Stereo.h File Reference

Detailed Description

NVIDIA DriveWorks API: Stereo Methods

Description: This file defines stereo disparity computation methods.

Definition in file Stereo.h.

Go to the source code of this file.

Data Structures
struct	dwStereoParams
	Configuration parameters for a Stereo algorithm. More...

Macros
#define	DW_STEREO_SIDE_COUNT   2
#define	MAX_ALLOWED_DISPARITY_RANGE   1024

Typedefs
typedef struct dwStereoObject *	dwStereoHandle_t
	A pointer to the handle representing a stereo algorithm. More...
typedef struct dwStereoRectifierObject *	dwStereoRectifierHandle_t
	A pointer to the handle representing a stereo rectifier. More...

Enumerations
enum	dwStereoCostType {   DW_STEREO_COST_AD ,   DW_STEREO_COST_NCC ,   DW_STEREO_COST_SAD ,   DW_STEREO_COST_CENSUS ,   DW_STEREO_COST_ADCENSUS }
	Cost types for matching. More...
enum	dwStereoRectifierCrop {   DW_STEREO_RECTIFIER_UNCHANGED ,   DW_STEREO_RECTIFIER_CROP }
	Cropping. More...
enum	dwStereoSide {   DW_STEREO_SIDE_LEFT = 0 ,   DW_STEREO_SIDE_RIGHT ,   DW_STEREO_SIDE_BOTH }
	Side. More...

Functions
DW_API_PUBLIC dwStatus	dwStereo_computeDisparity (const dwPyramidImage *leftPyramid, const dwPyramidImage *rightPyramid, dwStereoHandle_t obj)
	Computes the disparity map given the two rectified views. More...
DW_API_PUBLIC dwStatus	dwStereo_getConfidence (const dwImageCUDA **confidenceMap, dwStereoSide side, dwStereoHandle_t obj)
	Returns the confidence map for a specified side. More...
DW_API_PUBLIC dwStatus	dwStereo_getCUDAStream (cudaStream_t *stream, dwStereoHandle_t obj)
	Gets CUDA stream used by the stereo algorithm. More...
DW_API_PUBLIC dwStatus	dwStereo_getDisparity (const dwImageCUDA **disparityMap, dwStereoSide side, dwStereoHandle_t obj)
	Returns the disparity map for a specified side. More...
DW_API_PUBLIC dwStatus	dwStereo_getSize (uint32_t *dispWidth, uint32_t *dispHeight, uint32_t gLevel, dwStereoHandle_t obj)
	Get size of image at a certain level. More...
DW_API_PUBLIC dwStatus	dwStereo_initialize (dwStereoHandle_t *obj, uint32_t width, uint32_t height, const dwStereoParams *stereoParams, dwContextHandle_t ctx)
	Initializes the stereo algorithm with the parameters. More...
DW_API_PUBLIC dwStatus	dwStereo_initParams (dwStereoParams *stereoParams)
	Initializes the stereo parameters. More...
DW_API_PUBLIC dwStatus	dwStereo_release (dwStereoHandle_t obj)
	Releases the stereo algorithm. More...
DW_API_PUBLIC dwStatus	dwStereo_reset (dwStereoHandle_t obj)
	Resets the Stereo module. More...
DW_API_PUBLIC dwStatus	dwStereo_setCUDAStream (cudaStream_t stream, dwStereoHandle_t obj)
	Sets CUDA stream used by the stereo algorithm. More...
DW_API_PUBLIC dwStatus	dwStereo_setInfill (bool doInfill, dwStereoHandle_t obj)
	Set invalid infill on/off. More...
DW_API_PUBLIC dwStatus	dwStereo_setInvalidThreshold (float32_t threshold, dwStereoHandle_t obj)
	Set invalidity threshold. More...
DW_API_PUBLIC dwStatus	dwStereo_setOcclusionInfill (bool doInfill, dwStereoHandle_t obj)
	Set occlusion infill on/off. More...
DW_API_PUBLIC dwStatus	dwStereo_setOcclusionTest (bool doTest, dwStereoHandle_t obj)
	Set occlusion test on/off. More...
DW_API_PUBLIC dwStatus	dwStereo_setRefinementLevel (uint8_t refinementLvl, dwStereoHandle_t obj)
	Sets the refinement level of the ongoing stereo algorithm. More...
DW_API_PUBLIC dwStatus	dwStereoRectifier_getCropROI (dwBox2D *roi, dwStereoRectifierHandle_t obj)
	Returns a rectangle which is the roi where all valid pixels after undistortion and rectification are. More...
DW_API_PUBLIC dwStatus	dwStereoRectifier_getProjectionMatrix (dwMatrix34f *projectionMat, dwStereoSide side, dwStereoRectifierHandle_t obj)
	Returns a 3x4 projection matrix for the side specified of the form: P_left = M_rect_left*[I|0] P_right = M_rict_right*[I|Tx] with M the rectified intrinsics matrix and Tx the baseline. More...
DW_API_PUBLIC dwStatus	dwStereoRectifier_getRectificationMatrix (dwMatrix3f *rRectMat, dwStereoSide side, dwStereoRectifierHandle_t obj)
	Returns a 3x3 rotation matrix for the side specified. More...
DW_API_PUBLIC dwStatus	dwStereoRectifier_getReprojectionMatrix (dwMatrix4f *qMatrix, dwStereoRectifierHandle_t obj)
	Returns a 4x4 reprojetion matrix of the form 1, 0, 0, -Cx Q = 0, 1, 0, -Cy 0, 0, 0, foc 0, 0,-1/Tx, (Cx - C'x)/Tx. More...
DW_API_PUBLIC dwStatus	dwStereoRectifier_initialize (dwStereoRectifierHandle_t *obj, dwCameraModelHandle_t cameraLeft, dwCameraModelHandle_t cameraRight, dwTransformation3f leftToRig, dwTransformation3f rightToRig, dwContextHandle_t ctx)
	Initializes the stereo rectifier. More...
DW_API_PUBLIC dwStatus	dwStereoRectifier_rectify (dwImageCUDA *outputImageLeft, dwImageCUDA *outputImageRight, const dwImageCUDA *inputImageLeft, const dwImageCUDA *inputImageRight, dwStereoRectifierHandle_t obj)
	Rectifies two images acquired by a stereo rig, epipolar lines will be parallel. More...
DW_API_PUBLIC dwStatus	dwStereoRectifier_release (dwStereoRectifierHandle_t obj)
	Releases the stereo rectifier. More...