Struct StereoDepthConfig::AlgorithmControl

Nested Relationships

This struct is a nested type of Class StereoDepthConfig.

Struct Documentation

struct AlgorithmControl

Public Types

enum class DepthAlign : int32_t

Align the disparity/depth to the perspective of a rectified output, or center it

Values:

enumerator RECTIFIED_RIGHT
enumerator RECTIFIED_LEFT
enumerator CENTER
enum class DepthUnit : int32_t

Measurement unit for depth data

Values:

enumerator METER
enumerator CENTIMETER
enumerator MILLIMETER
enumerator INCH
enumerator FOOT
enumerator CUSTOM

Public Functions

DEPTHAI_SERIALIZE(AlgorithmControl, depthAlign, depthUnit, customDepthUnitMultiplier, enableLeftRightCheck, enableSwLeftRightCheck, enableExtended, enableSubpixel, leftRightCheckThreshold, subpixelFractionalBits, disparityShift, centerAlignmentShiftFactor, numInvalidateEdgePixels)

Public Members

DepthAlign depthAlign = DepthAlign::RECTIFIED_LEFT

Set the disparity/depth alignment to the perspective of a rectified output, or center it

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.

bool enableLeftRightCheck = true

Computes and combines disparities in both L-R and R-L directions, and combine them. For better occlusion handling

bool enableSwLeftRightCheck = false

Enables software left right check. Applicable to RVC4 only.

bool enableExtended = false

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

bool enableSubpixel = true

Computes disparity with sub-pixel interpolation (5 fractional bits), suitable for long range

std::int32_t 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

std::int32_t subpixelFractionalBits = 5

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

std::int32_t 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.

std::optional<float> centerAlignmentShiftFactor
std::int32_t 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.