#include <RawStereoDepthConfig.hpp>

Classes
struct	LinearEquationParameters

Public Types
enum	DisparityWidth : std::uint32_t { DisparityWidth::DISPARITY_64, DisparityWidth::DISPARITY_96 }

Public Member Functions
	DEPTHAI_SERIALIZE (CostMatching, disparityWidth, enableCompanding, invalidDisparityValue, confidenceThreshold, linearEquationParameters)

Public Attributes
uint8_t	confidenceThreshold = 245

DisparityWidth	disparityWidth = DisparityWidth::DISPARITY_96

bool	enableCompanding = false

uint8_t	invalidDisparityValue = 0

LinearEquationParameters	linearEquationParameters

Detailed Description

The matching cost is way of measuring the similarity of image locations in stereo correspondence algorithm. Based on the configuration parameters and based on the descriptor type, a linear equation is applied to computing the cost for each candidate disparity at each pixel.

Definition at line 450 of file RawStereoDepthConfig.hpp.

Member Enumeration Documentation

◆ DisparityWidth

enum dai::RawStereoDepthConfig::CostMatching::DisparityWidth : std::uint32_t

strong

Disparity search range: 64 or 96 pixels are supported by the HW.

Enumerator
DISPARITY_64
DISPARITY_96

Definition at line 454 of file RawStereoDepthConfig.hpp.

Member Function Documentation

◆ DEPTHAI_SERIALIZE()

dai::RawStereoDepthConfig::CostMatching::DEPTHAI_SERIALIZE	(	CostMatching	,
		disparityWidth	,
		enableCompanding	,
		invalidDisparityValue	,
		confidenceThreshold	,
		linearEquationParameters
	)

Member Data Documentation

◆ confidenceThreshold

uint8_t dai::RawStereoDepthConfig::CostMatching::confidenceThreshold = 245

Disparities with confidence value under this threshold are accepted. Higher confidence threshold means disparities with less confidence are accepted too.

Definition at line 481 of file RawStereoDepthConfig.hpp.

◆ disparityWidth

DisparityWidth dai::RawStereoDepthConfig::CostMatching::disparityWidth = DisparityWidth::DISPARITY_96

Disparity search range, default 96 pixels.

Definition at line 459 of file RawStereoDepthConfig.hpp.

◆ enableCompanding

bool dai::RawStereoDepthConfig::CostMatching::enableCompanding = false

Disparity companding using sparse matching. Matching pixel by pixel for N disparities. Matching every 2nd pixel for M disparitites. Matching every 4th pixel for T disparities. In case of 96 disparities: N=48, M=32, T=16. This way the search range is extended to 176 disparities, by sparse matching. Note: when enabling this flag only depth map will be affected, disparity map is not.

Definition at line 470 of file RawStereoDepthConfig.hpp.

◆ invalidDisparityValue

uint8_t dai::RawStereoDepthConfig::CostMatching::invalidDisparityValue = 0

Used only for debug purposes, SW postprocessing handled only invalid value of 0 properly.

Definition at line 475 of file RawStereoDepthConfig.hpp.

◆ linearEquationParameters

LinearEquationParameters dai::RawStereoDepthConfig::CostMatching::linearEquationParameters

Cost calculation linear equation parameters.

Definition at line 502 of file RawStereoDepthConfig.hpp.

The documentation for this struct was generated from the following file:

RawStereoDepthConfig.hpp

Classes

Public Types

Public Member Functions

Public Attributes