org.bytedeco.depthai

Class StereoDepth

java.lang.Object

org.bytedeco.javacpp.Pointer

org.bytedeco.depthai.Node

org.bytedeco.depthai.StereoDepth

All Implemented Interfaces:

AutoCloseable

@Namespace(value="dai::node")
 @NoOffset
 @Properties(inherit=depthai.class)
public class StereoDepth
extends Node

\brief StereoDepth node. Compute stereo disparity and depth from left-right image pair.

Nested Class Summary

Nested classes/interfaces inherited from class org.bytedeco.depthai.Node

Node.Connection, Node.DatatypeHierarchy, Node.Input, Node.Output

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
StereoDepth(PipelineImpl par, long nodeId)
StereoDepth(Pointer p) Pointer cast constructor.

Method Summary

Modifier and Type	Method and Description
Node.Output	depth() Outputs ImgFrame message that carries RAW16 encoded (0..65535) depth data in millimeters.
Node.Output	disparity() Outputs ImgFrame message that carries RAW8 / RAW16 encoded disparity data: RAW8 encoded (0..95) for standard mode; RAW8 encoded (0..190) for extended disparity mode; RAW16 encoded (0..3040) for subpixel disparity mode (32 subpixel levels on top of standard mode).
float	getMaxDisparity() Useful for normalization of the disparity map.
BytePointer	getName() Retrieves nodes name
StereoDepthConfig	initialConfig() Initial config to use for StereoDepth.
Node.Input	inputConfig() Input StereoDepthConfig message with ability to modify parameters in runtime.
Node.Input	left() Input for left ImgFrame of left-right pair Default queue is non-blocking with size 8
void	loadCalibrationData(byte[] data) Deprecated.
void	loadCalibrationData(ByteBuffer data) Deprecated.
void	loadCalibrationData(BytePointer data) Deprecated.
void	loadCalibrationFile(BytePointer path) Deprecated.
void	loadCalibrationFile(String path) Deprecated.
void	loadMeshData(byte[] dataLeft, byte[] dataRight)
void	loadMeshData(ByteBuffer dataLeft, ByteBuffer dataRight)
void	loadMeshData(BytePointer dataLeft, BytePointer dataRight) Specify mesh calibration data for 'left' and 'right' inputs, as vectors of bytes.
void	loadMeshFiles(BytePointer pathLeft, BytePointer pathRight) Specify local filesystem paths to the mesh calibration files for 'left' and 'right' inputs.
void	loadMeshFiles(String pathLeft, String pathRight)
Node.Output	rectifiedLeft() Outputs ImgFrame message that carries RAW8 encoded (grayscale) rectified frame data.
Node.Output	rectifiedRight() Outputs ImgFrame message that carries RAW8 encoded (grayscale) rectified frame data.
Node.Input	right() Input for right ImgFrame of left-right pair Default queue is non-blocking with size 8
void	setConfidenceThreshold(int confThr) Deprecated.
void	setDepthAlign(depthai.CameraBoardSocket camera)
void	setDepthAlign(int camera)
void	setDepthAlign(StereoDepthProperties.DepthAlign align)
void	setEmptyCalibration() Deprecated.
void	setExtendedDisparity(boolean enable) Disparity range increased from 0-95 to 0-190, combined from full resolution and downscaled images.
void	setInputResolution(int width, int height) Specify input resolution size Optional if MonoCamera exists, otherwise necessary
void	setLeftRightCheck(boolean enable) Computes and combines disparities in both L-R and R-L directions, and combine them.
void	setMedianFilter(depthai.MedianFilter median) Deprecated.
void	setMedianFilter(int median) Deprecated.
void	setMeshStep(int width, int height) Set the distance between mesh points.
void	setOutputDepth(boolean enable) Deprecated.
void	setOutputKeepAspectRatio(boolean keep) Specifies whether the frames resized by setOutputSize should preserve aspect ratio, with potential cropping when enabled.
void	setOutputRectified(boolean enable) Deprecated.
void	setOutputSize(int width, int height) Specify disparity/depth output resolution size, implemented by scaling.
void	setRectification(boolean enable) Rectify input images or not.
void	setRectifyEdgeFillColor(int color) Fill color for missing data at frame edges
void	setRectifyMirrorFrame(boolean enable) Mirror rectified frames, only when LR-check mode is disabled.
void	setSubpixel(boolean enable) Computes disparity with sub-pixel interpolation (5 fractional bits).
Node.Output	syncedLeft() Passthrough ImgFrame message from 'left' Input.
Node.Output	syncedRight() Passthrough ImgFrame message from 'right' Input.

Methods inherited from class org.bytedeco.depthai.Node

assetManager, clone, getAssets, getInputRefs, getInputs, getOutputRefs, getOutputs, getParentPipeline, getProperties, getRequiredOpenVINOVersion, id, inputs, outputs

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, getPointer, getPointer, getPointer, getPointer, hashCode, isNull, isNull, limit, limit, malloc, maxBytes, maxPhysicalBytes, memchr, memcmp, memcpy, memmove, memset, offsetAddress, offsetof, offsetof, parseBytes, physicalBytes, position, position, put, realloc, referenceCount, releaseReference, retainReference, setNull, sizeof, sizeof, toString, totalBytes, totalCount, totalPhysicalBytes, withDeallocator, zero

Methods inherited from class java.lang.Object

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

Constructor Detail

StereoDepth

public StereoDepth(Pointer p)

Pointer cast constructor. Invokes Pointer(Pointer).

