visionworks_demo

nvSGMSample.cpp

#include <VX/vx.h>
#include <VX/vxu.h>
#include <NVX/nvx.h>
#include <opencv2/core.hpp>
#include <iostream>

#define VX_SAFE_CALL(vxOp) \
    do \
        { \
        vx_status status = (vxOp); \
        if(status != VX_SUCCESS) \
                { \
            std::cout << " failure [status = " << status << "]" << " in file " << __FILE__ << " line " << __LINE__ << std::endl; \
                } \
        } while (0)

#define VX_ASSERT(cond) \
    do \
        { \
        bool status = (cond); \
        if (!status) \
                { \
            std::cout << " failure in file " << __FILE__ << " line " << __LINE__ << std::endl; \
                } \
        } while (0)

struct SGMParams
{
    // disparity range
    vx_int32 min_disparity;
    vx_int32 max_disparity;

    // discontinuity penalties
    vx_int32 P1;
    vx_int32 P2;

    // SAD window size
    vx_int32 sad;

    // BT-cost clip value
    vx_int32 bt_clip_value;

    // validation threshold
    vx_int32 max_diff;
    vx_int32 uniqueness_ratio;

    vx_enum scanlines_mask;
};

int main(int argc, char *argv[])
{
    vx_context context    = vxCreateContext();
    vx_uint32 width       = 1920;
    vx_uint32 height      = 1080;
    vx_image vx_left      = vxCreateImage(context, width, height, VX_DF_IMAGE_U8);
    vx_image vx_right     = vxCreateImage(context, width, height, VX_DF_IMAGE_U8);
    vx_image vx_disparity = vxCreateImage(context, width, height, VX_DF_IMAGE_S16);

    SGMParams params;
    params.min_disparity    = 0;
    params.max_disparity    = 64;
    params.P1               = 8;
    params.P2               = 109;
    params.sad              = 5;
    params.bt_clip_value    = 31;
    params.max_diff         = 32000;
    params.uniqueness_ratio = 0;
    params.scanlines_mask   = 255;

    double f = 1000.0f / cv::getTickFrequency();
    int64 start = 0, end = 0;
    double time = 0.0;
    const int loop_num = 5;

    for (int i = 0; i <= loop_num; i++){
        start = cv::getTickCount();

        vx_status status = nvxuSemiGlobalMatching(
            context,
            vx_left,
            vx_right,
            vx_disparity,
            params.min_disparity,
            params.max_disparity,
            params.P1,
            params.P2,
            params.sad,
            params.bt_clip_value,
            params.max_diff,
            params.uniqueness_ratio,
            params.scanlines_mask);

        end = cv::getTickCount();
        time += (i > 0) ? ((end - start) * f) : 0;

        if (status != VX_SUCCESS){
            goto error;
        }
    }
    time /= loop_num;

    std::cout << "time: " << time << " ms." << std::endl;

error:
    VX_SAFE_CALL(vxReleaseImage(&vx_left));
    VX_SAFE_CALL(vxReleaseImage(&vx_right));
    VX_SAFE_CALL(vxReleaseImage(&vx_disparity));
    VX_SAFE_CALL(vxReleaseContext(&context));
}