This section documents the kernels defined for Stereo.
The DMPAC SDE node itself is available as part of TIOVX.
Data Structures | |
struct | tivx_stereo_cam_params_t |
Stereo camera parameters. More... | |
struct | tivx_stereo_pointcloud_params_t |
Stereo 3D point cloud parameters. More... | |
struct | tivx_sde_disparity_vis_params_t |
Stereo disparity visualization parameters. More... | |
Functions | |
void | tivxStereoLoadKernels (vx_context context) |
Used for the application to load the stereo kernels into the context. More... | |
void | tivxStereoUnLoadKernels (vx_context context) |
Used for the application to unload the stereo kernels from the context. More... | |
void | tivxRegisterStereoTargetArmKernels (void) |
Function to register Stereo Kernels on the ARM Target. More... | |
void | tivxUnRegisterStereoTargetArmKernels (void) |
Function to un-register Stereo Kernels on the ARM Target. More... | |
VX_API_ENTRY vx_node VX_API_CALL | tivxPointCloudCreationNode (vx_graph graph, vx_user_data_object configuration, vx_image input_image, vx_image input_sdedisparity, vx_tensor input_tensor, vx_user_data_object point_cloud_out) |
[Graph] Creates a POINT_CLOUD_CREATION Node. More... | |
VX_API_ENTRY vx_node VX_API_CALL | tivxOccupancyGridDetectionNode (vx_graph graph, vx_user_data_object configuration, vx_user_data_object point_cloud_in, vx_user_data_object bound_box_3d_out) |
[Graph] Creates a OCCUPANCY_GRID_DETECTION Node. More... | |
VX_API_ENTRY vx_node VX_API_CALL | tivxSdeHistogramVisualizeNode (vx_graph graph, vx_distribution histogram, vx_image histogram_image) |
Creates a Stereo Confidence Histogram Visualization node. More... | |
VX_API_ENTRY vx_node VX_API_CALL | tivxSdeTriangulationNode (vx_graph graph, vx_user_data_object stereo_cam_config, vx_user_data_object stereo_pc_config, vx_image rgbImage, vx_image disparity, vx_user_data_object pointcloud) |
Creates a Stereo Triangulation node. More... | |
VX_API_ENTRY vx_node VX_API_CALL | tivxDisparityMergeNode (vx_graph graph, vx_user_data_object configuration, vx_image low_input_disparity, vx_image high_input_disparity, vx_image output_disparity) |
[Graph] Creates a DISPARITY_MERGE Node. More... | |
VX_API_ENTRY vx_node VX_API_CALL | tivxMedianFilterNode (vx_graph graph, vx_user_data_object configuration, vx_image input_disparity, vx_image output_disparity) |
[Graph] Creates a MEDIAN_FILTER Node. More... | |
VX_API_ENTRY vx_node VX_API_CALL | tivxHoleFillingNode (vx_graph graph, vx_user_data_object configuration, vx_image input_disparity) |
[Graph] Creates a HOLE_FILLING Node. More... | |
VX_API_ENTRY vx_node VX_API_CALL | tivxExtractDisparityConfidenceNode (vx_graph graph, vx_image input_sdedisparity, vx_array output_disparity, vx_array output_confidence) |
[Graph] Creates a EXTRACT_DISPARITY_CONFIDENCE Node. More... | |
VX_API_ENTRY vx_node VX_API_CALL | tivxGroundEstimationNode (vx_graph graph, vx_user_data_object configuration, vx_image input_image, vx_image input_sdedisparity, vx_image output_disparity, vx_user_data_object output_ground_model) |
[Graph] Creates a GROUND_ESTIMATION Node. More... | |
VX_API_ENTRY vx_node VX_API_CALL | tivxObstacleDetectionNode (vx_graph graph, vx_user_data_object configuration, vx_image input_image, vx_image input_disparity, vx_user_data_object input_ground_model, vx_array output_obstacle_pos, vx_scalar output_num_obstacles, vx_array output_freespace_boundary, vx_user_data_object output_drivable_space) |
[Graph] Creates a OBSTACLE_DETECTION Node. More... | |
VX_API_ENTRY vx_node VX_API_CALL | tivxSdeDisparityVisualizeNode (vx_graph graph, vx_user_data_object configuration, vx_image disparity, vx_image disparity_rgb) |
