Class NeuralDepthConfig

• Defined in File NeuralDepthConfig.hpp

Nested Relationships

Nested Types

• Struct NeuralDepthConfig::AlgorithmControl

• Struct NeuralDepthConfig::Filtering

Inheritance Relationships

Base Type

• public dai::Buffer (Class Buffer)

Class Documentation

class NeuralDepthConfig : public dai::Buffer

NeuralDepthConfig message.

Public Functions

NeuralDepthConfig() = default

Construct NeuralDepthConfig message.

virtual ~NeuralDepthConfig()

NeuralDepthConfig &setConfidenceThreshold(uint8_t confThr)

Confidence threshold for disparity calculation

Parameters:

confThr – Confidence threshold value 0..255

uint8_t getConfidenceThreshold() const

Get confidence threshold for disparity calculation

NeuralDepthConfig &setEdgeThreshold(uint8_t edgeThr)

Set edge threshold for disparity calculation

Parameters:

edgeThr – Edge threshold value 0..255

uint8_t getEdgeThreshold() const

Get edge threshold for disparity calculation

NeuralDepthConfig &setDepthUnit(AlgorithmControl::DepthUnit depthUnit)

Set depth unit of depth map.

AlgorithmControl::DepthUnit getDepthUnit() const

Get depth unit of depth map.

NeuralDepthConfig &setCustomDepthUnitMultiplier(float multiplier)

Set custom depth unit multiplier relative to 1 meter.

float getCustomDepthUnitMultiplier() const

Get custom depth unit multiplier relative to 1 meter.

virtual void serialize(std::vector<std::uint8_t> &metadata, DatatypeEnum &datatype) const override

DEPTHAI_SERIALIZE(NeuralDepthConfig, algorithmControl, postProcessing)

Public Members

AlgorithmControl algorithmControl

Controls the flow of stereo algorithm - left-right check, subpixel etc.

Filtering postProcessing

Controls the postprocessing of disparity and/or depth map.

struct AlgorithmControl

Public Types

using DepthUnit = dai::DepthUnit

Public Functions

DEPTHAI_SERIALIZE(AlgorithmControl, depthUnit, customDepthUnitMultiplier)

Public Members

DepthUnit depthUnit = DepthUnit::MILLIMETER

Measurement unit for depth data. Depth data is integer value, multiple of depth unit.

float customDepthUnitMultiplier = 1000.f

Custom depth unit multiplier, if custom depth unit is enabled, relative to 1 meter. A multiplier of 1000 effectively means depth unit in millimeter.

struct Filtering

Public Functions

DEPTHAI_SERIALIZE(Filtering, confidenceThreshold, edgeThreshold)

Public Members

uint8_t confidenceThreshold = 125

Confidence threshold for disparity calculation, Confidences above this value will be considered valid. Valid range is [0,255].

uint8_t edgeThreshold = 10

Edge threshold for disparity calculation, Pixels with edge magnitude below this value will be considered invalid. Valid range is [0,255].