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;
 
    int32_t downscaleFactor;
 
} VPIStereoDisparityEstimatorCreationParams;
 
VPI_PUBLIC VPIStatus vpiInitStereoDisparityEstimatorCreationParams(VPIStereoDisparityEstimatorCreationParams *params);
 
VPI_PUBLIC VPIStatus vpiCreateStereoDisparityEstimator(uint64_t backends, int32_t imageWidth, int32_t imageHeight,
                                                       VPIImageFormat inputFormat,
                                                       const VPIStereoDisparityEstimatorCreationParams *params,
                                                       VPIPayload *payload);
 
typedef struct
{
    int32_t windowSize;
 
    int32_t maxDisparity;
 
    /* Confidence threshold above which disparity values are considered valid.
     * Only used in CUDA, PVA+NVENC+VIC, and OFA+PVA+VIC backends.
     * + Ranges from 1 to 65280, values outside this range get clamped. */
    int32_t confidenceThreshold;
 
    /* Quality of disparity output.
     * It's only applicable when using PVA+NVENC+VIC backend.
     * The higher the value, better the quality and possibly slower perf.
     * + Must be a value between 1 and 8. */
    int32_t quality;
 
} VPIStereoDisparityEstimatorParams;
 
VPI_PUBLIC VPIStatus vpiInitStereoDisparityEstimatorParams(VPIStereoDisparityEstimatorParams *params);
 
VPI_PUBLIC VPIStatus vpiSubmitStereoDisparityEstimator(VPIStream stream, uint64_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 */