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SensuiYagi merged 2 commits into from
Feb 4, 2026
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Improve README and C++ documentation formatting #164

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fd08999
docs: improve formatting and enhance content in README and C++ docume…
SensuiYagi Feb 4, 2026
eeff11e
docs: update wording for calibration parameters specification in README
SensuiYagi Feb 4, 2026
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17 changes: 11 additions & 6 deletions README.md
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Original file line number Diff line number Diff line change
Expand Up @@ -129,8 +129,10 @@ retinify::Pipeline pipeline;
pipeline.Initialize(leftImage.cols, leftImage.rows);

// EXECUTE STEREO MATCHING
pipeline.Execute(leftImage.ptr<uint8_t>(), leftImage.step[0],
rightImage.ptr<uint8_t>(), rightImage.step[0]);
pipeline.Execute(leftImage.ptr<uint8_t>(),
leftImage.step[0],
rightImage.ptr<uint8_t>(),
rightImage.step[0]);

// RETRIEVE DISPARITY
pipeline.RetrieveDisparity(disparity.ptr<float>(), disparity.step[0]);
Expand Down Expand Up @@ -164,14 +166,17 @@ retinify::LoadCalibrationParameters("path/to/calib.json", calibParams);
retinify::Pipeline pipeline;

// INITIALIZE THE PIPELINE WITH CALIBRATION PARAMETERS
pipeline.Initialize(leftImage.cols, leftImage.rows,
pipeline.Initialize(leftImage.cols,
leftImage.rows,
retinify::PixelFormat::RGB8,
retinify::DepthMode::ACCURATE,
calibParams);

// EXECUTE STEREO MATCHING
pipeline.Execute(leftImage.ptr<uint8_t>(), leftImage.step[0],
rightImage.ptr<uint8_t>(), rightImage.step[0]);
pipeline.Execute(leftImage.ptr<uint8_t>(),
leftImage.step[0],
rightImage.ptr<uint8_t>(),
rightImage.step[0]);

// RETRIEVE DISPARITY
pipeline.RetrieveDisparity(disparity.ptr<float>(), disparity.step[0]);
Expand All @@ -198,7 +203,7 @@ pipeline.RetrievePointCloud(pointCloud.ptr<float>(), pointCloud.step[0]);
Guided explanations of retinify concepts

- 🎯 [**Calibration**](https://docs.retinify.ai/calibration.html)
Calibration Parameters Specification
Calibration parameters specification

- 🐍 [**Python Docs**](https://docs.retinify.ai/python.html)
Python API documentation
Expand Down
12 changes: 8 additions & 4 deletions docs/content/cpp.md
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Original file line number Diff line number Diff line change
Expand Up @@ -69,8 +69,10 @@ if (!statusInitialize.IsOK())
}

// EXECUTE STEREO MATCHING
auto statusExecute = pipeline.Execute(leftImage.ptr<std::uint8_t>(), leftImage.step[0],
rightImage.ptr<std::uint8_t>(), rightImage.step[0]);
auto statusExecute = pipeline.Execute(leftImage.ptr<std::uint8_t>(),
leftImage.step[0],
rightImage.ptr<std::uint8_t>(),
rightImage.step[0]);
if (!statusExecute.IsOK())
{
return 1;
Expand Down Expand Up @@ -128,8 +130,10 @@ if (!statusInitialize.IsOK())
}

// EXECUTE STEREO MATCHING
auto statusExecute = pipeline.Execute(leftImage.ptr<std::uint8_t>(), leftImage.step[0],
rightImage.ptr<std::uint8_t>(), rightImage.step[0]);
auto statusExecute = pipeline.Execute(leftImage.ptr<std::uint8_t>(),
leftImage.step[0],
rightImage.ptr<std::uint8_t>(),
rightImage.step[0]);
if (!statusExecute.IsOK())
{
return 1;
Expand Down
22 changes: 21 additions & 1 deletion docs/content/index.md
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Expand Up @@ -3,7 +3,7 @@ Retinify is an advanced AI-powered stereo vision library designed for robotics.
It enables real-time, high-precision 3D perception by leveraging GPU and NPU acceleration.

@note
Retinify is open-source, and the source code is publicly available:
The source code is publicly available:
👉 [**View on GitHub**](https://github.com/retinify/retinify)

[![UBUNTU 24.04](https://img.shields.io/badge/-UBUNTU%2024%2E04-orange?style=flat-square&logo=ubuntu&logoColor=white)](https://releases.ubuntu.com/noble/)
Expand All @@ -16,7 +16,25 @@ Retinify is open-source, and the source code is publicly available:
[![LinkedIn](https://img.shields.io/badge/LinkedIn-@retinify-blue?style=flat-square&logo=linkedin)](https://www.linkedin.com/company/retinify)
[![YouTube](https://img.shields.io/badge/Watch-%40retinify-red?style=flat-square&logo=youtube)](https://www.youtube.com/@retinify_ai)


### The retinify pipeline

<img src="https://raw.githubusercontent.com/retinify/assets/main/videos/gpu_pipeline.gif" style="width:50%;">

The main functionality of retinify is accessible through retinify::Pipeline.

**GPU-Based Computing:**
All processing required for stereo depth estimation — including image remapping (undistortion and rectification), stereo matching, and 3D reprojection — is executed entirely on the GPU, enabling efficient and real-time performance.

**AI-Powered Stereo Matching:**
Stereo correspondence is computed using deep learning–based models, delivering significantly higher accuracy and robustness compared to traditional stereo matching algorithms.

**Flexible Integration:**
The pipeline is camera-agnostic and supports any pinhole stereo camera setup. Input images are handled via raw pointers and strides, allowing seamless integration without dependencies on specific image processing libraries.


### Getting started

- [Installation](@ref installation)
- [Demos](@ref demos)
- [Tutorials](@ref tutorials)
Expand All @@ -25,6 +43,8 @@ Retinify is open-source, and the source code is publicly available:
- [C++ Docs](@ref cpp)
- [ROS2 Docs](@ref ros2)


### Contact

For all inquiries, including support, collaboration, please contact:
[contact@retinify.ai](mailto:contact@retinify.ai)