Stereo Disparity Estimator

Estimates disparity from a stereo pair. More...

Data Structures
struct	VPIStereoDisparityEstimatorCreationParams
	Structure that defines the parameters for vpiCreateStereoDisparityEstimator. More...
struct	VPIStereoDisparityEstimatorParams
	Structure that defines the parameters for vpiSubmitStereoDisparityEstimator. More...

Functions
VPIStatus	vpiInitStereoDisparityEstimatorCreationParams (VPIStereoDisparityEstimatorCreationParams *params)
	Initializes VPIStereoDisparityEstimatorCreationParams with default values. More...
VPIStatus	vpiCreateStereoDisparityEstimator (uint32_t backends, int32_t imageWidth, int32_t imageHeight, VPIImageFormat inputFormat, const VPIStereoDisparityEstimatorCreationParams *params, VPIPayload *payload)
	Creates payload for vpiSubmitStereoDisparityEstimator. More...
VPIStatus	vpiInitStereoDisparityEstimatorParams (VPIStereoDisparityEstimatorParams *params)
	Initializes VPIStereoDisparityEstimatorParams with default values. More...
VPIStatus	vpiSubmitStereoDisparityEstimator (VPIStream stream, uint32_t backend, VPIPayload payload, VPIImage left, VPIImage right, VPIImage disparity, VPIImage confidenceMap, const VPIStereoDisparityEstimatorParams *params)
	Runs stereo processing on a pair of images and outputs a disparity map. More...

Detailed Description

Estimates disparity from a stereo pair.

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Data Structure Documentation

VPIStereoDisparityEstimatorCreationParams

struct VPIStereoDisparityEstimatorCreationParams

Structure that defines the parameters for vpiCreateStereoDisparityEstimator.

Definition at line 81 of file StereoDisparity.h.

Collaboration diagram for VPIStereoDisparityEstimatorCreationParams:

Data Fields
float	downscaleFactor	Output's downscale factor with respect input's resolution. When using PVA+NVENC backends for high-quality stereo, the allowed values are 1 (no downscale) or 4. Setting it to 4 leads to faster execution speeds as NVENC engine output has 1/4th resolution.
int32_t	maxDisparity	Maximum disparity for matching search.

VPIStereoDisparityEstimatorParams

struct VPIStereoDisparityEstimatorParams

Structure that defines the parameters for vpiSubmitStereoDisparityEstimator.

Definition at line 133 of file StereoDisparity.h.

Collaboration diagram for VPIStereoDisparityEstimatorParams:

Data Fields
int32_t	confidenceThreshold
int32_t	maxDisparity	Maximum disparity for matching search.
int32_t	quality
int32_t	windowSize	Width of Census Transform window for disparity features.

Function Documentation

vpiCreateStereoDisparityEstimator()

VPIStatus vpiCreateStereoDisparityEstimator	(	uint32_t	backends,
		int32_t	imageWidth,
		int32_t	imageHeight,
		VPIImageFormat	inputFormat,
		const VPIStereoDisparityEstimatorCreationParams *	params,
		VPIPayload *	payload
	)

#include <vpi/algo/StereoDisparity.h>

Creates payload for vpiSubmitStereoDisparityEstimator.

Parameters

[in]	backends	VPI backends that are eligible to execute the algorithm. Currently only one backend is accepted.
[in]	imageWidth,imageHeight	Input image dimensions
[in]	inputFormat	Input image format.
[in]	params	Creation parameters. Pass NULL to use defaults.
[out]	payload	Pointer to memory where the created payload handle will be written to.

Returns

an error code on failure else VPI_SUCCESS

vpiInitStereoDisparityEstimatorCreationParams()

VPIStatus vpiInitStereoDisparityEstimatorCreationParams

(

VPIStereoDisparityEstimatorCreationParams *

params

)

#include <vpi/algo/StereoDisparity.h>

Initializes VPIStereoDisparityEstimatorCreationParams with default values.

Defaults:

• maxDisparity: 64
• downscaleFactor = 1;

Parameters

[in]

params

Structure to be filled with default values.

Returns

an error code on failure else VPI_SUCCESS

vpiInitStereoDisparityEstimatorParams()

VPIStatus vpiInitStereoDisparityEstimatorParams

(

VPIStereoDisparityEstimatorParams *

params

)

#include <vpi/algo/StereoDisparity.h>

Initializes VPIStereoDisparityEstimatorParams with default values.

Defaults:

• windowSize: 5
• maxDisparity: 0 (uses disparity set during payload construction)
• confidenceThreshold: 32767
• quality: 6

Parameters

[in]

params

Structure to be filled with default values.

Returns

an error code on failure else VPI_SUCCESS

vpiSubmitStereoDisparityEstimator()

VPIStatus vpiSubmitStereoDisparityEstimator	(	VPIStream	stream,
		uint32_t	backend,
		VPIPayload	payload,
		VPIImage	left,
		VPIImage	right,
		VPIImage	disparity,
		VPIImage	confidenceMap,
		const VPIStereoDisparityEstimatorParams *	params
	)

#include <vpi/algo/StereoDisparity.h>

Runs stereo processing on a pair of images and outputs a disparity map.

Please refer to Limitations and Constraints for information on limitations for some parameters.

Parameters

[in]	stream	The stream where the operation will be queued in.
[in]	backend	Backend that will execute the algorithm. Must be one of the backends specified during payload creation. If 0, VPI will select one of the eligible backends from the payload that accepts the given parameters, usually the fastest one.
[in]	payload	Payload to be submitted along the other parameters.
[in]	left	Left stereo input image.
[in]	right	Right stereo input image.
[out]	disparity	Image where the disparity values will be written to.
[out]	confidenceMap	Must be NULL if using CPU backend, otherwise a confidence map will be generated. Image format must be VPI_IMAGE_FORMAT_U16.
[in]	params	Pointer to algorithm control parameters. If NULL, it'll use the defaults given by vpiInitStereoDisparityEstimatorParams.

Returns

an error code on failure else VPI_SUCCESS