dai::StereoDepthConfig Class Reference

#include <StereoDepthConfig.hpp>

Inheritance diagram for dai::StereoDepthConfig:

Public Types
using	AlgorithmControl = RawStereoDepthConfig::AlgorithmControl
using	CensusTransform = RawStereoDepthConfig::CensusTransform
using	CostAggregation = RawStereoDepthConfig::CostAggregation
using	CostMatching = RawStereoDepthConfig::CostMatching
using	MedianFilter = dai::MedianFilter
using	PostProcessing = RawStereoDepthConfig::PostProcessing

Public Member Functions
dai::RawStereoDepthConfig	get () const
uint16_t	getBilateralFilterSigma () const
int	getConfidenceThreshold () const
AlgorithmControl::DepthUnit	getDepthUnit ()
int	getLeftRightCheckThreshold () const
float	getMaxDisparity () const
MedianFilter	getMedianFilter () const
StereoDepthConfig &	set (dai::RawStereoDepthConfig config)
StereoDepthConfig &	setBilateralFilterSigma (uint16_t sigma)
StereoDepthConfig &	setConfidenceThreshold (int confThr)
StereoDepthConfig &	setDepthAlign (AlgorithmControl::DepthAlign align)
StereoDepthConfig &	setDepthUnit (AlgorithmControl::DepthUnit depthUnit)
StereoDepthConfig &	setDisparityShift (int disparityShift)
StereoDepthConfig &	setExtendedDisparity (bool enable)
StereoDepthConfig &	setLeftRightCheck (bool enable)
StereoDepthConfig &	setLeftRightCheckThreshold (int threshold)
StereoDepthConfig &	setMedianFilter (MedianFilter median)
StereoDepthConfig &	setNumInvalidateEdgePixels (int32_t numInvalidateEdgePixels)
StereoDepthConfig &	setSubpixel (bool enable)
StereoDepthConfig &	setSubpixelFractionalBits (int subpixelFractionalBits)
	StereoDepthConfig ()
	StereoDepthConfig (std::shared_ptr< RawStereoDepthConfig > ptr)
virtual	~StereoDepthConfig ()=default
Public Member Functions inherited from dai::Buffer
	Buffer ()
	Creates Buffer message. More...
	Buffer (std::shared_ptr< dai::RawBuffer > ptr)
std::vector< std::uint8_t > &	getData () const
	Get non-owning reference to internal buffer. More...
int64_t	getSequenceNum () const
std::chrono::time_point< std::chrono::steady_clock, std::chrono::steady_clock::duration >	getTimestamp () const
std::chrono::time_point< std::chrono::steady_clock, std::chrono::steady_clock::duration >	getTimestampDevice () const
void	setData (const std::vector< std::uint8_t > &data)
void	setData (std::vector< std::uint8_t > &&data)
Buffer &	setSequenceNum (int64_t sequenceNum)
Buffer &	setTimestamp (std::chrono::time_point< std::chrono::steady_clock, std::chrono::steady_clock::duration > timestamp)
Buffer &	setTimestampDevice (std::chrono::time_point< std::chrono::steady_clock, std::chrono::steady_clock::duration > timestamp)
virtual	~Buffer ()=default
Public Member Functions inherited from dai::ADatatype
	ADatatype (std::shared_ptr< RawBuffer > r)
std::shared_ptr< RawBuffer >	getRaw () const
virtual	~ADatatype ()=default

Private Member Functions
std::shared_ptr< RawBuffer >	serialize () const override

Private Attributes
RawStereoDepthConfig &	cfg

Additional Inherited Members
Protected Attributes inherited from dai::ADatatype
std::shared_ptr< RawBuffer >	raw

Detailed Description

StereoDepthConfig message.

Definition at line 14 of file StereoDepthConfig.hpp.

Member Typedef Documentation

AlgorithmControl

using dai::StereoDepthConfig::AlgorithmControl = RawStereoDepthConfig::AlgorithmControl

Definition at line 20 of file StereoDepthConfig.hpp.

