This section documents the kernels defined for Stereo. More...

Data Structures
struct	tivx_stereo_cam_params_t
	Stereo camera parameters. 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...

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	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 sde_config, vx_user_data_object stereo_cam_config, vx_image disparity, vx_user_data_object pointcloud, vx_scalar vis_confidence_threshold)
	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_array output_disparity, vx_user_data_object output_ground_model)
	[Graph] Creates a GROUND_ESTIMATION Node. More...

VX_API_ENTRY vx_node VX_API_CALL	tivxFreespaceDetectionNode (vx_graph graph, vx_user_data_object configuration, vx_image input_image, vx_array input_disparity, vx_user_data_object input_ground_model, vx_array output_freespace_boundary, vx_user_data_object output_drivable_space)
	[Graph] Creates a FREESPACE_DETECTION Node. More...

VX_API_ENTRY vx_node VX_API_CALL	tivxObstacleDetectionNode (vx_graph graph, vx_user_data_object configuration, vx_image input_image, vx_array input_disparity, vx_user_data_object input_ground_model, vx_array output_obstacle_pos, vx_scalar output_num_obstacles)
	[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...

Detailed Description

This section documents the kernels defined for Stereo.

The DMPAC SDE node itself is available as part of TIOVX.

Macro Definition Documentation

◆ TIVX_MODULE_NAME_STEREO

#define TIVX_MODULE_NAME_STEREO "stereo"

OpenVX module name.

◆ TIVX_KERNEL_SDE_HISTOGRAM_VISUALIZE_NAME

#define TIVX_KERNEL_SDE_HISTOGRAM_VISUALIZE_NAME "com.ti.stereo.sde_histogram_visualize"

Kernel Name: Stereo Confidence Histogram Visualization.

◆ TIVX_KERNEL_SDE_TRIANGULATION_NAME

#define TIVX_KERNEL_SDE_TRIANGULATION_NAME "com.ti.stereo.sde_triangulation"

Kernel Name: Stereo Triangulation.

Function Documentation

◆ tivxStereoLoadKernels()

void tivxStereoLoadKernels ( vx_context context )

Used for the application to load the stereo kernels into the context.

◆ tivxStereoUnLoadKernels()

void tivxStereoUnLoadKernels ( vx_context context )

Used for the application to unload the stereo kernels from the context.

◆ tivxRegisterStereoTargetArmKernels()

void tivxRegisterStereoTargetArmKernels ( void )

Function to register Stereo Kernels on the ARM Target.

◆ tivxUnRegisterStereoTargetArmKernels()

void tivxUnRegisterStereoTargetArmKernels ( void )

Function to un-register Stereo Kernels on the ARM Target.

◆ tivxSdeHistogramVisualizeNode()

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.

Parameters

[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

Return values

vx_node A node reference. Any possible errors preventing a successful creation should be checked using vxGetStatus

◆ tivxSdeTriangulationNode()

VX_API_ENTRY vx_node VX_API_CALL tivxSdeTriangulationNode	(	vx_graph	graph,
		vx_user_data_object	sde_config,
		vx_user_data_object	stereo_cam_config,
		vx_image	disparity,
		vx_user_data_object	pointcloud,
		vx_scalar	vis_confidence_threshold
	)

Creates a Stereo Triangulation node.

Parameters

[in]	graph	The reference to the graph.
[in]	sde_config	DMPAC SDE node parameters. User data object element type tivx_dmpac_sde_params_t in TIOVX
[in]	stereo_cam_config	Stereo camera configuration. User data object element type tivx_stereo_cam_params_t
[in]	disparity	16-bit disparity output from DMPSC SDE node
[out]	pointcloud	User data object of 3D points. See tivx_perception_pointcloud_t
[in]	vis_confidence_threshold	Threshold to use when using the output for triangulation, type U8.

Return values

vx_node A node reference. Any possible errors preventing a successful creation should be checked using vxGetStatus

◆ tivxDisparityMergeNode()

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.

Parameters

[in]	graph	The reference to the graph.
[in]	configuration
[in]	low_input_disparity
[in]	high_input_disparity
[out]	output_disparity

See also: TIVX_KERNEL_DISPARITY_MERGE_NAME

Returns: vx_node.

Return values

vx_node A node reference. Any possible errors preventing a successful creation should be checked using vxGetStatus

◆ tivxMedianFilterNode()

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.

