DMPAC SDE Application

Introduction

This application demonstrates J7 LDC (Lens Distortion Correction) and SDE (Stereo Depth Engine) HWAs. This application rectifies left and right inputs using the LDC and the SDE estimates disparity map from the recftified left and right inputs. Two different disparity estimation modes are supported in this application. One is a single-layer SDE mode, which outputs the raw disparity map from the SDE without post processing. The other is a mulit-layer SDE refinement mode, which combines the disparity map from the SDE at different layers with post processings. Up to 3 layers are supported and these are configuarable.

The application makes use of the below application libraries,

1. Applib for SDE (Stereo Depth Engine)
2. Applib for Multi-layer SDE (Stereo Depth Engine) Refinement

Supported plaforms

Platform	Linux x86_64	Linux+RTOS mode	QNX+RTOS mode	SoC
Support	N0	YES	NO	J721e

Data flow

Shown below is the overall application data flow.

Application data flow

Shown below is the data flow of the mulit-layer SDE refinement.

Multi-layer SDE data flow

Steps to run the application

1. Boot the EVM up.
2. Run the following commands:

   source /opt/vision_apps/vision_apps_init.sh
   /opt/vision_apps/run_ptk_demo.sh

   Pick option 8 for DMPAC SDE stereo application

Sample Output

Shown below is the example output by the single-layer SDE.

SDE Output

Shown below is the example output by the multi-layer SDE refinement.

Multi-layer SDE refinement Output