CensusTransform

using dai::StereoDepthConfig::CensusTransform = RawStereoDepthConfig::CensusTransform

Definition at line 22 of file StereoDepthConfig.hpp.

CostAggregation

using dai::StereoDepthConfig::CostAggregation = RawStereoDepthConfig::CostAggregation

Definition at line 24 of file StereoDepthConfig.hpp.

CostMatching

using dai::StereoDepthConfig::CostMatching = RawStereoDepthConfig::CostMatching

Definition at line 23 of file StereoDepthConfig.hpp.

MedianFilter

using dai::StereoDepthConfig::MedianFilter = dai::MedianFilter

Definition at line 19 of file StereoDepthConfig.hpp.

PostProcessing

using dai::StereoDepthConfig::PostProcessing = RawStereoDepthConfig::PostProcessing

Definition at line 21 of file StereoDepthConfig.hpp.

Constructor & Destructor Documentation

StereoDepthConfig() [1/2]

dai::StereoDepthConfig::StereoDepthConfig

(

)

Construct StereoDepthConfig message.

Definition at line 9 of file StereoDepthConfig.cpp.

StereoDepthConfig() [2/2]

dai::StereoDepthConfig::StereoDepthConfig ( std::shared_ptr< RawStereoDepthConfig >  ptr )

explicit

Definition at line 10 of file StereoDepthConfig.cpp.

~StereoDepthConfig()

virtual dai::StereoDepthConfig::~StereoDepthConfig ( )

virtualdefault

Member Function Documentation

get()

dai::RawStereoDepthConfig dai::StereoDepthConfig::get

(

)

const

Retrieve configuration data for StereoDepth.

Returns

config for stereo depth algorithm

Definition at line 147 of file StereoDepthConfig.cpp.

getBilateralFilterSigma()

uint16_t dai::StereoDepthConfig::getBilateralFilterSigma

(

)

const

Get sigma value for 5x5 bilateral filter

Definition at line 41 of file StereoDepthConfig.cpp.

getConfidenceThreshold()

int dai::StereoDepthConfig::getConfidenceThreshold

(

)

const

Get confidence threshold for disparity calculation

Definition at line 23 of file StereoDepthConfig.cpp.

getDepthUnit()

dai::StereoDepthConfig::AlgorithmControl::DepthUnit dai::StereoDepthConfig::getDepthUnit

(

)

Get depth unit of depth map.

Definition at line 89 of file StereoDepthConfig.cpp.

getLeftRightCheckThreshold()

int dai::StereoDepthConfig::getLeftRightCheckThreshold

(

)

const

Get threshold for left-right check combine

Definition at line 50 of file StereoDepthConfig.cpp.

getMaxDisparity()

float dai::StereoDepthConfig::getMaxDisparity

(

)

const

Useful for normalization of the disparity map.

Returns

Maximum disparity value that the node can return

Definition at line 93 of file StereoDepthConfig.cpp.

getMedianFilter()

MedianFilter dai::StereoDepthConfig::getMedianFilter

(

)

const

Get median filter setting

Definition at line 32 of file StereoDepthConfig.cpp.

serialize()

std::shared_ptr< RawBuffer > dai::StereoDepthConfig::serialize ( ) const

overrideprivatevirtual

Reimplemented from dai::Buffer.

Definition at line 5 of file StereoDepthConfig.cpp.

set()

StereoDepthConfig & dai::StereoDepthConfig::set

(

dai::RawStereoDepthConfig

config

)

Set explicit configuration.

Parameters

config

Explicit configuration

Definition at line 151 of file StereoDepthConfig.cpp.

setBilateralFilterSigma()

StereoDepthConfig & dai::StereoDepthConfig::setBilateralFilterSigma

(

uint16_t

sigma

)

A larger value of the parameter means that farther colors within the pixel neighborhood will be mixed together, resulting in larger areas of semi-equal color.

