Detailed Description

Runs the stereo pipeline and computes disparity map.

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...

Data Structure Documentation

◆ dwStereoParams

struct dwStereoParams

Data Fields
uint32_t	height	Input image height.
bool	holesFilling	Specifies whether to fill invalid pixel using assumption on the scene in order to have a map with 100% density.
dwStereoCostType	initType	Specifies the cost type used for initialization.
float32_t	invalidityThreshold	Specifies threshold of invalidity.
uint32_t	levelCount	Number of levels in the pyramid. It must be the same or less than that of the Gaussian pyramid.
uint32_t	levelStop	Level of the pyramid where disparity computation ends. It defines the resolution of the output disparity and confidence maps.
uint32_t	maxDisparityRange	Maximal displacement when searching for corresponding pixels.
bool	occlusionFilling	Specifies whether to fill occluded pixels for 100% density.
bool	occlusionTest	Specifies whether to perform a L/R occlusion test.
uint32_t	occlusionThreshold	Threshold for failing the L/R consistency test (in disparity value).
uint8_t	refinementLevel	Refinement level (0 no refinement, 1-3)
dwStereoSide	side	Side to compute the disparity map of.
uint32_t	width	Input image width (single image).

Macro Definition Documentation

◆ DW_STEREO_SIDE_COUNT

#define DW_STEREO_SIDE_COUNT 2

Definition at line 67 of file Stereo.h.

◆ MAX_ALLOWED_DISPARITY_RANGE

#define MAX_ALLOWED_DISPARITY_RANGE 1024

Definition at line 68 of file Stereo.h.

Typedef Documentation

◆ dwStereoHandle_t

typedef struct dwStereoObject* dwStereoHandle_t

A pointer to the handle representing a stereo algorithm.

This object allows the computation of a disparity map given two rectified stereo images

Definition at line 65 of file Stereo.h.

◆ dwStereoRectifierHandle_t

typedef struct dwStereoRectifierObject* dwStereoRectifierHandle_t

A pointer to the handle representing a stereo rectifier.

This object allows the rectification of two stereo images based on calibration matrices

Definition at line 347 of file Stereo.h.

Enumeration Type Documentation

◆ dwStereoCostType

enum dwStereoCostType

Cost types for matching.

Enumerator
DW_STEREO_COST_AD	Absolute difference.
DW_STEREO_COST_NCC	Normalised cross correlation.
DW_STEREO_COST_SAD	Sum of absolute differences.
DW_STEREO_COST_CENSUS	Census transform.
DW_STEREO_COST_ADCENSUS	Absolute difference and census.

Definition at line 85 of file Stereo.h.

◆ dwStereoRectifierCrop

enum dwStereoRectifierCrop

Cropping.

Enumerator
DW_STEREO_RECTIFIER_UNCHANGED	No scaling, keeps output of rectifier.
DW_STEREO_RECTIFIER_CROP	Crops to inner valid rectangle.

Definition at line 352 of file Stereo.h.

◆ dwStereoSide

enum dwStereoSide

Side.

Enumerator
DW_STEREO_SIDE_LEFT	Left.
DW_STEREO_SIDE_RIGHT	Right.
DW_STEREO_SIDE_BOTH	Both sides.

Definition at line 73 of file Stereo.h.

Function Documentation

◆ dwStereo_computeDisparity()

DW_API_PUBLIC dwStatus dwStereo_computeDisparity	(	const dwPyramidImage *	leftPyramid,
		const dwPyramidImage *	rightPyramid,
		dwStereoHandle_t	obj
	)

Computes the disparity map given the two rectified views.

Parameters

[in]	leftPyramid	The left 8 bit rectified image pyramid.
[in]	rightPyramid	The left 8 bit rectified image pyramid.
[in]	obj	The stereo algorithm handle.

