org.bytedeco.depthai

Class RawStereoDepthConfig.AlgorithmControl

java.lang.Object

org.bytedeco.javacpp.Pointer

org.bytedeco.depthai.RawStereoDepthConfig.AlgorithmControl

All Implemented Interfaces:

AutoCloseable

Enclosing class:

RawStereoDepthConfig

public static class RawStereoDepthConfig.AlgorithmControl
extends Pointer

Nested Class Summary

Nested Classes

Modifier and Type	Class and Description
static class	RawStereoDepthConfig.AlgorithmControl.DepthAlign Align the disparity/depth to the perspective of a rectified output, or center it
static class	RawStereoDepthConfig.AlgorithmControl.DepthUnit Measurement unit for depth data

Nested classes/interfaces inherited from class org.bytedeco.javacpp.Pointer

Pointer.CustomDeallocator, Pointer.Deallocator, Pointer.NativeDeallocator, Pointer.ReferenceCounter

Field Summary

Fields inherited from class org.bytedeco.javacpp.Pointer

address, capacity, limit, position

Constructor Summary

Constructors

Constructor and Description
AlgorithmControl() Default native constructor.
AlgorithmControl(long size) Native array allocator.
AlgorithmControl(Pointer p) Pointer cast constructor.

Method Summary

Modifier and Type	Method and Description
FloatOptional	centerAlignmentShiftFactor() Used only for debug purposes.
RawStereoDepthConfig.AlgorithmControl	centerAlignmentShiftFactor(FloatOptional setter)
float	customDepthUnitMultiplier() Custom depth unit multiplier, if custom depth unit is enabled, relative to 1 meter.
RawStereoDepthConfig.AlgorithmControl	customDepthUnitMultiplier(float setter)
RawStereoDepthConfig.AlgorithmControl.DepthAlign	depthAlign() Set the disparity/depth alignment to the perspective of a rectified output, or center it
RawStereoDepthConfig.AlgorithmControl	depthAlign(RawStereoDepthConfig.AlgorithmControl.DepthAlign setter)
RawStereoDepthConfig.AlgorithmControl.DepthUnit	depthUnit() Measurement unit for depth data.
RawStereoDepthConfig.AlgorithmControl	depthUnit(RawStereoDepthConfig.AlgorithmControl.DepthUnit setter)
int	disparityShift() Shift input frame by a number of pixels to increase minimum depth.
RawStereoDepthConfig.AlgorithmControl	disparityShift(int setter)
boolean	enableExtended() Disparity range increased from 95 to 190, combined from full resolution and downscaled images.
RawStereoDepthConfig.AlgorithmControl	enableExtended(boolean setter)
boolean	enableLeftRightCheck() Computes and combines disparities in both L-R and R-L directions, and combine them.
RawStereoDepthConfig.AlgorithmControl	enableLeftRightCheck(boolean setter)
boolean	enableSubpixel() Computes disparity with sub-pixel interpolation (5 fractional bits), suitable for long range
RawStereoDepthConfig.AlgorithmControl	enableSubpixel(boolean setter)
RawStereoDepthConfig.AlgorithmControl	getPointer(long i)
int	leftRightCheckThreshold() Left-right check threshold for left-right, right-left disparity map combine, 0..128 Used only when left-right check mode is enabled.
RawStereoDepthConfig.AlgorithmControl	leftRightCheckThreshold(int setter)
int	numInvalidateEdgePixels() Invalidate X amount of pixels at the edge of disparity frame.
RawStereoDepthConfig.AlgorithmControl	numInvalidateEdgePixels(int setter)
RawStereoDepthConfig.AlgorithmControl	position(long position)
int	subpixelFractionalBits() 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
RawStereoDepthConfig.AlgorithmControl	subpixelFractionalBits(int setter)

