StereoDepth node. Compute stereo disparity and depth from left-right image pair. More...

#include <StereoDepth.hpp>

Inheritance diagram for dai::node::StereoDepth:

Public Types
enum	PresetMode : std::uint32_t { PresetMode::HIGH_ACCURACY, PresetMode::HIGH_DENSITY, PresetMode::DEFAULT, PresetMode::FACE, PresetMode::HIGH_DETAIL, PresetMode::ROBOTICS }

Public Types inherited from dai::NodeCRTP< Node, StereoDepth, StereoDepthProperties >
using	Properties = StereoDepthProperties

Public Types inherited from dai::Node
using	Id = std::int64_t
	Node identificator. Unique for every node on a single Pipeline. More...

Public Member Functions
void	enableDistortionCorrection (bool enableDistortionCorrection)

float	getMaxDisparity () const

void	loadMeshData (const std::vector< std::uint8_t > &dataLeft, const std::vector< std::uint8_t > &dataRight)

void	loadMeshFiles (const dai::Path &pathLeft, const dai::Path &pathRight)

void	setAlphaScaling (float alpha)

void	setBaseline (float baseline)

void	setConfidenceThreshold (int confThr)

void	setDefaultProfilePreset (PresetMode mode)

void	setDepthAlign (CameraBoardSocket camera)

void	setDepthAlign (Properties::DepthAlign align)

void	setDepthAlignmentUseSpecTranslation (bool specTranslation)

void	setDisparityToDepthUseSpecTranslation (bool specTranslation)

void	setEmptyCalibration ()

void	setExtendedDisparity (bool enable)

void	setFocalLength (float focalLength)

void	setFocalLengthFromCalibration (bool focalLengthFromCalibration)

void	setInputResolution (int width, int height)

void	setInputResolution (std::tuple< int, int > resolution)

void	setLeftRightCheck (bool enable)

void	setMedianFilter (dai::MedianFilter median)

void	setMeshStep (int width, int height)

void	setNumFramesPool (int numFramesPool)

void	setOutputDepth (bool enable)

void	setOutputKeepAspectRatio (bool keep)

void	setOutputRectified (bool enable)

void	setOutputSize (int width, int height)

void	setPostProcessingHardwareResources (int numShaves, int numMemorySlices)

void	setRectification (bool enable)

void	setRectificationUseSpecTranslation (bool specTranslation)

void	setRectifyEdgeFillColor (int color)

void	setRectifyMirrorFrame (bool enable)

void	setRuntimeModeSwitch (bool enable)

void	setSubpixel (bool enable)

void	setSubpixelFractionalBits (int subpixelFractionalBits)

	StereoDepth (const std::shared_ptr< PipelineImpl > &par, int64_t nodeId)

	StereoDepth (const std::shared_ptr< PipelineImpl > &par, int64_t nodeId, std::unique_ptr< Properties > props)

void	useHomographyRectification (bool useHomographyRectification)

Public Member Functions inherited from dai::NodeCRTP< Node, StereoDepth, StereoDepthProperties >
std::unique_ptr< Node >	clone () const override

const char *	getName () const override

Public Member Functions inherited from dai::Node
virtual std::unique_ptr< Node >	clone () const =0
	Deep copy the node. More...

AssetManager &	getAssetManager ()
	Get node AssetManager as a reference. More...

const AssetManager &	getAssetManager () const
	Get node AssetManager as a const reference. More...

std::vector< Input * >	getInputRefs ()
	Retrieves reference to node inputs. More...

std::vector< const Input * >	getInputRefs () const
	Retrieves reference to node inputs. More...

std::vector< Input >	getInputs ()
	Retrieves all nodes inputs. More...

virtual const char *	getName () const =0
	Retrieves nodes name. More...

std::vector< Output * >	getOutputRefs ()
	Retrieves reference to node outputs. More...

std::vector< const Output * >	getOutputRefs () const
	Retrieves reference to node outputs. More...

std::vector< Output >	getOutputs ()
	Retrieves all nodes outputs. More...

