StereoPVA.h

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#ifndef DW_IMAGEPROCESSING_STEREO_STEREO_PVA_H_
#define DW_IMAGEPROCESSING_STEREO_STEREO_PVA_H_

#include <dw/image/Image.h>
#include <dw/rig/Rig.h>
#include <dw/imageprocessing/stereo/Stereo.h>

#ifdef __cplusplus
extern "C" {
#endif

// dwStereoPVA

typedef struct dwStereoPVAObject* dwStereoPVAHandle_t;

typedef enum {
    DW_STEREO_PVA_MODE_MEDIUM_QUALITY = 0,
    DW_STEREO_PVA_MODE_LOW_QUALITY = 1,
    DW_STEREO_PVA_MODE_HIGH_QUALITY = 2
} dwStereoPVAMode;

typedef struct
{
    dwStereoPVAMode estimationMode;
    dwProcessorType processorPVA;
    dwProcessorType processorNVENC;
} dwStereoPVAParams;

DW_API_PUBLIC
dwStatus dwStereoPVA_initParams(dwStereoPVAParams* stereoParams);

DW_API_PUBLIC
dwStatus dwStereoPVA_initialize(dwStereoPVAHandle_t* obj, uint32_t width, uint32_t height,
                                const dwStereoPVAParams* stereoParams, dwContextHandle_t ctx);

DW_API_PUBLIC
dwStatus dwStereoPVA_computeDisparity(dwImageHandle_t disparityMap,
                                      dwImageHandle_t confidenceMap,
                                      const dwImageHandle_t leftImage,
                                      const dwImageHandle_t rightImage,
                                      dwStereoPVAHandle_t obj);

DW_API_PUBLIC
dwStatus dwStereoPVA_getDisparityImageProperties(dwImageProperties* props, dwStereoPVAHandle_t obj);

DW_API_PUBLIC
dwStatus dwStereoPVA_getConfidenceImageProperties(dwImageProperties* props, dwStereoPVAHandle_t obj);

DW_API_PUBLIC
dwStatus dwStereoPVA_setCUDAStream(cudaStream_t stream, dwStereoPVAHandle_t obj);

DW_API_PUBLIC
dwStatus dwStereoPVA_getCUDAStream(cudaStream_t* stream, dwStereoPVAHandle_t obj);

DW_API_PUBLIC
dwStatus dwStereoPVA_reset(dwStereoPVAHandle_t obj);

DW_API_PUBLIC
dwStatus dwStereoPVA_release(dwStereoPVAHandle_t obj);

#ifdef __cplusplus
}
#endif

#endif // DW_IMAGEPROCESSING_STEREO_STEREO_PVA_H_