Methods inherited from class org.bytedeco.javacpp.Pointer

address, asBuffer, asByteBuffer, availablePhysicalBytes, calloc, capacity, capacity, close, deallocate, deallocate, deallocateReferences, deallocator, deallocator, equals, fill, formatBytes, free, getDirectBufferAddress, getPointer, getPointer, getPointer, hashCode, interruptDeallocatorThread, isNull, isNull, limit, limit, malloc, maxBytes, maxPhysicalBytes, memchr, memcmp, memcpy, memmove, memset, offsetAddress, offsetof, offsetof, parseBytes, physicalBytes, physicalBytesInaccurate, position, put, realloc, referenceCount, releaseReference, retainReference, setNull, sizeof, sizeof, toString, totalBytes, totalCount, totalPhysicalBytes, withDeallocator, zero

Methods inherited from class java.lang.Object

clone, finalize, getClass, notify, notifyAll, wait, wait, wait

Constructor Detail

AlgorithmControl

public AlgorithmControl()

Default native constructor.

AlgorithmControl

public AlgorithmControl(long size)

Native array allocator. Access with Pointer.position(long).

AlgorithmControl

public AlgorithmControl(Pointer p)

Pointer cast constructor. Invokes Pointer(Pointer).

Method Detail

position

public RawStereoDepthConfig.AlgorithmControl position(long position)

Overrides:

position in class Pointer

getPointer

public RawStereoDepthConfig.AlgorithmControl getPointer(long i)

Overrides:

getPointer in class Pointer

depthAlign

public RawStereoDepthConfig.AlgorithmControl.DepthAlign depthAlign()

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

depthAlign

public RawStereoDepthConfig.AlgorithmControl depthAlign(RawStereoDepthConfig.AlgorithmControl.DepthAlign setter)

depthUnit

public RawStereoDepthConfig.AlgorithmControl.DepthUnit depthUnit()

Measurement unit for depth data. Depth data is integer value, multiple of depth unit.

depthUnit

public RawStereoDepthConfig.AlgorithmControl depthUnit(RawStereoDepthConfig.AlgorithmControl.DepthUnit setter)

customDepthUnitMultiplier

public float customDepthUnitMultiplier()

Custom depth unit multiplier, if custom depth unit is enabled, relative to 1 meter. A multiplier of 1000 effectively means depth unit in millimeter.

customDepthUnitMultiplier

public RawStereoDepthConfig.AlgorithmControl customDepthUnitMultiplier(float setter)

enableLeftRightCheck

@Cast(value="bool")
public boolean enableLeftRightCheck()

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

enableLeftRightCheck

public RawStereoDepthConfig.AlgorithmControl enableLeftRightCheck(boolean setter)

enableExtended

@Cast(value="bool")
public boolean enableExtended()

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

enableExtended

public RawStereoDepthConfig.AlgorithmControl enableExtended(boolean setter)

enableSubpixel

@Cast(value="bool")
public boolean enableSubpixel()

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

enableSubpixel

public RawStereoDepthConfig.AlgorithmControl enableSubpixel(boolean setter)

leftRightCheckThreshold

@Cast(value="std::int32_t")
public int leftRightCheckThreshold()

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

leftRightCheckThreshold

public RawStereoDepthConfig.AlgorithmControl leftRightCheckThreshold(int setter)

subpixelFractionalBits

@Cast(value="std::int32_t")
public int subpixelFractionalBits()

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

subpixelFractionalBits

public RawStereoDepthConfig.AlgorithmControl subpixelFractionalBits(int setter)

disparityShift

@Cast(value="std::int32_t")
public 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.

disparityShift

public RawStereoDepthConfig.AlgorithmControl disparityShift(int setter)

centerAlignmentShiftFactor

@ByRef
public FloatOptional 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: 1. Shifting obtained disparity map. 2. Warping the image to counter rotate and scaling to match the FOV. Center alignment factor 1 is equivalent to RECTIFIED_RIGHT Center alignment factor 0 is equivalent to RECTIFIED_LEFT

centerAlignmentShiftFactor

public RawStereoDepthConfig.AlgorithmControl centerAlignmentShiftFactor(FloatOptional setter)

numInvalidateEdgePixels

@Cast(value="std::int32_t")
public int 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.

numInvalidateEdgePixels

public RawStereoDepthConfig.AlgorithmControl numInvalidateEdgePixels(int setter)