Parameters

sigma

Set sigma value for 5x5 bilateral filter. 0..65535

Definition at line 36 of file StereoDepthConfig.cpp.

setConfidenceThreshold()

StereoDepthConfig & dai::StereoDepthConfig::setConfidenceThreshold

(

int

confThr

)

Confidence threshold for disparity calculation

Parameters

confThr

Confidence threshold value 0..255

Definition at line 18 of file StereoDepthConfig.cpp.

setDepthAlign()

StereoDepthConfig & dai::StereoDepthConfig::setDepthAlign

(

AlgorithmControl::DepthAlign

align

)

Parameters

align

Set the disparity/depth alignment: centered (between the 'left' and 'right' inputs), or from the perspective of a rectified output stream

Definition at line 13 of file StereoDepthConfig.cpp.

setDepthUnit()

StereoDepthConfig & dai::StereoDepthConfig::setDepthUnit

(

AlgorithmControl::DepthUnit

depthUnit

)

Set depth unit of depth map.

Meter, centimeter, millimeter, inch, foot or custom unit is available.

Definition at line 74 of file StereoDepthConfig.cpp.

setDisparityShift()

StereoDepthConfig & dai::StereoDepthConfig::setDisparityShift

(

int

disparityShift

)

Shift input frame by a number of pixels to increase minimum depth. For example shifting by 48 will change effective disparity search range from (0,95] to [48,143]. An alternative approach to reducing the minZ. We normally only recommend doing this when it is known that there will be no objects farther away than MaxZ, such as having a depth camera mounted above a table pointing down at the table surface.

Definition at line 79 of file StereoDepthConfig.cpp.

setExtendedDisparity()

StereoDepthConfig & dai::StereoDepthConfig::setExtendedDisparity

(

bool

enable

)

Disparity range increased from 95 to 190, combined from full resolution and downscaled images. Suitable for short range objects

Definition at line 59 of file StereoDepthConfig.cpp.

setLeftRightCheck()

StereoDepthConfig & dai::StereoDepthConfig::setLeftRightCheck

(

bool

enable

)

Computes and combines disparities in both L-R and R-L directions, and combine them.

For better occlusion handling, discarding invalid disparity values

Definition at line 54 of file StereoDepthConfig.cpp.

setLeftRightCheckThreshold()

StereoDepthConfig & dai::StereoDepthConfig::setLeftRightCheckThreshold

(

int

threshold

)

Parameters

threshold

Set threshold for left-right, right-left disparity map combine, 0..255

Definition at line 45 of file StereoDepthConfig.cpp.

setMedianFilter()

StereoDepthConfig & dai::StereoDepthConfig::setMedianFilter

(

MedianFilter

median

)

Parameters

median

Set kernel size for disparity/depth median filtering, or disable

Definition at line 27 of file StereoDepthConfig.cpp.

setNumInvalidateEdgePixels()

StereoDepthConfig & dai::StereoDepthConfig::setNumInvalidateEdgePixels

(

int32_t

numInvalidateEdgePixels

)

Invalidate X amount of pixels at the edge of disparity frame. For right and center alignment X pixels will be invalidated from the right edge, for left alignment from the left edge.

Definition at line 84 of file StereoDepthConfig.cpp.

setSubpixel()

StereoDepthConfig & dai::StereoDepthConfig::setSubpixel

(

bool

enable

)

Computes disparity with sub-pixel interpolation (3 fractional bits by default).

Suitable for long range. Currently incompatible with extended disparity

Definition at line 64 of file StereoDepthConfig.cpp.

setSubpixelFractionalBits()

StereoDepthConfig & dai::StereoDepthConfig::setSubpixelFractionalBits

(

int

subpixelFractionalBits

)

Number of fractional bits for subpixel mode. Default value: 3. Valid values: 3,4,5. Defines the number of fractional disparities: 2^x. Median filter postprocessing is supported only for 3 fractional bits.

Definition at line 69 of file StereoDepthConfig.cpp.

Member Data Documentation

cfg

RawStereoDepthConfig& dai::StereoDepthConfig::cfg

private

Definition at line 16 of file StereoDepthConfig.hpp.

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

• StereoDepthConfig.hpp
• StereoDepthConfig.cpp