Pipeline	getParentPipeline ()

const Pipeline	getParentPipeline () const

	Node (const std::shared_ptr< PipelineImpl > &p, Id nodeId, std::unique_ptr< Properties > props)
	Constructs Node. More...

virtual	~Node ()=default

Public Attributes
Output	confidenceMap {*this, "confidenceMap", Output::Type::MSender, {{DatatypeEnum::ImgFrame, false}}}

Output	debugDispCostDump {*this, "debugDispCostDump", Output::Type::MSender, {{DatatypeEnum::ImgFrame, false}}}

Output	debugDispLrCheckIt1 {*this, "debugDispLrCheckIt1", Output::Type::MSender, {{DatatypeEnum::ImgFrame, false}}}

Output	debugDispLrCheckIt2 {*this, "debugDispLrCheckIt2", Output::Type::MSender, {{DatatypeEnum::ImgFrame, false}}}

Output	debugExtDispLrCheckIt1 {*this, "debugExtDispLrCheckIt1", Output::Type::MSender, {{DatatypeEnum::ImgFrame, false}}}

Output	debugExtDispLrCheckIt2 {*this, "debugExtDispLrCheckIt2", Output::Type::MSender, {{DatatypeEnum::ImgFrame, false}}}

Output	depth {*this, "depth", Output::Type::MSender, {{DatatypeEnum::ImgFrame, false}}}

Output	disparity {*this, "disparity", Output::Type::MSender, {{DatatypeEnum::ImgFrame, false}}}

StereoDepthConfig	initialConfig

Input	inputConfig {*this, "inputConfig", Input::Type::SReceiver, false, 4, {{DatatypeEnum::StereoDepthConfig, false}}}

Input	left {*this, "left", Input::Type::SReceiver, false, 8, true, {{DatatypeEnum::ImgFrame, true}}}

Output	outConfig {*this, "outConfig", Output::Type::MSender, {{DatatypeEnum::StereoDepthConfig, false}}}

Output	rectifiedLeft {*this, "rectifiedLeft", Output::Type::MSender, {{DatatypeEnum::ImgFrame, false}}}

Output	rectifiedRight {*this, "rectifiedRight", Output::Type::MSender, {{DatatypeEnum::ImgFrame, false}}}

Input	right {*this, "right", Input::Type::SReceiver, false, 8, true, {{DatatypeEnum::ImgFrame, true}}}

Output	syncedLeft {*this, "syncedLeft", Output::Type::MSender, {{DatatypeEnum::ImgFrame, false}}}

Output	syncedRight {*this, "syncedRight", Output::Type::MSender, {{DatatypeEnum::ImgFrame, false}}}

Public Attributes inherited from dai::NodeCRTP< Node, StereoDepth, StereoDepthProperties >
Properties &	properties
	Underlying properties. More...

Public Attributes inherited from dai::Node
const Id	id
	Id of node. More...

Properties &	properties

Static Public Attributes
constexpr static const char *	NAME = "StereoDepth"

Protected Member Functions
Properties &	getProperties ()

Protected Member Functions inherited from dai::Node
virtual tl::optional< OpenVINO::Version >	getRequiredOpenVINOVersion ()

void	setInputMapRefs (InputMap *inMapRef)

void	setInputMapRefs (std::initializer_list< InputMap * > l)

void	setInputRefs (Input *inRef)

void	setInputRefs (std::initializer_list< Input * > l)

void	setOutputMapRefs (OutputMap *outMapRef)

void	setOutputMapRefs (std::initializer_list< OutputMap * > l)

void	setOutputRefs (Output *outRef)

void	setOutputRefs (std::initializer_list< Output * > l)

Private Attributes
PresetMode	presetMode = PresetMode::HIGH_DENSITY

std::shared_ptr< RawStereoDepthConfig >	rawConfig

Additional Inherited Members
Protected Attributes inherited from dai::Node
AssetManager	assetManager

std::unordered_map< std::string, InputMap * >	inputMapRefs

std::unordered_map< std::string, Input * >	inputRefs

std::unordered_map< std::string, OutputMap * >	outputMapRefs

std::unordered_map< std::string, Output * >	outputRefs

std::weak_ptr< PipelineImpl >	parent

copyable_unique_ptr< Properties >	propertiesHolder

Detailed Description

StereoDepth node. Compute stereo disparity and depth from left-right image pair.

Definition at line 15 of file StereoDepth.hpp.