Returns: DW_CUDA_ERROR - if the underlying stereo algorithm had a CUDA error.
DW_INVALID_HANDLE - if given handle is not valid, i.e. null or of wrong type .
DW_SUCCESS

◆ dwStereo_getConfidence()

DW_API_PUBLIC dwStatus dwStereo_getConfidence	(	const dwImageCUDA **	confidenceMap,
		dwStereoSide	side,
		dwStereoHandle_t	obj
	)

Returns the confidence map for a specified side.

Requires dwStereo_computeDisparity() to be done first

Parameters

[out]	confidenceMap	A 2D matrix containing confidence values in 8 bit.
[in]	side	The side, either DW_STEREO_SIDE_LEFT or DW_STEREO_SIDE_RIGHT
[in]	obj	The stereo algorithm handle.

Returns: DW_CUDA_ERROR - if the underlying stereo algorithm had a CUDA error.
DW_INVALID_HANDLE - if given handle is not valid, i.e. null or of wrong type .
DW_INVALID_ARGUMENT - if the input images have a mismatching attribute
DW_SUCCESS

◆ dwStereo_getCUDAStream()

DW_API_PUBLIC dwStatus dwStereo_getCUDAStream	(	cudaStream_t *	stream,
		dwStereoHandle_t	obj
	)

Gets CUDA stream used by the stereo algorithm.

Parameters

[out]	stream	The CUDA stream currently used by the stereo algorithm.
[in]	obj	The stereo algorithm handle.

Returns: DW_INVALID_HANDLE if the given context handle is invalid, i.e. null or of wrong type
or DW_SUCCESS otherwise.

◆ dwStereo_getDisparity()

DW_API_PUBLIC dwStatus dwStereo_getDisparity	(	const dwImageCUDA **	disparityMap,
		dwStereoSide	side,
		dwStereoHandle_t	obj
	)

Returns the disparity map for a specified side.

Requires dwStereo_computeDisparity() to be done first

Parameters

[out]	disparityMap	A 2D matrix containing disparity values in 8 bit.
[in]	side	The side, either DW_STEREO_SIDE_LEFT or DW_STEREO_SIDE_RIGHT
[in]	obj	The stereo algorithm handle.

Returns: DW_CUDA_ERROR - if the underlying stereo algorithm had a CUDA error.
DW_INVALID_HANDLE - if given handle is not valid, i.e. null or of wrong type .
DW_INVALID_ARGUMENT - if the input images have a mismatching attribute
DW_SUCCESS

◆ dwStereo_getSize()

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.

Parameters

[out]	dispWidth	with of the image.
[out]	dispHeight	height of the image.
[in]	gLevel	level of the pyramid.
[in]	obj	The stereo algorithm handle.

Returns: DW_SUCCESS

◆ dwStereo_initialize()

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.

Parameters

[out]	obj	A pointer to the stereo algorithm.
[in]	width	The width of one input image.
[in]	height	The height of one input image.
[in]	stereoParams	A pointer to the configuration of the stereo algorithm.
[in]	ctx	the handle to DW context.

Returns: DW_CUDA_ERROR - if the underlying stereo algorithm had a CUDA error.
DW_INVALID_HANDLE - if given handle is not valid, i.e. null or of wrong type .
DW_SUCCESS

◆ dwStereo_initParams()

DW_API_PUBLIC dwStatus dwStereo_initParams ( dwStereoParams * stereoParams )

Initializes the stereo parameters.

Parameters

[out] stereoParams Parameters to be initialised with default values.

Returns: DW_INVALID_HANDLE - if given handle is not valid, i.e. null or of wrong type .
DW_SUCCESS

◆ dwStereo_release()

DW_API_PUBLIC dwStatus dwStereo_release ( dwStereoHandle_t obj )

Releases the stereo algorithm.

This method releases all resources associated with a stereo algorithm.

Note: This method renders the handle unusable.

Parameters

[in] obj The object handle to be released.

