org.bytedeco.depthai

Class RawStereoDepthConfig.CensusTransform

java.lang.Object

org.bytedeco.javacpp.Pointer

org.bytedeco.depthai.RawStereoDepthConfig.CensusTransform

All Implemented Interfaces:

AutoCloseable

Enclosing class:

RawStereoDepthConfig

public static class RawStereoDepthConfig.CensusTransform
extends Pointer

The basic cost function used by the Stereo Accelerator for matching the left and right images is the Census Transform. It works on a block of pixels and computes a bit vector which represents the structure of the image in that block. There are two types of Census Transform based on how the middle pixel is used: Classic Approach and Modified Census. The comparisons that are made between pixels can be or not thresholded. In some cases a mask can be applied to filter out only specific bits from the entire bit stream. All these approaches are: Classic Approach: Uses middle pixel to compare against all its neighbors over a defined window. Each comparison results in a new bit, that is 0 if central pixel is smaller, or 1 if is it bigger than its neighbor. Modified Census Transform: same as classic Census Transform, but instead of comparing central pixel with its neighbors, the window mean will be compared with each pixel over the window. Thresholding Census Transform: same as classic Census Transform, but it is not enough that a neighbor pixel to be bigger than the central pixel, it must be significant bigger (based on a threshold). Census Transform with Mask: same as classic Census Transform, but in this case not all of the pixel from the support window are part of the binary descriptor. We use a ma sk ???M??? to define which pixels are part of the binary descriptor (1), and which pixels should be skipped (0).

Nested Class Summary

Nested Classes

Modifier and Type	Class and Description
static class	RawStereoDepthConfig.CensusTransform.KernelSize Census transform kernel size possible values.

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
CensusTransform() Default native constructor.
CensusTransform(long size) Native array allocator.
CensusTransform(Pointer p) Pointer cast constructor.

Method Summary

Modifier and Type	Method and Description
boolean	enableMeanMode() If enabled, each pixel in the window is compared with the mean window value instead of the central pixel.
RawStereoDepthConfig.CensusTransform	enableMeanMode(boolean setter)
RawStereoDepthConfig.CensusTransform	getPointer(long i)
long	kernelMask() Census transform mask, default - auto, mask is set based on resolution and kernel size.
RawStereoDepthConfig.CensusTransform	kernelMask(long setter)
RawStereoDepthConfig.CensusTransform.KernelSize	kernelSize() Census transform kernel size.
RawStereoDepthConfig.CensusTransform	kernelSize(RawStereoDepthConfig.CensusTransform.KernelSize setter)
RawStereoDepthConfig.CensusTransform	position(long position)
int	threshold() Census transform comparison threshold value.
RawStereoDepthConfig.CensusTransform	threshold(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

CensusTransform

public CensusTransform()

Default native constructor.

CensusTransform

public CensusTransform(long size)

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

CensusTransform

public CensusTransform(Pointer p)

Pointer cast constructor. Invokes Pointer(Pointer).

Method Detail

position

public RawStereoDepthConfig.CensusTransform position(long position)

Overrides:

position in class Pointer

getPointer

public RawStereoDepthConfig.CensusTransform getPointer(long i)

Overrides:

getPointer in class Pointer

kernelSize

public RawStereoDepthConfig.CensusTransform.KernelSize kernelSize()

Census transform kernel size.

kernelSize

public RawStereoDepthConfig.CensusTransform kernelSize(RawStereoDepthConfig.CensusTransform.KernelSize setter)

kernelMask

@Cast(value="uint64_t")
public long kernelMask()

Census transform mask, default - auto, mask is set based on resolution and kernel size. Disabled for 400p input resolution. Enabled for 720p. 0XA82415 for 5x5 census transform kernel. 0XAA02A8154055 for 7x7 census transform kernel. 0X2AA00AA805540155 for 7x9 census transform kernel. Empirical values.

kernelMask

public RawStereoDepthConfig.CensusTransform kernelMask(long setter)

enableMeanMode

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

If enabled, each pixel in the window is compared with the mean window value instead of the central pixel.

enableMeanMode

public RawStereoDepthConfig.CensusTransform enableMeanMode(boolean setter)

threshold

@Cast(value="uint32_t")
public int threshold()

Census transform comparison threshold value.

threshold

public RawStereoDepthConfig.CensusTransform threshold(int setter)