Member Enumeration Documentation

◆ PresetMode

enum dai::node::StereoDepth::PresetMode : std::uint32_t

strong

Preset modes for stereo depth.

Enumerator
HIGH_ACCURACY	Prefers accuracy over density. More invalid depth values, but less outliers.
HIGH_DENSITY	Prefers density over accuracy. Less invalid depth values, but more outliers.
DEFAULT
FACE
HIGH_DETAIL
ROBOTICS

Definition at line 22 of file StereoDepth.hpp.

Constructor & Destructor Documentation

◆ StereoDepth() [1/2]

dai::node::StereoDepth::StereoDepth	(	const std::shared_ptr< PipelineImpl > &	par,
		int64_t	nodeId
	)

Definition at line 13 of file StereoDepth.cpp.

◆ StereoDepth() [2/2]

dai::node::StereoDepth::StereoDepth	(	const std::shared_ptr< PipelineImpl > &	par,
		int64_t	nodeId,
		std::unique_ptr< Properties >	props
	)

Definition at line 14 of file StereoDepth.cpp.

Member Function Documentation

◆ enableDistortionCorrection()

void dai::node::StereoDepth::enableDistortionCorrection ( bool enableDistortionCorrection )

Equivalent to useHomographyRectification(!enableDistortionCorrection)

Definition at line 178 of file StereoDepth.cpp.

◆ getMaxDisparity()

float dai::node::StereoDepth::getMaxDisparity ( ) const

Useful for normalization of the disparity map.

Returns: Maximum disparity value that the node can return

Definition at line 161 of file StereoDepth.cpp.

◆ getProperties()

StereoDepth::Properties & dai::node::StereoDepth::getProperties ( )

protectedvirtual

Reimplemented from dai::Node.

Definition at line 37 of file StereoDepth.cpp.

◆ loadMeshData()

void dai::node::StereoDepth::loadMeshData	(	const std::vector< std::uint8_t > &	dataLeft,
		const std::vector< std::uint8_t > &	dataRight
	)

Specify mesh calibration data for 'left' and 'right' inputs, as vectors of bytes. Overrides useHomographyRectification behavior. See loadMeshFiles for the expected data format

Definition at line 47 of file StereoDepth.cpp.

◆ loadMeshFiles()

void dai::node::StereoDepth::loadMeshFiles	(	const dai::Path &	pathLeft,
		const dai::Path &	pathRight
	)

Specify local filesystem paths to the mesh calibration files for 'left' and 'right' inputs.

When a mesh calibration is set, it overrides the camera intrinsics/extrinsics matrices. Overrides useHomographyRectification behavior. Mesh format: a sequence of (y,x) points as 'float' with coordinates from the input image to be mapped in the output. The mesh can be subsampled, configured by setMeshStep.

With a 1280x800 resolution and the default (16,16) step, the required mesh size is:

width: 1280 / 16 + 1 = 81

height: 800 / 16 + 1 = 51

Definition at line 67 of file StereoDepth.cpp.

◆ setAlphaScaling()

void dai::node::StereoDepth::setAlphaScaling ( float alpha )

Free scaling parameter between 0 (when all the pixels in the undistorted image are valid) and 1 (when all the source image pixels are retained in the undistorted image). On some high distortion lenses, and/or due to rectification (image rotated) invalid areas may appear even with alpha=0, in these cases alpha < 0.0 helps removing invalid areas. See getOptimalNewCameraMatrix from opencv for more details.

Definition at line 202 of file StereoDepth.cpp.

◆ setBaseline()

void dai::node::StereoDepth::setBaseline ( float baseline )

Override baseline from calibration. Used only in disparity to depth conversion. Units are centimeters.

Definition at line 182 of file StereoDepth.cpp.

◆ setConfidenceThreshold()

void dai::node::StereoDepth::setConfidenceThreshold ( int confThr )

Confidence threshold for disparity calculation

Parameters

confThr Confidence threshold value 0..255

Definition at line 114 of file StereoDepth.cpp.

◆ setDefaultProfilePreset()

void dai::node::StereoDepth::setDefaultProfilePreset ( PresetMode mode )

Sets a default preset based on specified option.

Parameters

mode	Stereo depth preset mode

Definition at line 206 of file StereoDepth.cpp.

