Optisense (stereosense and flowsense)

Two sample applications, stereosense and flowsense, are part of Optisense apps. These applications demonstrate an end-to-end pipeline implementation of OFA use cases, which involve pre-processing and post-processing modules along with OFA HW processing. The post-processing and pre-processing modules of these sample applications are implemented on CPU, which can be later ported on HW modules like 2D, Cuda.

stereosense – The test application demonstrates stereo pipeline. stereosense reads the Left View, Right View YUV files, and performs stereo matching on input stereo pairs. The disparity output is post-processed with median filtering, nearest neighbor up-sampling, and left-right consistency checks.

The output stereo disparity format is fixed signed 10.5 and range of disparity is fixed to [0, 127] or [0, 255]. Divide the output values by 32 to get a disparity value in pixels.

flowsense – The test application demonstrates the optical flow pipeline. flowsense reads the input YUV file and performs optical flow estimation on the input YUV file. flowsense generates flow map for input frames provided and post-processes the flow output with median filtering and nearest neighbor up-sampling.

Application generates an image pyramid of input and reference frames, which is provided as input to OFA HW.