retinify::Pipeline Class Reference

A retinify::Pipeline provides an interface for running a stereo matching. More...

#include <pipeline.hpp>

Public Member Functions
	Pipeline () noexcept
	~Pipeline () noexcept
	Pipeline (const Pipeline &)=delete
auto	operator= (const Pipeline &) noexcept -> Pipeline &=delete
	Pipeline (Pipeline &&) noexcept=delete
auto	operator= (Pipeline &&) noexcept -> Pipeline &=delete
auto	Initialize (std::uint32_t imageWidth, std::uint32_t imageHeight, PixelFormat pixelFormat=PixelFormat::RGB8, DepthMode depthMode=DepthMode::ACCURATE, const CalibrationParameters &calibrationParameters=CalibrationParameters{}) noexcept -> Status
	Initializes the stereo matching pipeline with the given image dimensions.
auto	Run (const std::uint8_t *leftImageData, std::size_t leftImageStride, const std::uint8_t *rightImageData, std::size_t rightImageStride, float *disparityData, std::size_t disparityStride) noexcept -> Status
	Executes the stereo matching pipeline using the given left and right image data.
auto	Execute (const std::uint8_t *leftImageData, std::size_t leftImageStride, const std::uint8_t *rightImageData, std::size_t rightImageStride) noexcept -> Status
	Executes the stereo matching pipeline using the given left and right image data.
auto	RetrieveRectifiedLeftImage (std::uint8_t *leftImageData, std::size_t leftImageStride) noexcept -> Status
	Retrieves the rectified left image.
auto	RetrieveRectifiedRightImage (std::uint8_t *rightImageData, std::size_t rightImageStride) noexcept -> Status
	Retrieves the rectified right image.
auto	RetrieveRectifiedImages (std::uint8_t *leftImageData, std::size_t leftImageStride, std::uint8_t *rightImageData, std::size_t rightImageStride) noexcept -> Status
	Retrieves the rectified left and right images.
auto	RetrieveDisparity (float *disparityData, std::size_t disparityStride) noexcept -> Status
	Retrieves the computed disparity map.
auto	RetrieveDepth (float *depthData, std::size_t depthStride) noexcept -> Status
	Retrieves the computed depth map.
auto	RetrievePointCloud (float *pointCloudData, std::size_t pointCloudStride) noexcept -> Status
	Reprojects the computed disparity map to a 3D point cloud.

Detailed Description

A retinify::Pipeline provides an interface for running a stereo matching.

Constructor & Destructor Documentation

Pipeline() [1/3]

retinify::Pipeline::Pipeline ( )

noexcept

~Pipeline()

retinify::Pipeline::~Pipeline ( )

noexcept

Pipeline() [2/3]

retinify::Pipeline::Pipeline ( const Pipeline &  )

delete

Pipeline() [3/3]

retinify::Pipeline::Pipeline ( Pipeline &&  )

deletenoexcept

Member Function Documentation

Execute()

auto retinify::Pipeline::Execute ( const std::uint8_t *  leftImageData, std::size_t  leftImageStride, const std::uint8_t *  rightImageData, std::size_t  rightImageStride  ) -> Status

noexcept

Executes the stereo matching pipeline using the given left and right image data.

Parameters

leftImageData	Pointer to the left image data
leftImageStride	Stride of a row in the left image (in bytes)
rightImageData	Pointer to the right image data
rightImageStride	Stride of a row in the right image (in bytes)

Returns

A Status object that indicates whether the operation was successful

Note

This function must be called after Initialize()

Initialize()

auto retinify::Pipeline::Initialize ( std::uint32_t  imageWidth, std::uint32_t  imageHeight, PixelFormat  pixelFormat = PixelFormat::RGB8, DepthMode  depthMode = DepthMode::ACCURATE, const CalibrationParameters &  calibrationParameters = CalibrationParameters{}  ) -> Status

noexcept

Initializes the stereo matching pipeline with the given image dimensions.