◆ setDepthAlign() [1/2]

void dai::node::StereoDepth::setDepthAlign ( CameraBoardSocket camera )

Parameters

camera Set the camera from whose perspective the disparity/depth will be aligned

Definition at line 111 of file StereoDepth.cpp.

◆ setDepthAlign() [2/2]

void dai::node::StereoDepth::setDepthAlign ( Properties::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 106 of file StereoDepth.cpp.

◆ setDepthAlignmentUseSpecTranslation()

void dai::node::StereoDepth::setDepthAlignmentUseSpecTranslation ( bool specTranslation )

Use baseline information for depth alignment from specs (design data) or from calibration. Default: true

Definition at line 198 of file StereoDepth.cpp.

◆ setDisparityToDepthUseSpecTranslation()

void dai::node::StereoDepth::setDisparityToDepthUseSpecTranslation ( bool specTranslation )

Use baseline information for disparity to depth conversion from specs (design data) or from calibration. Default: true

Definition at line 190 of file StereoDepth.cpp.

◆ setEmptyCalibration()

void dai::node::StereoDepth::setEmptyCalibration ( )

Specify that a passthrough/dummy calibration should be used, when input frames are already rectified (e.g. sourced from recordings on the host)

Definition at line 42 of file StereoDepth.cpp.

◆ setExtendedDisparity()

void dai::node::StereoDepth::setExtendedDisparity ( bool enable )

Disparity range increased from 0-95 to 0-190, combined from full resolution and downscaled images.

Suitable for short range objects. Currently incompatible with sub-pixel disparity

Definition at line 133 of file StereoDepth.cpp.

◆ setFocalLength()

void dai::node::StereoDepth::setFocalLength ( float focalLength )

Override focal length from calibration. Used only in disparity to depth conversion. Units are pixels.

Definition at line 186 of file StereoDepth.cpp.

◆ setFocalLengthFromCalibration()

void dai::node::StereoDepth::setFocalLengthFromCalibration ( bool focalLengthFromCalibration )

Whether to use focal length from calibration intrinsics or calculate based on calibration FOV. Default value is true.

Definition at line 170 of file StereoDepth.cpp.

◆ setInputResolution() [1/2]

void dai::node::StereoDepth::setInputResolution	(	int	width,
		int	height
	)

Specify input resolution size

Optional if MonoCamera exists, otherwise necessary

Definition at line 88 of file StereoDepth.cpp.

◆ setInputResolution() [2/2]

void dai::node::StereoDepth::setInputResolution ( std::tuple< int, int > resolution )

Specify input resolution size

Optional if MonoCamera exists, otherwise necessary

Definition at line 92 of file StereoDepth.cpp.

◆ setLeftRightCheck()

void dai::node::StereoDepth::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 121 of file StereoDepth.cpp.

◆ setMedianFilter()

void dai::node::StereoDepth::setMedianFilter ( dai::MedianFilter median )

Parameters

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

Definition at line 102 of file StereoDepth.cpp.

◆ setMeshStep()

void dai::node::StereoDepth::setMeshStep	(	int	width,
		int	height
	)

Set the distance between mesh points. Default: (16, 16)

Definition at line 83 of file StereoDepth.cpp.

◆ setNumFramesPool()

void dai::node::StereoDepth::setNumFramesPool ( int numFramesPool )

Specify number of frames in pool.

Parameters

numFramesPool How many frames should the pool have

Definition at line 157 of file StereoDepth.cpp.

◆ setOutputDepth()

void dai::node::StereoDepth::setOutputDepth ( bool enable )

Enable outputting 'depth' stream (converted from disparity). In certain configurations, this will disable 'disparity' stream. DEPRECATED. The output is auto-enabled if used

Definition at line 148 of file StereoDepth.cpp.

◆ setOutputKeepAspectRatio()

void dai::node::StereoDepth::setOutputKeepAspectRatio ( bool keep )

Specifies whether the frames resized by setOutputSize should preserve aspect ratio, with potential cropping when enabled. Default true

Definition at line 99 of file StereoDepth.cpp.

