where is ipipe_init - Leopardboard 365/368 - Leopardboard

In https://www.ridgerun.com/developer/wiki/index.php/LeopardBoard_365_GStreamer_Pipelines_-_SDK_2011Q2 ,we have

Additional Examples

5Mpixel camera to the DVI output

Hardware: LeopardBoard 365, LI-5M03, LI-DVI1

Kernel Command Line video settings:

davinci_enc_mngr.ch0_output=DVI davinci_enc_mngr.ch0_mode=720P-60 davinci_display.cont2_bufsize=6291456 vpfe_capture.cont_bufoffset=6291456 vpfe_capture.cont_bufsize=6291456 video=davincifb:vid0=off:vid1=off:osd1=off dm365_imp.oper_mode=0 davinci_capture.device_type=4 vpfe_capture.interface=1

Commands:

loadmodules.sh
fbset -disable
ipipe_init -d
gst-launch -e v4l2src always-copy=false ! video/x-raw-yuv,format=\(fourcc\)UYVY, width=1280, height=720, framerate=\(fraction\)23/1 ! dmaiaccel ! dmaiperf ! TIDmaiVideoSink videoOutput=DVI sync=false accelFrameCopy=true videoStd=720P_60

however,when i type "ipipe_init -d",i could not find ipipe_init.where is ipipe_init?

who could give me a help?thank you.