Introduction

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...

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.

Typedef Documentation

◆ tivx_obstacle_detection_params_t

typedef PTK_Alg_StereoAlgo_ObjectDetect_allParams tivx_obstacle_detection_params_t

Stereo based obstacle detection parameters.

Used by tivxObstacleDetectionNode

◆ tivx_ground_estimation_params_t

typedef PTK_Alg_StereoAlgo_GroundEstimation_allParams tivx_ground_estimation_params_t

Stereo based grond plane estimation parameters.

Used by tivxGroundEstimationNode

◆ tivx_hole_filling_params_t

typedef PTK_Alg_StereoPP_HoleFilling_configParams tivx_hole_filling_params_t

Disparity hole filling algorithm parameters.

Used by tivxHoleFillingNode

◆ tivx_median_filter_params_t

typedef PTK_Alg_StereoPP_MedianFilter_configParams tivx_median_filter_params_t

Disparity median filtering algorithm parameters.

Used by tivxMedianFilterNode

◆ tivx_disparity_merge_params_t

typedef PTK_Alg_StereoPP_DisparityMerge_configParams tivx_disparity_merge_params_t

Disparity merge algorithm parameters.

Used by tivxDisparityMergeNode

◆ tivx_ground_model_params_t

typedef PTK_Alg_StereoAlgo_groundModelParams_Array tivx_ground_model_params_t

Ground plane model structure.

Used by tivxGroundEstimationNode

◆ tivx_obstacle_pos_t

typedef PTK_Alg_StereoAlgo_obsBox tivx_obstacle_pos_t

2D bounding box structure

Used by tivxObstacleDetectionNode

◆ tivx_drivable_space_t

typedef PTK_Alg_StereoAlgo_driveSpace tivx_drivable_space_t

Drivable free space structure.

Used by tivxObstacleDetectionNode

◆ tivx_ss_sde_point_cloud_params_t

typedef PTK_Alg_StereoOG_CreatePCAllParams tivx_ss_sde_point_cloud_params_t

Point cloud creation parameters for OG based obstacle detection.

Used by tivxPointCloudCreationNode

◆ tivx_ss_sde_og_detection_params_t

typedef PTK_Alg_StereoOG_CreateOGAllParams tivx_ss_sde_og_detection_params_t

Occupancy Grid based detection configuration parameters.

Used by tivxOccupancyGridDetectionNode

◆ tivx_ss_sde_obs_3d_bound_box_t

typedef PTK_Alg_StereoOG_obs3DBox tivx_ss_sde_obs_3d_bound_box_t

3D obstacle bounding box structure

Used by tivxOccupancyGridDetectionNode

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.

◆ tivxPointCloudCreationNode()

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.

Parameters

[in]	graph	The reference to the graph.
[in]	configuration
[in]	input_image
[in]	input_sdedisparity
[in]	input_tensor
[out]	point_cloud_out

See also: TIVX_KERNEL_POINT_CLOUD_CREATION_NAME

Returns: vx_node.

Return values

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

◆ tivxOccupancyGridDetectionNode()

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.

Parameters

[in]	graph	The reference to the graph.
[in]	configuration
[in]	point_cloud_in
[out]	bound_box_3d_out

See also: TIVX_KERNEL_OCCUPANCY_GRID_DETECTION_NAME

Returns: vx_node.

Return values

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

◆ 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	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.

Parameters

[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

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_image	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

◆ tivxObstacleDetectionNode()

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.

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
[out]	output_freespace_boundary
[out]	output_drivable_space

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

Introduction

Data Structures

Functions

Typedefs

Macros

Macro Definition Documentation

◆ TIVX_MODULE_NAME_STEREO

◆ TIVX_KERNEL_SDE_HISTOGRAM_VISUALIZE_NAME

◆ TIVX_KERNEL_SDE_TRIANGULATION_NAME

Typedef Documentation

◆ tivx_obstacle_detection_params_t

◆ tivx_ground_estimation_params_t

◆ tivx_hole_filling_params_t

◆ tivx_median_filter_params_t

◆ tivx_disparity_merge_params_t

◆ tivx_ground_model_params_t

◆ tivx_obstacle_pos_t

◆ tivx_drivable_space_t

◆ tivx_ss_sde_point_cloud_params_t

◆ tivx_ss_sde_og_detection_params_t

◆ tivx_ss_sde_obs_3d_bound_box_t

Function Documentation

◆ tivxStereoLoadKernels()

◆ tivxStereoUnLoadKernels()

◆ tivxRegisterStereoTargetArmKernels()

◆ tivxUnRegisterStereoTargetArmKernels()

◆ tivxPointCloudCreationNode()

◆ tivxOccupancyGridDetectionNode()

◆ tivxSdeHistogramVisualizeNode()

◆ tivxSdeTriangulationNode()

◆ tivxDisparityMergeNode()

◆ tivxMedianFilterNode()

◆ tivxHoleFillingNode()

◆ tivxExtractDisparityConfidenceNode()

◆ tivxGroundEstimationNode()

◆ tivxObstacleDetectionNode()

◆ tivxSdeDisparityVisualizeNode()