Returns: DW_SUCCESS
DW_INVALID_HANDLE - If the given context handle is invalid,i.e. null or of wrong type
DW_BAD_CAST

◆ dwStereo_reset()

DW_API_PUBLIC dwStatus dwStereo_reset ( dwStereoHandle_t obj )

Resets the Stereo module.

Parameters

[in] obj Specifies the stereo handle to reset.

Returns: DW_SUCCESS
DW_INVALID_HANDLE - If the given context handle is invalid,i.e. null or of wrong type
DW_BAD_CAST

◆ dwStereo_setCUDAStream()

DW_API_PUBLIC dwStatus dwStereo_setCUDAStream	(	cudaStream_t	stream,
		dwStereoHandle_t	obj
	)

Sets CUDA stream used by the stereo algorithm.

Parameters

[in]	stream	The CUDA stream.
[in]	obj	The stereo algorithm handle.

Returns: DW_INVALID_HANDLE if the given context handle is invalid,i.e. null or of wrong type
or DW_SUCCESS otherwise.

◆ dwStereo_setInfill()

DW_API_PUBLIC dwStatus dwStereo_setInfill	(	bool	doInfill,
		dwStereoHandle_t	obj
	)

Set invalid infill on/off.

Parameters

[in]	doInfill	a bool to activate test.
[in]	obj	The stereo algorithm handle.

Returns: DW_SUCCESS

◆ dwStereo_setInvalidThreshold()

DW_API_PUBLIC dwStatus dwStereo_setInvalidThreshold	(	float32_t	threshold,
		dwStereoHandle_t	obj
	)

Set invalidity threshold.

Parameters

[in]	threshold	a float value for invalidity
[in]	obj	The stereo algorithm handle.

Returns: DW_SUCCESS

◆ dwStereo_setOcclusionInfill()

DW_API_PUBLIC dwStatus dwStereo_setOcclusionInfill	(	bool	doInfill,
		dwStereoHandle_t	obj
	)

Set occlusion infill on/off.

Parameters

[in]	doInfill	a bool to activate test.
[in]	obj	The stereo algorithm handle.

Returns: DW_SUCCESS

◆ dwStereo_setOcclusionTest()

DW_API_PUBLIC dwStatus dwStereo_setOcclusionTest	(	bool	doTest,
		dwStereoHandle_t	obj
	)

Set occlusion test on/off.

Parameters

[in]	doTest	a bool to activate test.
[in]	obj	The stereo algorithm handle.

Returns: DW_SUCCESS

◆ dwStereo_setRefinementLevel()

DW_API_PUBLIC dwStatus dwStereo_setRefinementLevel	(	uint8_t	refinementLvl,
		dwStereoHandle_t	obj
	)

Sets the refinement level of the ongoing stereo algorithm.

Parameters

[in]	refinementLvl	the refinement level between 0 and 6.
[in]	obj	The stereo algorithm handle.

Returns: DW_CUDA_ERROR - if the underlying stereo algorithm had a CUDA error.
DW_INVALID_HANDLE - if given handle is not valid, i.e. null or of wrong type .
DW_INVALID_ARGUMENT - if the input images have a mismatching attribute
DW_SUCCESS

◆ dwStereoRectifier_getCropROI()

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.

It is used for cropping

Parameters

[out]	roi	Pointer to a 2D box defining the roi to crop.
[in]	obj	A pointer to the rectifier handle.

Returns: DW_INVALID_HANDLE - if given handle is not valid, i.e. null or of wrong type .
DW_SUCCESS

◆ dwStereoRectifier_getProjectionMatrix()

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.

Parameters

[out]	projectionMat	Pointer to a dwMatrix3x4f.
[in]	side	The stereo side
[in]	obj	A pointer to the rectifier handle.

Returns: DW_INVALID_HANDLE - if given handle is not valid, i.e. null or of wrong type .
DW_SUCCESS

◆ dwStereoRectifier_getRectificationMatrix()

DW_API_PUBLIC dwStatus dwStereoRectifier_getRectificationMatrix	(	dwMatrix3f *	rRectMat,
		dwStereoSide	side,
		dwStereoRectifierHandle_t	obj
	)

Returns a 3x3 rotation matrix for the side specified.

