_PUBLIC dwStatus | dwStereoPVA_initialize (dwStereoPVAHandle_t *obj, uint32_t width, uint32_t height, const dwStereoPVAParams *stereoParams, dwContextHandle_t ctx) |
| Initializes the stereo algorithm with the parameters. More...
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DW_API_PUBLIC dwStatus | dwStereoPVA_initParams (dwStereoPVAParams *stereoParams) |
| Initializes the StereoPVA parameters. More...
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DW_API_PUBLIC dwStatus | dwStereoPVA_release (dwStereoPVAHandle_t obj) |
| Releases the stereo algorithm. More...
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DW_API_PUBLIC dwStatus | dwStereoPVA_reset (dwStereoPVAHandle_t obj) |
| Resets the Stereo module. More...
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DW_API_PUBLIC dwStatus | dwStereoPVA_setCUDAStream (cudaStream_t stream, dwStereoPVAHandle_t obj) |
| Sets CUDA stream used by the stereo algorithm. More...
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◆ dwStereoPVAParams
Data Fields |
dwStereoPVAMode |
estimationMode |
Estimation mode that determines the speed and quality of stereo algorithm. |
dwProcessorType |
processorNVENC |
Specifies the processor type for the stages of the pipeline which run on NVENC. Supported options are DW_PROCESSOR_TYPE_NVENC_0, DW_PROCESSOR_TYPE_NVENC_1
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dwProcessorType |
processorPVA |
Specifies the processor type for the stages of the pipeline which run on PVA. Supported options are DW_PROCESSOR_TYPE_PVA_0, DW_PROCESSOR_TYPE_PVA_1
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◆ dwStereoPVAHandle_t
A pointer to the handle representing a stereo algorithm on PVA.
This object allows the computation of a disparity map given two rectified stereo images
Definition at line 65 of file StereoPVA.h.
◆ dwStereoPVAMode
Stereo computation modes.
Enumerator |
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DW_STEREO_PVA_MODE_MEDIUM_QUALITY | High performance with medium quality.
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DW_STEREO_PVA_MODE_LOW_QUALITY | Ultra high performance with lowest quality.
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DW_STEREO_PVA_MODE_HIGH_QUALITY | High quality with low performance.
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Definition at line 70 of file StereoPVA.h.
◆ dwStereoPVA_computeDisparity()
Executes the full pipeline and computes disparity map.
The pipeline runs on the following engines:
- VIC (scaling & converting data)
- PVA (hint generation)
- NVENC (stereo disparity computation)
- PVA (refining results)
- GPU (copying memory back to GPU)
- Parameters
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[out] | disparityMap | Disparity map |
[out] | confidenceMap | Confidence map |
[in] | leftImage | Left image. Expected YUV |
[in] | rightImage | The left 8 bit rectified image pyramid. |
[in] | obj | The stereo algorithm handle. |
- Returns
- DW_NVMEDIA_ERROR - if the underlying stereo algorithm had an internal error.
DW_INTERNAL_ERROR - if the underlying stereo algorithm had an internal error.
DW_INVALID_HANDLE - if given handle is not valid, i.e. null or of wrong type .
DW_SUCCESS
◆ dwStereoPVA_getConfidenceImageProperties()
Get output confidence image properties.
- Parameters
-
- Returns
- DW_INVALID_HANDLE if the given context handle is invalid,i.e. null or of wrong type
or DW_SUCCESS otherwise.
◆ dwStereoPVA_getCUDAStream()
Gets CUDA stream used by the stereo algorithm.
- Parameters
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[out] | stream | The CUDA stream currently used by the stereo algorithm. |
[in] | obj | The stereo algorithm handle. |
- Returns
- DW_INVALID_HANDLE if the given context handle is invalid, i.e. null or of wrong type
or DW_SUCCESS otherwise.
◆ dwStereoPVA_getDisparityImageProperties()
Get output disparity image properties.
- Parameters
-
- Returns
- DW_INVALID_HANDLE if the given context handle is invalid,i.e. null or of wrong type
or DW_SUCCESS otherwise.
◆ dwStereoPVA_initialize()
Initializes the stereo algorithm with the parameters.
- Parameters
-
[out] | obj | A pointer to the stereo algorithm on PVA. |
[in] | width | The width of one input image. |
[in] | height | The height of one input image. |
[in] | stereoParams | A pointer to the configuration of the stereo algorithm. |
[in] | ctx | the handle to DW context. |
- Returns
- DW_CUDA_ERROR - if the underlying stereo algorithm had a CUDA error.
DW_INVALID_HANDLE - if given handle is not valid, i.e. null or of wrong type .
DW_SUCCESS
◆ dwStereoPVA_initParams()
Initializes the StereoPVA parameters.
- Parameters
-
[out] | stereoParams | Parameters to be initialised with default values. |
- Returns
- DW_INVALID_HANDLE - if given handle is not valid, i.e. null or of wrong type .
DW_SUCCESS
◆ dwStereoPVA_release()
Releases the stereo algorithm.
This method releases all resources associated with a stereo algorithm.
- Note
- This method renders the handle unusable.
- Parameters
-
[in] | obj | The object handle to be released. |
- Returns
- DW_SUCCESS
DW_INVALID_HANDLE - If the given context handle is invalid,i.e. null or of wrong type
DW_BAD_CAST
◆ dwStereoPVA_reset()
Resets the Stereo module.
- Parameters
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[in] | obj | Specifies the stereo handle to reset. |
- Returns
- DW_SUCCESS
DW_INVALID_HANDLE - If the given context handle is invalid,i.e. null or of wrong type
DW_BAD_CAST
◆ dwStereoPVA_setCUDAStream()
Sets CUDA stream used by the stereo algorithm.
- Parameters
-
[in] | stream | The CUDA stream. |
[in] | obj | The stereo algorithm handle. |
- Returns
- DW_INVALID_HANDLE if the given context handle is invalid,i.e. null or of wrong type
or DW_SUCCESS otherwise.