Creates a Stereo Disparity Visualization node. More... | |
Typedefs | |
typedef PTK_Alg_StereoAlgo_ObjectDetect_allParams | tivx_obstacle_detection_params_t |
Stereo based obstacle detection parameters. More... | |
typedef PTK_Alg_StereoAlgo_GroundEstimation_allParams | tivx_ground_estimation_params_t |
Stereo based grond plane estimation parameters. More... | |
typedef PTK_Alg_StereoPP_HoleFilling_configParams | tivx_hole_filling_params_t |
Disparity hole filling algorithm parameters. More... | |
typedef PTK_Alg_StereoPP_MedianFilter_configParams | tivx_median_filter_params_t |
Disparity median filtering algorithm parameters. More... | |
typedef PTK_Alg_StereoPP_DisparityMerge_configParams | tivx_disparity_merge_params_t |
Disparity merge algorithm parameters. More... | |
typedef PTK_Alg_StereoAlgo_groundModelParams_Array | tivx_ground_model_params_t |
Ground plane model structure. More... | |
typedef PTK_Alg_StereoAlgo_obsBox | tivx_obstacle_pos_t |
2D bounding box structure More... | |
typedef PTK_Alg_StereoAlgo_driveSpace | tivx_drivable_space_t |
Drivable free space structure. More... | |
typedef PTK_Alg_StereoOG_CreatePCAllParams | tivx_ss_sde_point_cloud_params_t |
Point cloud creation parameters for OG based obstacle detection. More... | |
typedef PTK_Alg_StereoOG_CreateOGAllParams | tivx_ss_sde_og_detection_params_t |
Occupancy Grid based detection configuration parameters. More... | |
typedef PTK_Alg_StereoOG_obs3DBox | tivx_ss_sde_obs_3d_bound_box_t |
3D obstacle bounding box structure More... | |
Macros | |
#define | TIVX_MODULE_NAME_STEREO "stereo" |
OpenVX module name. More... | |
#define | TIVX_KERNEL_SDE_HISTOGRAM_VISUALIZE_NAME "com.ti.stereo.sde_histogram_visualize" |
Kernel Name: Stereo Confidence Histogram Visualization. More... | |
#define | TIVX_KERNEL_SDE_TRIANGULATION_NAME "com.ti.stereo.sde_triangulation" |
Kernel Name: Stereo Triangulation. More... | |
#define TIVX_MODULE_NAME_STEREO "stereo" |
OpenVX module name.
#define TIVX_KERNEL_SDE_HISTOGRAM_VISUALIZE_NAME "com.ti.stereo.sde_histogram_visualize" |
Kernel Name: Stereo Confidence Histogram Visualization.
#define TIVX_KERNEL_SDE_TRIANGULATION_NAME "com.ti.stereo.sde_triangulation" |
Kernel Name: Stereo Triangulation.
typedef PTK_Alg_StereoAlgo_ObjectDetect_allParams tivx_obstacle_detection_params_t |
Stereo based obstacle detection parameters.
Used by tivxObstacleDetectionNode
typedef PTK_Alg_StereoAlgo_GroundEstimation_allParams tivx_ground_estimation_params_t |
Stereo based grond plane estimation parameters.
Used by tivxGroundEstimationNode
typedef PTK_Alg_StereoPP_HoleFilling_configParams tivx_hole_filling_params_t |
Disparity hole filling algorithm parameters.
Used by tivxHoleFillingNode
typedef PTK_Alg_StereoPP_MedianFilter_configParams tivx_median_filter_params_t |
Disparity median filtering algorithm parameters.
Used by tivxMedianFilterNode
typedef PTK_Alg_StereoPP_DisparityMerge_configParams tivx_disparity_merge_params_t |
Disparity merge algorithm parameters.
Used by tivxDisparityMergeNode
typedef PTK_Alg_StereoAlgo_groundModelParams_Array tivx_ground_model_params_t |
Ground plane model structure.
Used by tivxGroundEstimationNode
typedef PTK_Alg_StereoAlgo_obsBox tivx_obstacle_pos_t |
2D bounding box structure
Used by tivxObstacleDetectionNode
typedef PTK_Alg_StereoAlgo_driveSpace tivx_drivable_space_t |
Drivable free space structure.
Used by tivxObstacleDetectionNode
typedef PTK_Alg_StereoOG_CreatePCAllParams tivx_ss_sde_point_cloud_params_t |
Point cloud creation parameters for OG based obstacle detection.
