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 gray scale left+right pair images in .png file format. 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 .png format.
Supported plaforms
Platform | Linux x86_64 | Linux+RTOS mode | QNX+RTOS mode | SoC |
Support | YES | YES | YES | J721e |
Data flow
Steps to run the application on J721e EVM
- Build the application and related libraries as mentioned in Build Instructions for Linux+TI-RTOS mode
- A sample "app_stereo.cfg" for Stereo Depth is provided under "/opt/vision_apps/" on the rootfs partition. Update paths and other fields if necessary.
- Run the app as shown below
cd /opt/vision_apps
source ./vision_apps_init.sh
./run_app_stereo.sh
- Output will be sent to display.
Steps to run the application on PC Linux x86_64
- Build the application and related libraries as mentioned in Build Instructions for PC emulation mode
- A sample "app.cfg" for Stereo Depth is provided under "${PSDKR_PATH}/vision_apps/apps/basic_demos/app_stereo/config" folder.Update paths and other fields if necessary.
- 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
- Output will be generated as .bmp files in the "output_file_path" folder specified in app.cfg
- 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 J721e EVM