Stereo Disparity Application

Table of Contents

• Introduction
• Supported plaforms
• Data flow
• Steps to run the application on J7 EVM
• Steps to run the application on PC Linux x86_64
• Sample Output

Introduction

This application shows a demo of the TI Stereo Disparity Engine (SDE) hardware accelerator (HWA). The demo takes as input a sequence of input 8b or 16b gray scale left+right pair images in .bmp file format for 8b and raw .bin file format for 16b. Each pair of frames is run through Stereo Disparity OpenVX node. The stereo disparity map computed by SDE node are mapped based on a color palatte and output to files in .bmp format.

Supported plaforms

Platform	Linux x86_64	Linux+RTOS mode	QNX+RTOS mode	SoC
Support	YES	YES	YES	J721e / J721S2 / J784S4

Data flow

Steps to run the application on J7 EVM

1. Build the application and related libraries as mentioned in Build Instructions for Linux+RTOS mode
2. A sample "app_stereo.cfg" for Stereo Depth with 8b input is provided under "/opt/vision_apps/" on the rootfs partition. Update paths and other fields if necessary.
3. A sample "app_stereo_16bit.cfg" for Stereo Depth with 16b input is provided under "/opt/vision_apps/" on the rootfs partition. Update paths and other fields if necessary.
4. For 8b input, run the app as shown below

   cd /opt/vision_apps
   source ./vision_apps_init.sh
   ./run_app_stereo.sh

5. For 16b input, run the app as shown below

   cd /opt/vision_apps
   source ./vision_apps_init.sh
   ./run_app_stereo_16bit.sh

6. Output will be sent to display.

Steps to run the application on PC Linux x86_64

1. Build the application and related libraries as mentioned in Build Instructions for PC emulation mode
2. A sample "app.cfg" for Stereo Depth with 8b input is provided under "${PSDKR_PATH}/vision_apps/apps/basic_demos/app_stereo/config" folder.Update paths and other fields if necessary.
3. A sample "app_16bit.cfg" for Stereo Depth with 16b input is provided under "${PSDKR_PATH}/vision_apps/apps/basic_demos/app_stereo/config" folder.Update paths and other fields if necessary.
4. For 8b input, run the app as shown below

   cd ${PSDKR_PATH}/vision_apps/out/PC/x86_64/LINUX/$PROFILE/
   ./vx_app_stereo_depth --cfg ${PSDKR_PATH}/vision_apps/apps/basic_demos/app_stereo/config/app.cfg

5. For 16b input, run the app as shown below

   cd ${PSDKR_PATH}/vision_apps/out/PC/x86_64/LINUX/$PROFILE/
   ./vx_app_stereo_depth --cfg ${PSDKR_PATH}/vision_apps/apps/basic_demos/app_stereo/config/app_16bit.cfg

6. Output will be generated as .bmp files in the "output_file_path" folder specified in app.cfg or app_16bit.cfg.
7. View the output images in any image viewer

Sample Output

Shown below is a example input and its corresponding output

Left Input

Right Input

Output Stereo Disparity Map

Output Disparity Histogram Map

Shown below is a sample display on J7 EVM