Used by tivxPointCloudCreationNode
typedef PTK_Alg_StereoOG_CreateOGAllParams tivx_ss_sde_og_detection_params_t |
Occupancy Grid based detection configuration parameters.
Used by tivxOccupancyGridDetectionNode
typedef PTK_Alg_StereoOG_obs3DBox tivx_ss_sde_obs_3d_bound_box_t |
3D obstacle bounding box structure
Used by tivxOccupancyGridDetectionNode
void tivxStereoLoadKernels | ( | vx_context | context | ) |
Used for the application to load the stereo kernels into the context.
void tivxStereoUnLoadKernels | ( | vx_context | context | ) |
Used for the application to unload the stereo kernels from the context.
void tivxRegisterStereoTargetArmKernels | ( | void | ) |
Function to register Stereo Kernels on the ARM Target.
void tivxUnRegisterStereoTargetArmKernels | ( | void | ) |
Function to un-register Stereo Kernels on the ARM Target.
VX_API_ENTRY vx_node VX_API_CALL tivxPointCloudCreationNode | ( | vx_graph | graph, |
vx_user_data_object | configuration, | ||
vx_image | input_image, | ||
vx_image | input_sdedisparity, | ||
vx_tensor | input_tensor, | ||
vx_user_data_object | point_cloud_out | ||
) |
[Graph] Creates a POINT_CLOUD_CREATION Node.
[in] | graph | The reference to the graph. |
[in] | configuration | |
[in] | input_image | |
[in] | input_sdedisparity | |
[in] | input_tensor | |
[out] | point_cloud_out |
vx_node
. vx_node | A node reference. Any possible errors preventing a successful creation should be checked using vxGetStatus |
VX_API_ENTRY vx_node VX_API_CALL tivxOccupancyGridDetectionNode | ( | vx_graph | graph, |
vx_user_data_object | configuration, | ||
vx_user_data_object | point_cloud_in, | ||
vx_user_data_object | bound_box_3d_out | ||
) |
[Graph] Creates a OCCUPANCY_GRID_DETECTION Node.
[in] | graph | The reference to the graph. |
[in] | configuration | |
[in] | point_cloud_in | |
[out] | bound_box_3d_out |
vx_node
. vx_node | A node reference. Any possible errors preventing a successful creation should be checked using vxGetStatus |
VX_API_ENTRY vx_node VX_API_CALL tivxSdeHistogramVisualizeNode | ( | vx_graph | graph, |
vx_distribution | histogram, | ||
vx_image | histogram_image | ||
) |
Creates a Stereo Confidence Histogram Visualization node.
[in] | graph | The reference to the graph. |
[in] | histogram | Confidence distribution output from DMPAC SDE node |
[out] | histogram_image | Confidence histogram as U8 grayscale image |
vx_node | A node reference. Any possible errors preventing a successful creation should be checked using vxGetStatus |
VX_API_ENTRY vx_node VX_API_CALL tivxSdeTriangulationNode | ( | vx_graph | graph, |
vx_user_data_object | stereo_cam_config, | ||
vx_user_data_object | stereo_pc_config, | ||
vx_image | rgbImage, | ||
vx_image | disparity, | ||
vx_user_data_object | pointcloud | ||
) |
Creates a Stereo Triangulation node.
[in] | graph | The reference to the graph. |
[in] | stereo_cam_config | Stereo camera configuration. User data object element type tivx_stereo_cam_params_t |
[in] | stereo_pc_config | Stereo pointcloud configuration. User data object element type tivx_stereo_pointcloud_params_t |
[in] | rgbImage | rectified image in RGB, on which disaprity is based |
[in] | disparity | 16-bit disparity output from DMPSC SDE node |
[out] | pointcloud | User data object of 3D points. See tivx_perception_pointcloud_t |
vx_node | A node reference. Any possible errors preventing a successful creation should be checked using vxGetStatus |
VX_API_ENTRY vx_node VX_API_CALL tivxDisparityMergeNode | ( | vx_graph | graph, |
vx_user_data_object | configuration, | ||
vx_image | low_input_disparity, | ||
vx_image | high_input_disparity, | ||
vx_image | output_disparity | ||
) |
[Graph] Creates a DISPARITY_MERGE Node.