Parameters

imageWidth	Width of the input images (in pixels)
imageHeight	Height of the input images (in pixels)
pixelFormat	The pixel format of the input images
depthMode	The depth mode option for the stereo matching
calibrationParameters	The stereo camera calibration parameters

Returns

A Status object that indicates whether the operation was successful

operator=() [1/2]

auto retinify::Pipeline::operator= ( const Pipeline &  ) -> Pipeline &=delete

deletenoexcept

operator=() [2/2]

auto retinify::Pipeline::operator= ( Pipeline &&  ) -> Pipeline &=delete

deletenoexcept

RetrieveDepth()

auto retinify::Pipeline::RetrieveDepth ( float *  depthData, std::size_t  depthStride  ) -> Status

noexcept

Retrieves the computed depth map.

Parameters

depthData	Pointer to the output buffer for depth data (32-bit float)
depthStride	Stride of a row in the output depth data (in bytes)

Returns

A Status object that indicates whether the operation was successful

Note

This function must be called after Execute()

RetrieveDisparity()

auto retinify::Pipeline::RetrieveDisparity ( float *  disparityData, std::size_t  disparityStride  ) -> Status

noexcept

Retrieves the computed disparity map.

Parameters

disparityData	Pointer to the output buffer for disparity data (32-bit float)
disparityStride	Stride of a row in the output disparity data (in bytes)

Returns

A Status object that indicates whether the operation was successful

Note

This function must be called after Execute()

RetrievePointCloud()

auto retinify::Pipeline::RetrievePointCloud ( float *  pointCloudData, std::size_t  pointCloudStride  ) -> Status

noexcept

Reprojects the computed disparity map to a 3D point cloud.

Parameters

pointCloudData	Pointer to the output buffer for point cloud data (32-bit float, 3 channels)
pointCloudStride	Stride of a row in the output point cloud buffer (in bytes)

Returns

A Status object that indicates whether the operation was successful

Note

This function must be called after Execute()

RetrieveRectifiedImages()

auto retinify::Pipeline::RetrieveRectifiedImages ( std::uint8_t *  leftImageData, std::size_t  leftImageStride, std::uint8_t *  rightImageData, std::size_t  rightImageStride  ) -> Status

noexcept

Retrieves the rectified left and right images.

Parameters

leftImageData	Pointer to the output buffer for left image data (8-bit unsigned char)
leftImageStride	Stride of a row in the output left image data (in bytes)
rightImageData	Pointer to the output buffer for right image data (8-bit unsigned char)
rightImageStride	Stride of a row in the output right image data (in bytes)

Returns

A Status object that indicates whether the operation was successful

Note

This function must be called after Execute()

RetrieveRectifiedLeftImage()

auto retinify::Pipeline::RetrieveRectifiedLeftImage ( std::uint8_t *  leftImageData, std::size_t  leftImageStride  ) -> Status

noexcept

Retrieves the rectified left image.

Parameters

leftImageData	Pointer to the output buffer for left image data (8-bit unsigned char)
leftImageStride	Stride of a row in the output left image data (in bytes)

Returns

A Status object that indicates whether the operation was successful

Note

This function must be called after Execute()

RetrieveRectifiedRightImage()

auto retinify::Pipeline::RetrieveRectifiedRightImage ( std::uint8_t *  rightImageData, std::size_t  rightImageStride  ) -> Status

noexcept

Retrieves the rectified right image.

Parameters

rightImageData	Pointer to the output buffer for right image data (8-bit unsigned char)
rightImageStride	Stride of a row in the output right image data (in bytes)

Returns

A Status object that indicates whether the operation was successful

Note

This function must be called after Execute()

Run()

auto retinify::Pipeline::Run ( const std::uint8_t *  leftImageData, std::size_t  leftImageStride, const std::uint8_t *  rightImageData, std::size_t  rightImageStride, float *  disparityData, std::size_t  disparityStride  ) -> Status

noexcept

Executes the stereo matching pipeline using the given left and right image data.

Parameters

leftImageData	Pointer to the left image data
leftImageStride	Stride of a row in the left image (in bytes)
rightImageData	Pointer to the right image data
rightImageStride	Stride of a row in the right image (in bytes)
disparityData	Pointer to the output buffer for disparity data (32-bit float)
disparityStride	Stride of a row in the output disparity data (in bytes)

Returns

A Status object that indicates whether the operation was successful

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The documentation for this class was generated from the following file:

• /home/runner/work/retinify/retinify/retinify/include/retinify/pipeline.hpp