◆ setOutputRectified()

void dai::node::StereoDepth::setOutputRectified ( bool enable )

Enable outputting rectified frames. Optimizes computation on device side when disabled. DEPRECATED. The outputs are auto-enabled if used

Definition at line 144 of file StereoDepth.cpp.

◆ setOutputSize()

void dai::node::StereoDepth::setOutputSize	(	int	width,
		int	height
	)

Specify disparity/depth output resolution size, implemented by scaling.

Currently only applicable when aligning to RGB camera

Definition at line 95 of file StereoDepth.cpp.

◆ setPostProcessingHardwareResources()

void dai::node::StereoDepth::setPostProcessingHardwareResources	(	int	numShaves,
		int	numMemorySlices
	)

Specify allocated hardware resources for stereo depth. Suitable only to increase post processing runtime.

Parameters

numShaves	Number of shaves.
numMemorySlices	Number of memory slices.

Definition at line 165 of file StereoDepth.cpp.

◆ setRectification()

void dai::node::StereoDepth::setRectification ( bool enable )

Rectify input images or not.

Definition at line 118 of file StereoDepth.cpp.

◆ setRectificationUseSpecTranslation()

void dai::node::StereoDepth::setRectificationUseSpecTranslation ( bool specTranslation )

Obtain rectification matrices using spec translation (design data) or from calibration in calculations. Should be used only for debugging. Default: false

Definition at line 194 of file StereoDepth.cpp.

◆ setRectifyEdgeFillColor()

void dai::node::StereoDepth::setRectifyEdgeFillColor ( int color )

Fill color for missing data at frame edges

Parameters

color Grayscale 0..255, or -1 to replicate pixels

Definition at line 137 of file StereoDepth.cpp.

◆ setRectifyMirrorFrame()

void dai::node::StereoDepth::setRectifyMirrorFrame ( bool enable )

DEPRECATED function. It was removed, since rectified images are not flipped anymore. Mirror rectified frames, only when LR-check mode is disabled. Default true. The mirroring is required to have a normal non-mirrored disparity/depth output.

A side effect of this option is disparity alignment to the perspective of left or right input: false: mapped to left and mirrored, true: mapped to right. With LR-check enabled, this option is ignored, none of the outputs are mirrored, and disparity is mapped to right.

Parameters

enable True for normal disparity/depth, otherwise mirrored

Definition at line 140 of file StereoDepth.cpp.

◆ setRuntimeModeSwitch()

void dai::node::StereoDepth::setRuntimeModeSwitch ( bool enable )

Enable runtime stereo mode switch, e.g. from standard to LR-check. Note: when enabled resources allocated for worst case to enable switching to any mode.

Definition at line 153 of file StereoDepth.cpp.

◆ setSubpixel()

void dai::node::StereoDepth::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 125 of file StereoDepth.cpp.

◆ setSubpixelFractionalBits()

void dai::node::StereoDepth::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 129 of file StereoDepth.cpp.

◆ useHomographyRectification()

void dai::node::StereoDepth::useHomographyRectification ( bool useHomographyRectification )

Use 3x3 homography matrix for stereo rectification instead of sparse mesh generated on device. Default behaviour is AUTO, for lenses with FOV over 85 degrees sparse mesh is used, otherwise 3x3 homography. If custom mesh data is provided through loadMeshData or loadMeshFiles this option is ignored.

Parameters

useHomographyRectification true: 3x3 homography matrix generated from calibration data is used for stereo rectification, can't correct lens distortion. false: sparse mesh is generated on-device from calibration data with mesh step specified with setMeshStep (Default: (16, 16)), can correct lens distortion. Implementation for generating the mesh is same as opencv's initUndistortRectifyMap function. Only the first 8 distortion coefficients are used from calibration data.

Definition at line 174 of file StereoDepth.cpp.

Member Data Documentation

◆ confidenceMap

Output dai::node::StereoDepth::confidenceMap {*this, "confidenceMap", Output::Type::MSender, {{DatatypeEnum::ImgFrame, false}}}

Outputs ImgFrame message that carries RAW8 confidence map. Lower values means higher confidence of the calculated disparity value. RGB alignment, left-right check or any postproccessing (e.g. median filter) is not performed on confidence map.

Definition at line 152 of file StereoDepth.hpp.

