org.bytedeco.depthai

Class StereoDepthConfig

java.lang.Object

org.bytedeco.javacpp.Pointer

org.bytedeco.depthai.ADatatype

org.bytedeco.depthai.Buffer

org.bytedeco.depthai.StereoDepthConfig

All Implemented Interfaces:

AutoCloseable

@Namespace(value="dai")
 @NoOffset
 @Properties(inherit=depthai.class)
public class StereoDepthConfig
extends Buffer

StereoDepthConfig message.

Nested Class Summary

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
StereoDepthConfig() Construct StereoDepthConfig message.
StereoDepthConfig(long size) Native array allocator.
StereoDepthConfig(Pointer p) Pointer cast constructor.
StereoDepthConfig(RawStereoDepthConfig ptr)

Method Summary

Modifier and Type	Method and Description
RawStereoDepthConfig	get() Retrieve configuration data for StereoDepth.
short	getBilateralFilterSigma() Get sigma value for 5x5 bilateral filter
int	getConfidenceThreshold() Get confidence threshold for disparity calculation
RawStereoDepthConfig.AlgorithmControl.DepthUnit	getDepthUnit() Get depth unit of depth map.
int	getLeftRightCheckThreshold() Get threshold for left-right check combine
float	getMaxDisparity() Useful for normalization of the disparity map.
depthai.MedianFilter	getMedianFilter() Get median filter setting
StereoDepthConfig	getPointer(long i)
StereoDepthConfig	position(long position)
StereoDepthConfig	set(RawStereoDepthConfig config) Set explicit configuration.
StereoDepthConfig	setBilateralFilterSigma(short sigma) A larger value of the parameter means that farther colors within the pixel neighborhood will be mixed together, resulting in larger areas of semi-equal color.
StereoDepthConfig	setConfidenceThreshold(int confThr) Confidence threshold for disparity calculation
StereoDepthConfig	setDepthAlign(RawStereoDepthConfig.AlgorithmControl.DepthAlign align)
StereoDepthConfig	setDepthUnit(RawStereoDepthConfig.AlgorithmControl.DepthUnit depthUnit) Set depth unit of depth map.
StereoDepthConfig	setDisparityShift(int disparityShift) Shift input frame by a number of pixels to increase minimum depth.
StereoDepthConfig	setExtendedDisparity(boolean enable) Disparity range increased from 95 to 190, combined from full resolution and downscaled images.
StereoDepthConfig	setLeftRightCheck(boolean enable) Computes and combines disparities in both L-R and R-L directions, and combine them.
StereoDepthConfig	setLeftRightCheckThreshold(int threshold)
StereoDepthConfig	setMedianFilter(depthai.MedianFilter median)
StereoDepthConfig	setMedianFilter(int median)
StereoDepthConfig	setNumInvalidateEdgePixels(int numInvalidateEdgePixels) Invalidate X amount of pixels at the edge of disparity frame.
StereoDepthConfig	setSubpixel(boolean enable) Computes disparity with sub-pixel interpolation (3 fractional bits by default).
StereoDepthConfig	setSubpixelFractionalBits(int subpixelFractionalBits) Number of fractional bits for subpixel mode.

Methods inherited from class org.bytedeco.depthai.Buffer

getData, setData, setData, setData

Methods inherited from class org.bytedeco.depthai.ADatatype

getRaw, serialize

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

StereoDepthConfig

public StereoDepthConfig(Pointer p)

Pointer cast constructor. Invokes Pointer(Pointer).

StereoDepthConfig

public StereoDepthConfig(long size)

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

StereoDepthConfig

public StereoDepthConfig()

Construct StereoDepthConfig message.