The matrix sends epipoles to infinity

Parameters

[out]	rRectMat	Pointer to a dwMatrix3f.
[in]	side	The stereo side
[in]	obj	A pointer to the rectifier handle.

Returns: DW_INVALID_HANDLE - if given handle is not valid, i.e. null or of wrong type .
DW_SUCCESS

◆ dwStereoRectifier_getReprojectionMatrix()

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.

Parameters

[out]	qMatrix	Pointer to a dwMatrix4f.
[in]	obj	A pointer to the rectifier handle.

Returns: DW_INVALID_HANDLE - if given handle is not valid, i.e. null or of wrong type .
DW_SUCCESS

◆ dwStereoRectifier_initialize()

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.

Parameters

[out]	obj	A pointer to the stereo rectifier.
[in]	cameraLeft	a handle to the calibrated camera of the left eye.
[in]	cameraRight	a handle to the calibrated camera of the right eye.
[in]	leftToRig	the extrinsic matrix from letf camera to rig centre (usually the left camera itself).
[in]	rightToRig	the extrinsic matrix from right camera to rig centre.
[in]	ctx	A handle to DW context.

Returns: DW_CUDA_ERROR - if the underlying rectifier had a CUDA error during initialization.
DW_INVALID_HANDLE - if given handle is not valid, i.e. null or of wrong type .
DW_SUCCESS

◆ dwStereoRectifier_rectify()

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.

Parameters

[out]	outputImageLeft	Pointer to the output left image.
[out]	outputImageRight	Pointer to the output right image.
[in]	inputImageLeft	Pointer to the left input image.
[in]	inputImageRight	Pointer to the right input image.
[in]	obj	A pointer to the rectifier handle.

Returns: DW_CUDA_ERROR - if the underlying stereo algorithm had a CUDA error.
DW_INVALID_HANDLE - if given handle is not valid, i.e. null or of wrong type .
DW_SUCCESS

◆ dwStereoRectifier_release()

DW_API_PUBLIC dwStatus dwStereoRectifier_release ( dwStereoRectifierHandle_t obj )

Releases the stereo rectifier.

Parameters

[in] obj The stereo algorithm.

Returns: DW_INVALID_HANDLE - if given handle is not valid, i.e. null or of wrong type .
DW_SUCCESS

Detailed Description

Data Structures

Macros

Typedefs

Enumerations

Functions

Data Structure Documentation

◆ dwStereoParams

Macro Definition Documentation

◆ DW_STEREO_SIDE_COUNT

◆ MAX_ALLOWED_DISPARITY_RANGE

Typedef Documentation

◆ dwStereoHandle_t

◆ dwStereoRectifierHandle_t

Enumeration Type Documentation

◆ dwStereoCostType

◆ dwStereoRectifierCrop

◆ dwStereoSide

Function Documentation

◆ dwStereo_computeDisparity()

◆ dwStereo_getConfidence()

◆ dwStereo_getCUDAStream()

◆ dwStereo_getDisparity()

◆ dwStereo_getSize()

◆ dwStereo_initialize()

◆ dwStereo_initParams()

◆ dwStereo_release()

◆ dwStereo_reset()

◆ dwStereo_setCUDAStream()

◆ dwStereo_setInfill()

◆ dwStereo_setInvalidThreshold()

◆ dwStereo_setOcclusionInfill()

◆ dwStereo_setOcclusionTest()

◆ dwStereo_setRefinementLevel()

◆ dwStereoRectifier_getCropROI()

◆ dwStereoRectifier_getProjectionMatrix()

◆ dwStereoRectifier_getRectificationMatrix()

◆ dwStereoRectifier_getReprojectionMatrix()

◆ dwStereoRectifier_initialize()

◆ dwStereoRectifier_rectify()

◆ dwStereoRectifier_release()