◆ debugDispCostDump

Output dai::node::StereoDepth::debugDispCostDump {*this, "debugDispCostDump", Output::Type::MSender, {{DatatypeEnum::ImgFrame, false}}}

Outputs ImgFrame message that carries cost dump of disparity map. Useful for debugging/fine tuning.

Definition at line 145 of file StereoDepth.hpp.

◆ debugDispLrCheckIt1

Output dai::node::StereoDepth::debugDispLrCheckIt1 {*this, "debugDispLrCheckIt1", Output::Type::MSender, {{DatatypeEnum::ImgFrame, false}}}

Outputs ImgFrame message that carries left-right check first iteration (before combining with second iteration) disparity map. Useful for debugging/fine tuning.

Definition at line 121 of file StereoDepth.hpp.

◆ debugDispLrCheckIt2

Output dai::node::StereoDepth::debugDispLrCheckIt2 {*this, "debugDispLrCheckIt2", Output::Type::MSender, {{DatatypeEnum::ImgFrame, false}}}

Outputs ImgFrame message that carries left-right check second iteration (before combining with first iteration) disparity map. Useful for debugging/fine tuning.

Definition at line 127 of file StereoDepth.hpp.

◆ debugExtDispLrCheckIt1

Output dai::node::StereoDepth::debugExtDispLrCheckIt1 {*this, "debugExtDispLrCheckIt1", Output::Type::MSender, {{DatatypeEnum::ImgFrame, false}}}

Outputs ImgFrame message that carries extended left-right check first iteration (downscaled frame, before combining with second iteration) disparity map. Useful for debugging/fine tuning.

Definition at line 133 of file StereoDepth.hpp.

◆ debugExtDispLrCheckIt2

Output dai::node::StereoDepth::debugExtDispLrCheckIt2 {*this, "debugExtDispLrCheckIt2", Output::Type::MSender, {{DatatypeEnum::ImgFrame, false}}}

Outputs ImgFrame message that carries extended left-right check second iteration (downscaled frame, before combining with first iteration) disparity map. Useful for debugging/fine tuning.

Definition at line 139 of file StereoDepth.hpp.

◆ depth

Output dai::node::StereoDepth::depth {*this, "depth", Output::Type::MSender, {{DatatypeEnum::ImgFrame, false}}}

Outputs ImgFrame message that carries RAW16 encoded (0..65535) depth data in depth units (millimeter by default).

Non-determined / invalid depth values are set to 0

Definition at line 79 of file StereoDepth.hpp.

◆ disparity

Output dai::node::StereoDepth::disparity {*this, "disparity", Output::Type::MSender, {{DatatypeEnum::ImgFrame, false}}}

Outputs ImgFrame message that carries RAW8 / RAW16 encoded disparity data: RAW8 encoded (0..95) for standard mode; RAW8 encoded (0..190) for extended disparity mode; RAW16 encoded for subpixel disparity mode:

0..760 for 3 fractional bits (by default)
0..1520 for 4 fractional bits
0..3040 for 5 fractional bits

Definition at line 90 of file StereoDepth.hpp.

◆ initialConfig

StereoDepthConfig dai::node::StereoDepth::initialConfig

Initial config to use for StereoDepth.

Definition at line 52 of file StereoDepth.hpp.

◆ inputConfig

Input dai::node::StereoDepth::inputConfig {*this, "inputConfig", Input::Type::SReceiver, false, 4, {{DatatypeEnum::StereoDepthConfig, false}}}

Input StereoDepthConfig message with ability to modify parameters in runtime. Default queue is non-blocking with size 4.

Definition at line 58 of file StereoDepth.hpp.

◆ left

Input dai::node::StereoDepth::left {*this, "left", Input::Type::SReceiver, false, 8, true, {{DatatypeEnum::ImgFrame, true}}}

Input for left ImgFrame of left-right pair

Default queue is non-blocking with size 8

Definition at line 65 of file StereoDepth.hpp.

◆ NAME

constexpr static const char* dai::node::StereoDepth::NAME = "StereoDepth"

staticconstexpr

Definition at line 17 of file StereoDepth.hpp.

◆ outConfig

Output dai::node::StereoDepth::outConfig {*this, "outConfig", Output::Type::MSender, {{DatatypeEnum::StereoDepthConfig, false}}}

Outputs StereoDepthConfig message that contains current stereo configuration.

