#include <RawStereoDepthConfig.hpp>
Public Types | |
| enum | DepthAlign : int32_t { DepthAlign::RECTIFIED_RIGHT, DepthAlign::RECTIFIED_LEFT, DepthAlign::CENTER } |
| enum | DepthUnit : int32_t { DepthUnit::METER, DepthUnit::CENTIMETER, DepthUnit::MILLIMETER, DepthUnit::INCH, DepthUnit::FOOT, DepthUnit::CUSTOM } |
Public Attributes | |
| tl::optional< float > | centerAlignmentShiftFactor |
| float | customDepthUnitMultiplier = 1000.f |
| DepthAlign | depthAlign = DepthAlign::RECTIFIED_RIGHT |
| DepthUnit | depthUnit = DepthUnit::MILLIMETER |
| std::int32_t | disparityShift = 0 |
| bool | enableExtended = false |
| bool | enableLeftRightCheck = true |
| bool | enableSubpixel = false |
| std::int32_t | leftRightCheckThreshold = 10 |
| std::int32_t | numInvalidateEdgePixels = 0 |
| std::int32_t | subpixelFractionalBits = 3 |
Definition at line 17 of file RawStereoDepthConfig.hpp.
|
strong |
Align the disparity/depth to the perspective of a rectified output, or center it
| Enumerator | |
|---|---|
| RECTIFIED_RIGHT | |
| RECTIFIED_LEFT | |
| CENTER | |
Definition at line 21 of file RawStereoDepthConfig.hpp.
|
strong |
Measurement unit for depth data
| Enumerator | |
|---|---|
| METER | |
| CENTIMETER | |
| MILLIMETER | |
| INCH | |
| FOOT | |
| CUSTOM | |
Definition at line 26 of file RawStereoDepthConfig.hpp.
| dai::RawStereoDepthConfig::AlgorithmControl::DEPTHAI_SERIALIZE | ( | AlgorithmControl | , |
| depthAlign | , | ||
| depthUnit | , | ||
| customDepthUnitMultiplier | , | ||
| enableLeftRightCheck | , | ||
| enableExtended | , | ||
| enableSubpixel | , | ||
| leftRightCheckThreshold | , | ||
| subpixelFractionalBits | , | ||
| disparityShift | , | ||
| centerAlignmentShiftFactor | , | ||
| numInvalidateEdgePixels | |||
| ) |
| tl::optional<float> dai::RawStereoDepthConfig::AlgorithmControl::centerAlignmentShiftFactor |
Used only for debug purposes. centerAlignmentShiftFactor is set automatically in firmware, from camera extrinsics when depth alignment to camera is enabled. Center alignment is achieved by shifting the obtained disparity map by a scale factor. It's used to align to a different camera that is on the same horizontal baseline as the two stereo cameras. E.g. if we have a device with 10 cm stereo baseline, and we have another camera inbetween, 9cm from the LEFT camera and 1 cm from the RIGHT camera we can align the obtained disparity map using a scale factor of 0.9. Note that aligning disparity map to a different camera involves 2 steps:
Definition at line 103 of file RawStereoDepthConfig.hpp.
| float dai::RawStereoDepthConfig::AlgorithmControl::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.
Definition at line 43 of file RawStereoDepthConfig.hpp.
| DepthAlign dai::RawStereoDepthConfig::AlgorithmControl::depthAlign = DepthAlign::RECTIFIED_RIGHT |
Set the disparity/depth alignment to the perspective of a rectified output, or center it
Definition at line 31 of file RawStereoDepthConfig.hpp.
| DepthUnit dai::RawStereoDepthConfig::AlgorithmControl::depthUnit = DepthUnit::MILLIMETER |
Measurement unit for depth data. Depth data is integer value, multiple of depth unit.
Definition at line 37 of file RawStereoDepthConfig.hpp.
| std::int32_t dai::RawStereoDepthConfig::AlgorithmControl::disparityShift = 0 |
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 88 of file RawStereoDepthConfig.hpp.
| bool dai::RawStereoDepthConfig::AlgorithmControl::enableExtended = false |
Disparity range increased from 95 to 190, combined from full resolution and downscaled images. Suitable for short range objects
Definition at line 55 of file RawStereoDepthConfig.hpp.
| bool dai::RawStereoDepthConfig::AlgorithmControl::enableLeftRightCheck = true |
Computes and combines disparities in both L-R and R-L directions, and combine them. For better occlusion handling
Definition at line 49 of file RawStereoDepthConfig.hpp.
| bool dai::RawStereoDepthConfig::AlgorithmControl::enableSubpixel = false |
Computes disparity with sub-pixel interpolation (5 fractional bits), suitable for long range
Definition at line 60 of file RawStereoDepthConfig.hpp.
| std::int32_t dai::RawStereoDepthConfig::AlgorithmControl::leftRightCheckThreshold = 10 |
Left-right check threshold for left-right, right-left disparity map combine, 0..128 Used only when left-right check mode is enabled. Defines the maximum difference between the confidence of pixels from left-right and right-left confidence maps
Definition at line 67 of file RawStereoDepthConfig.hpp.
| std::int32_t dai::RawStereoDepthConfig::AlgorithmControl::numInvalidateEdgePixels = 0 |
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 110 of file RawStereoDepthConfig.hpp.
| std::int32_t dai::RawStereoDepthConfig::AlgorithmControl::subpixelFractionalBits = 3 |
Number of fractional bits for subpixel mode
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 78 of file RawStereoDepthConfig.hpp.