StereoDepthConfig

public StereoDepthConfig(@SharedPtr
                         RawStereoDepthConfig ptr)

Method Detail

position

public StereoDepthConfig position(long position)

Overrides:

position in class Buffer

getPointer

public StereoDepthConfig getPointer(long i)

Overrides:

getPointer in class Buffer

setDepthAlign

@ByRef
public StereoDepthConfig setDepthAlign(RawStereoDepthConfig.AlgorithmControl.DepthAlign align)

Parameters:

align - Set the disparity/depth alignment: centered (between the 'left' and 'right' inputs), or from the perspective of a rectified output stream

setConfidenceThreshold

@ByRef
public StereoDepthConfig setConfidenceThreshold(int confThr)

Confidence threshold for disparity calculation

Parameters:

confThr - Confidence threshold value 0..255

getConfidenceThreshold

public int getConfidenceThreshold()

Get confidence threshold for disparity calculation

setMedianFilter

@ByRef
public StereoDepthConfig setMedianFilter(depthai.MedianFilter median)

Parameters:

median - Set kernel size for disparity/depth median filtering, or disable

setMedianFilter

@ByRef
public StereoDepthConfig setMedianFilter(@Cast(value="dai::MedianFilter")
                                                int median)

getMedianFilter

public depthai.MedianFilter getMedianFilter()

Get median filter setting

setBilateralFilterSigma

@ByRef
public StereoDepthConfig setBilateralFilterSigma(@Cast(value="uint16_t")
                                                        short sigma)

A larger value of the parameter means that farther colors within the pixel neighborhood will be mixed together, resulting in larger areas of semi-equal color.

Parameters:

sigma - Set sigma value for 5x5 bilateral filter. 0..65535

getBilateralFilterSigma

@Cast(value="uint16_t")
public short getBilateralFilterSigma()

Get sigma value for 5x5 bilateral filter

setLeftRightCheckThreshold

@ByRef
public StereoDepthConfig setLeftRightCheckThreshold(int threshold)

Parameters:

threshold - Set threshold for left-right, right-left disparity map combine, 0..255

getLeftRightCheckThreshold

public int getLeftRightCheckThreshold()

Get threshold for left-right check combine

setLeftRightCheck

@ByRef
public StereoDepthConfig setLeftRightCheck(@Cast(value="bool")
                                                  boolean enable)

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

setExtendedDisparity

@ByRef
public StereoDepthConfig setExtendedDisparity(@Cast(value="bool")
                                                     boolean enable)

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

setSubpixel

@ByRef
public StereoDepthConfig setSubpixel(@Cast(value="bool")
                                            boolean enable)

Computes disparity with sub-pixel interpolation (3 fractional bits by default). Suitable for long range. Currently incompatible with extended disparity

setSubpixelFractionalBits

@ByRef
public StereoDepthConfig setSubpixelFractionalBits(int subpixelFractionalBits)

Number of fractional bits for subpixel mode. Default value: 3. Valid values: 3,4,5. Defines the number of fractional disparities: 2^x. Median filter postprocessing is supported only for 3 fractional bits.

setDepthUnit

@ByRef
public StereoDepthConfig setDepthUnit(RawStereoDepthConfig.AlgorithmControl.DepthUnit depthUnit)

Set depth unit of depth map. Meter, centimeter, millimeter, inch, foot or custom unit is available.

setDisparityShift

@ByRef
public StereoDepthConfig setDisparityShift(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.

setNumInvalidateEdgePixels

@ByRef
public StereoDepthConfig setNumInvalidateEdgePixels(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.

getDepthUnit

public RawStereoDepthConfig.AlgorithmControl.DepthUnit getDepthUnit()

Get depth unit of depth map.

getMaxDisparity

public float getMaxDisparity()

Useful for normalization of the disparity map.

Returns:

Maximum disparity value that the node can return

set

@ByRef
public StereoDepthConfig set(@ByVal
                                    RawStereoDepthConfig config)

Set explicit configuration.

Parameters:

config - Explicit configuration

get

@ByVal
public RawStereoDepthConfig get()

Retrieve configuration data for StereoDepth.

Returns:

config for stereo depth algorithm