StereoDisparity.h

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#ifndef NV_VPI_ALGORITHMS_STEREO_DISPARITY_H
#define NV_VPI_ALGORITHMS_STEREO_DISPARITY_H
 
#include "../Export.h"
#include "../ImageFormat.h"
#include "../Status.h"
#include "../Types.h"
 
#include <stdint.h>
 
#ifdef __cplusplus
extern "C" {
#endif
 
typedef struct
{
    int32_t maxDisparity; 
#if NV_VPI_VERSION_API_AT_LEAST(1, 1)
    float downscaleFactor;
#endif
 
} VPIStereoDisparityEstimatorCreationParams;
 
#if NV_VPI_VERSION_API_IS(1, 0)
__asm__(".symver vpiInitStereoDisparityEstimatorCreationParams,vpiInitStereoDisparityEstimatorCreationParams@VPI_1.0");
#endif
VPI_PUBLIC VPIStatus vpiInitStereoDisparityEstimatorCreationParams(VPIStereoDisparityEstimatorCreationParams *params);
 
#if NV_VPI_VERSION_API_IS(1, 0)
__asm__(".symver vpiCreateStereoDisparityEstimator,vpiCreateStereoDisparityEstimator@VPI_1.0");
#endif
VPI_PUBLIC VPIStatus vpiCreateStereoDisparityEstimator(uint32_t backends, int32_t imageWidth, int32_t imageHeight,
                                                       VPIImageFormat inputFormat,
                                                       const VPIStereoDisparityEstimatorCreationParams *params,
                                                       VPIPayload *payload);
 
typedef struct
{
    int32_t windowSize;   
    int32_t maxDisparity; 
#if NV_VPI_VERSION_API_AT_LEAST(1, 1)
    /* Confidence threshold above which disparity values are considered valid.
     * Ranges from 1 to 65280, values outside this range get clamped.
     * Default: 32767
     */
    int32_t confidenceThreshold;
    /* Quality of disparity output.
     * Must be a value between 1 and 8. It's only applicable when using PVA+NVENC backends.
     * Default: 6;
     */
    int32_t quality;
#endif
} VPIStereoDisparityEstimatorParams;
 
VPI_PUBLIC VPIStatus vpiInitStereoDisparityEstimatorParams(VPIStereoDisparityEstimatorParams *params);
 
#if NV_VPI_VERSION_API_IS(1, 0)
__asm__(".symver vpiSubmitStereoDisparityEstimator,vpiSubmitStereoDisparityEstimator@VPI_1.0");
#endif
VPI_PUBLIC VPIStatus vpiSubmitStereoDisparityEstimator(VPIStream stream, uint32_t backend, VPIPayload payload,
                                                       VPIImage left, VPIImage right, VPIImage disparity,
                                                       VPIImage confidenceMap,
                                                       const VPIStereoDisparityEstimatorParams *params);
 
#ifdef __cplusplus
}
#endif
 
#endif /* NV_VPI_ALGORITHMS_STEREO_DISPARITY_H */