[in] | graph | The reference to the graph. |
[in] | configuration | |
[in] | low_input_disparity | |
[in] | high_input_disparity | |
[out] | output_disparity |
TIVX_KERNEL_DISPARITY_MERGE_NAME
vx_node
. vx_node | A node reference. Any possible errors preventing a successful creation should be checked using vxGetStatus |
VX_API_ENTRY vx_node VX_API_CALL tivxMedianFilterNode | ( | vx_graph | graph, |
vx_user_data_object | configuration, | ||
vx_image | input_disparity, | ||
vx_image | output_disparity | ||
) |
[Graph] Creates a MEDIAN_FILTER Node.
[in] | graph | The reference to the graph. |
[in] | configuration | |
[in] | input_disparity | |
[out] | output_disparity |
TIVX_KERNEL_MEDIAN_FILTER_NAME
vx_node
. vx_node | A node reference. Any possible errors preventing a successful creation should be checked using vxGetStatus |
VX_API_ENTRY vx_node VX_API_CALL tivxHoleFillingNode | ( | vx_graph | graph, |
vx_user_data_object | configuration, | ||
vx_image | input_disparity | ||
) |
[Graph] Creates a HOLE_FILLING Node.
[in] | graph | The reference to the graph. |
[in] | configuration | |
[in] | input_disparity |
TIVX_KERNEL_HOLE_FILLING_NAME
vx_node
. vx_node | A node reference. Any possible errors preventing a successful creation should be checked using vxGetStatus |
VX_API_ENTRY vx_node VX_API_CALL tivxExtractDisparityConfidenceNode | ( | vx_graph | graph, |
vx_image | input_sdedisparity, | ||
vx_array | output_disparity, | ||
vx_array | output_confidence | ||
) |
[Graph] Creates a EXTRACT_DISPARITY_CONFIDENCE Node.
[in] | graph | The reference to the graph. |
[in] | input_sdedisparity | |
[out] | output_disparity | |
[out] | output_confidence |
vx_node
. vx_node | A node reference. Any possible errors preventing a successful creation should be checked using vxGetStatus |
VX_API_ENTRY vx_node VX_API_CALL tivxGroundEstimationNode | ( | vx_graph | graph, |
vx_user_data_object | configuration, | ||
vx_image | input_image, | ||
vx_image | input_sdedisparity, | ||
vx_image | output_disparity, | ||
vx_user_data_object | output_ground_model | ||
) |
[Graph] Creates a GROUND_ESTIMATION Node.
[in] | graph | The reference to the graph. |
[in] | configuration | |
[in] | input_image | |
[in] | input_sdedisparity | |
[out] | output_disparity | |
[out] | output_ground_model |
vx_node
. vx_node | A node reference. Any possible errors preventing a successful creation should be checked using vxGetStatus |
VX_API_ENTRY vx_node VX_API_CALL tivxObstacleDetectionNode | ( | vx_graph | graph, |
vx_user_data_object | configuration, | ||
vx_image | input_image, | ||
vx_image | input_disparity, | ||
vx_user_data_object | input_ground_model, | ||
vx_array | output_obstacle_pos, | ||
vx_scalar | output_num_obstacles, | ||
vx_array | output_freespace_boundary, | ||
vx_user_data_object | output_drivable_space | ||
) |
[Graph] Creates a OBSTACLE_DETECTION Node.
[in] | graph | The reference to the graph. |
[in] | configuration | |
[in] | input_image | |
[in] | input_disparity | |
[in] | input_ground_model | |
[out] | output_obstacle_pos | |
[out] | output_num_obstacles | |
[out] | output_freespace_boundary | |
[out] | output_drivable_space |
vx_node
. vx_node | A node reference. Any possible errors preventing a successful creation should be checked using vxGetStatus |
VX_API_ENTRY vx_node VX_API_CALL tivxSdeDisparityVisualizeNode | ( | vx_graph | graph, |
vx_user_data_object | configuration, | ||
vx_image | disparity, | ||
vx_image | disparity_rgb | ||
) |
Creates a Stereo Disparity Visualization node.
[in] | graph | The reference to the graph. |
[in] | configuration | Parameters for the node of. Array element type tivx_stereo_cam_params_t |
[in] | disparity | 16-bit disparity output from DMPAC SDE node |
[out] | disparity_rgb | Disparity map representated as 24 RGB image |
vx_node | A node reference. Any possible errors preventing a successful creation should be checked using vxGetStatus |