Definition at line 115 of file StereoDepth.hpp.

◆ presetMode

PresetMode dai::node::StereoDepth::presetMode = PresetMode::HIGH_DENSITY

private

Definition at line 42 of file StereoDepth.hpp.

◆ rawConfig

std::shared_ptr<RawStereoDepthConfig> dai::node::StereoDepth::rawConfig

private

Definition at line 43 of file StereoDepth.hpp.

◆ rectifiedLeft

Output dai::node::StereoDepth::rectifiedLeft {*this, "rectifiedLeft", Output::Type::MSender, {{DatatypeEnum::ImgFrame, false}}}

Outputs ImgFrame message that carries RAW8 encoded (grayscale) rectified frame data.

Definition at line 105 of file StereoDepth.hpp.

◆ rectifiedRight

Output dai::node::StereoDepth::rectifiedRight {*this, "rectifiedRight", Output::Type::MSender, {{DatatypeEnum::ImgFrame, false}}}

Outputs ImgFrame message that carries RAW8 encoded (grayscale) rectified frame data.

Definition at line 110 of file StereoDepth.hpp.

◆ right

Input dai::node::StereoDepth::right {*this, "right", Input::Type::SReceiver, false, 8, true, {{DatatypeEnum::ImgFrame, true}}}

Input for right ImgFrame of left-right pair

Default queue is non-blocking with size 8

Definition at line 72 of file StereoDepth.hpp.

◆ syncedLeft

Output dai::node::StereoDepth::syncedLeft {*this, "syncedLeft", Output::Type::MSender, {{DatatypeEnum::ImgFrame, false}}}

Passthrough ImgFrame message from 'left' Input.

Definition at line 95 of file StereoDepth.hpp.

◆ syncedRight

Output dai::node::StereoDepth::syncedRight {*this, "syncedRight", Output::Type::MSender, {{DatatypeEnum::ImgFrame, false}}}

Passthrough ImgFrame message from 'right' Input.

Definition at line 100 of file StereoDepth.hpp.

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

Public Types

Public Member Functions

Public Attributes

Static Public Attributes

Protected Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

◆ PresetMode

Constructor & Destructor Documentation

◆ StereoDepth() [1/2]

◆ StereoDepth() [2/2]

Member Function Documentation

◆ enableDistortionCorrection()

◆ getMaxDisparity()

◆ getProperties()

◆ loadMeshData()

◆ loadMeshFiles()

◆ setAlphaScaling()

◆ setBaseline()

◆ setConfidenceThreshold()

◆ setDefaultProfilePreset()

◆ setDepthAlign() [1/2]

◆ setDepthAlign() [2/2]

◆ setDepthAlignmentUseSpecTranslation()

◆ setDisparityToDepthUseSpecTranslation()

◆ setEmptyCalibration()

◆ setExtendedDisparity()

◆ setFocalLength()

◆ setFocalLengthFromCalibration()

◆ setInputResolution() [1/2]

◆ setInputResolution() [2/2]

◆ setLeftRightCheck()

◆ setMedianFilter()

◆ setMeshStep()

◆ setNumFramesPool()

◆ setOutputDepth()

◆ setOutputKeepAspectRatio()

◆ setOutputRectified()

◆ setOutputSize()

◆ setPostProcessingHardwareResources()

◆ setRectification()

◆ setRectificationUseSpecTranslation()

◆ setRectifyEdgeFillColor()

◆ setRectifyMirrorFrame()

◆ setRuntimeModeSwitch()

◆ setSubpixel()

◆ setSubpixelFractionalBits()

◆ useHomographyRectification()

Member Data Documentation

◆ confidenceMap

◆ debugDispCostDump

◆ debugDispLrCheckIt1

◆ debugDispLrCheckIt2

◆ debugExtDispLrCheckIt1

◆ debugExtDispLrCheckIt2

◆ depth

◆ disparity

◆ initialConfig

◆ inputConfig

◆ left

◆ NAME

◆ outConfig

◆ presetMode

◆ rawConfig

◆ rectifiedLeft

◆ rectifiedRight

◆ right

◆ syncedLeft

◆ syncedRight