org.bytedeco.depthai

Class RawStereoDepthConfig.CostMatching

java.lang.Object

org.bytedeco.javacpp.Pointer

org.bytedeco.depthai.RawStereoDepthConfig.CostMatching

All Implemented Interfaces:

AutoCloseable

Enclosing class:

RawStereoDepthConfig

public static class RawStereoDepthConfig.CostMatching
extends Pointer

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.

Nested Class Summary

Nested Classes

Modifier and Type	Class and Description
static class	RawStereoDepthConfig.CostMatching.DisparityWidth Disparity search range: 64 or 96 pixels are supported by the HW.
static class	RawStereoDepthConfig.CostMatching.LinearEquationParameters The linear equation applied for computing the cost is: COMB_COST = ??*AD + ??*(CTC<<3).

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

Method Summary

Modifier and Type	Method and Description
byte	confidenceThreshold() Disparities with confidence value under this threshold are accepted.
RawStereoDepthConfig.CostMatching	confidenceThreshold(byte setter)
RawStereoDepthConfig.CostMatching.DisparityWidth	disparityWidth() Disparity search range, default 96 pixels.
RawStereoDepthConfig.CostMatching	disparityWidth(RawStereoDepthConfig.CostMatching.DisparityWidth setter)
boolean	enableCompanding() Disparity companding using sparse matching.
RawStereoDepthConfig.CostMatching	enableCompanding(boolean setter)
RawStereoDepthConfig.CostMatching	getPointer(long i)
byte	invalidDisparityValue() Used only for debug purposes, SW postprocessing handled only invalid value of 0 properly.
RawStereoDepthConfig.CostMatching	invalidDisparityValue(byte setter)
RawStereoDepthConfig.CostMatching.LinearEquationParameters	linearEquationParameters() Cost calculation linear equation parameters.
RawStereoDepthConfig.CostMatching	linearEquationParameters(RawStereoDepthConfig.CostMatching.LinearEquationParameters setter)
RawStereoDepthConfig.CostMatching	position(long position)

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

CostMatching

public CostMatching()

Default native constructor.

CostMatching

public CostMatching(long size)

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

CostMatching

public CostMatching(Pointer p)

Pointer cast constructor. Invokes Pointer(Pointer).

Method Detail

position

public RawStereoDepthConfig.CostMatching position(long position)

Overrides:

position in class Pointer

getPointer

public RawStereoDepthConfig.CostMatching getPointer(long i)

Overrides:

getPointer in class Pointer

disparityWidth

public RawStereoDepthConfig.CostMatching.DisparityWidth disparityWidth()

Disparity search range, default 96 pixels.

disparityWidth

public RawStereoDepthConfig.CostMatching disparityWidth(RawStereoDepthConfig.CostMatching.DisparityWidth setter)

enableCompanding

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

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.

enableCompanding

public RawStereoDepthConfig.CostMatching enableCompanding(boolean setter)

invalidDisparityValue

@Cast(value="uint8_t")
public byte invalidDisparityValue()

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

invalidDisparityValue

public RawStereoDepthConfig.CostMatching invalidDisparityValue(byte setter)

confidenceThreshold

@Cast(value="uint8_t")
public byte confidenceThreshold()

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

confidenceThreshold

public RawStereoDepthConfig.CostMatching confidenceThreshold(byte setter)

linearEquationParameters

@ByRef
public RawStereoDepthConfig.CostMatching.LinearEquationParameters linearEquationParameters()

Cost calculation linear equation parameters.

linearEquationParameters

public RawStereoDepthConfig.CostMatching linearEquationParameters(RawStereoDepthConfig.CostMatching.LinearEquationParameters setter)