Parameters

[in]	graph	The reference to the graph.
[in]	configuration
[in]	input_disparity
[out]	output_disparity

See also: TIVX_KERNEL_MEDIAN_FILTER_NAME

Returns: vx_node.

Return values

vx_node A node reference. Any possible errors preventing a successful creation should be checked using vxGetStatus

◆ tivxHoleFillingNode()

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.

Parameters

[in]	graph	The reference to the graph.
[in]	configuration
[in]	input_disparity

See also: TIVX_KERNEL_HOLE_FILLING_NAME

Returns: vx_node.

Return values

vx_node A node reference. Any possible errors preventing a successful creation should be checked using vxGetStatus

◆ tivxExtractDisparityConfidenceNode()

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.

Parameters

[in]	graph	The reference to the graph.
[in]	input_sdedisparity
[out]	output_disparity
[out]	output_confidence

See also: TIVX_KERNEL_EXTRACT_DISPARITY_CONFIDENCE_NAME

Returns: vx_node.

Return values

vx_node A node reference. Any possible errors preventing a successful creation should be checked using vxGetStatus

◆ tivxGroundEstimationNode()

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_array	output_disparity,
		vx_user_data_object	output_ground_model
	)

[Graph] Creates a GROUND_ESTIMATION Node.

Parameters

[in]	graph	The reference to the graph.
[in]	configuration
[in]	input_image
[in]	input_sdedisparity
[out]	output_disparity
[out]	output_ground_model

See also: TIVX_KERNEL_GROUND_ESTIMATION_NAME

Returns: vx_node.

Return values

vx_node A node reference. Any possible errors preventing a successful creation should be checked using vxGetStatus

◆ tivxFreespaceDetectionNode()

VX_API_ENTRY vx_node VX_API_CALL tivxFreespaceDetectionNode	(	vx_graph	graph,
		vx_user_data_object	configuration,
		vx_image	input_image,
		vx_array	input_disparity,
		vx_user_data_object	input_ground_model,
		vx_array	output_freespace_boundary,
		vx_user_data_object	output_drivable_space
	)

[Graph] Creates a FREESPACE_DETECTION Node.

Parameters

[in]	graph	The reference to the graph.
[in]	configuration
[in]	input_image
[in]	input_disparity
[in]	input_ground_model
[out]	output_freespace_boundary
[out]	output_drivable_space

See also: TIVX_KERNEL_FREESPACE_DETECTION_NAME

Returns: vx_node.

Return values

vx_node A node reference. Any possible errors preventing a successful creation should be checked using vxGetStatus

◆ tivxObstacleDetectionNode()

VX_API_ENTRY vx_node VX_API_CALL tivxObstacleDetectionNode	(	vx_graph	graph,
		vx_user_data_object	configuration,
		vx_image	input_image,
		vx_array	input_disparity,
		vx_user_data_object	input_ground_model,
		vx_array	output_obstacle_pos,
		vx_scalar	output_num_obstacles
	)

[Graph] Creates a OBSTACLE_DETECTION Node.

Parameters

[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

See also: TIVX_KERNEL_OBSTACLE_DETECTION_NAME

Returns: vx_node.

Return values

vx_node A node reference. Any possible errors preventing a successful creation should be checked using vxGetStatus

◆ tivxSdeDisparityVisualizeNode()

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.

Parameters

[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

Return values

vx_node A node reference. Any possible errors preventing a successful creation should be checked using vxGetStatus

Data Structures

Macros

Functions

Detailed Description

Macro Definition Documentation

◆ TIVX_MODULE_NAME_STEREO

◆ TIVX_KERNEL_SDE_HISTOGRAM_VISUALIZE_NAME

◆ TIVX_KERNEL_SDE_TRIANGULATION_NAME

Function Documentation

◆ tivxStereoLoadKernels()

◆ tivxStereoUnLoadKernels()

◆ tivxRegisterStereoTargetArmKernels()

◆ tivxUnRegisterStereoTargetArmKernels()

◆ tivxSdeHistogramVisualizeNode()

◆ tivxSdeTriangulationNode()

◆ tivxDisparityMergeNode()

◆ tivxMedianFilterNode()

◆ tivxHoleFillingNode()

◆ tivxExtractDisparityConfidenceNode()

◆ tivxGroundEstimationNode()

◆ tivxFreespaceDetectionNode()

◆ tivxObstacleDetectionNode()

◆ tivxSdeDisparityVisualizeNode()