StereoDepth

public StereoDepth(@SharedPtr
                   PipelineImpl par,
                   @Cast(value="int64_t")
                   long nodeId)

Method Detail

getName

@StdString
public BytePointer getName()

Description copied from class: Node

Retrieves nodes name

Overrides:

getName in class Node

initialConfig

@MemberGetter
 @ByRef
public StereoDepthConfig initialConfig()

Initial config to use for StereoDepth.

inputConfig

@MemberGetter
 @ByRef
public Node.Input inputConfig()

Input StereoDepthConfig message with ability to modify parameters in runtime. Default queue is non-blocking with size 4.

left

@MemberGetter
 @ByRef
public Node.Input left()

Input for left ImgFrame of left-right pair Default queue is non-blocking with size 8

right

@MemberGetter
 @ByRef
public Node.Input right()

Input for right ImgFrame of left-right pair Default queue is non-blocking with size 8

depth

@MemberGetter
 @ByRef
public Node.Output depth()

Outputs ImgFrame message that carries RAW16 encoded (0..65535) depth data in millimeters. Non-determined / invalid depth values are set to 0

disparity

@MemberGetter
 @ByRef
public Node.Output disparity()

Outputs ImgFrame message that carries RAW8 / RAW16 encoded disparity data: RAW8 encoded (0..95) for standard mode; RAW8 encoded (0..190) for extended disparity mode; RAW16 encoded (0..3040) for subpixel disparity mode (32 subpixel levels on top of standard mode).

syncedLeft

@MemberGetter
 @ByRef
public Node.Output syncedLeft()

Passthrough ImgFrame message from 'left' Input.

syncedRight

@MemberGetter
 @ByRef
public Node.Output syncedRight()

Passthrough ImgFrame message from 'right' Input.

rectifiedLeft

@MemberGetter
 @ByRef
public Node.Output rectifiedLeft()

Outputs ImgFrame message that carries RAW8 encoded (grayscale) rectified frame data.

rectifiedRight

@MemberGetter
 @ByRef
public Node.Output rectifiedRight()

Outputs ImgFrame message that carries RAW8 encoded (grayscale) rectified frame data.

loadCalibrationFile

@Deprecated
public void loadCalibrationFile(@StdString
                                            BytePointer path)

Deprecated.

Specify local filesystem path to the calibration file

Parameters:

path - Path to calibration file. If empty use EEPROM

loadCalibrationFile

@Deprecated
public void loadCalibrationFile(@StdString
                                            String path)

Deprecated.

loadCalibrationData

@Deprecated
public void loadCalibrationData(@Cast(value="std::uint8_t*") @StdVector
                                            BytePointer data)

Deprecated.

Specify calibration data as a vector of bytes

Parameters:

path - Calibration data. If empty use EEPROM

loadCalibrationData

@Deprecated
public void loadCalibrationData(@Cast(value="std::uint8_t*") @StdVector
                                            ByteBuffer data)

Deprecated.

loadCalibrationData

@Deprecated
public void loadCalibrationData(@Cast(value="std::uint8_t*") @StdVector
                                            byte[] data)

Deprecated.

setEmptyCalibration

@Deprecated
public void setEmptyCalibration()

Deprecated.

Specify that a passthrough/dummy calibration should be used, when input frames are already rectified (e.g. sourced from recordings on the host)

loadMeshFiles

public void loadMeshFiles(@StdString
                          BytePointer pathLeft,
                          @StdString
                          BytePointer pathRight)

Specify local filesystem paths to the mesh calibration files for 'left' and 'right' inputs. When a mesh calibration is set, it overrides the camera intrinsics/extrinsics matrices. Mesh format: a sequence of (y,x) points as 'float' with coordinates from the input image to be mapped in the output. The mesh can be subsampled, configured by setMeshStep. With a 1280x800 resolution and the default (16,16) step, the required mesh size is: width: 1280 / 16 + 1 = 81 height: 800 / 16 + 1 = 51

loadMeshFiles

public void loadMeshFiles(@StdString
                          String pathLeft,
                          @StdString
                          String pathRight)

loadMeshData

public void loadMeshData(@Cast(value="std::uint8_t*") @StdVector
                         BytePointer dataLeft,
                         @Cast(value="std::uint8_t*") @StdVector
                         BytePointer dataRight)

Specify mesh calibration data for 'left' and 'right' inputs, as vectors of bytes. See loadMeshFiles for the expected data format

loadMeshData

public void loadMeshData(@Cast(value="std::uint8_t*") @StdVector
                         ByteBuffer dataLeft,
                         @Cast(value="std::uint8_t*") @StdVector
                         ByteBuffer dataRight)

loadMeshData

public void loadMeshData(@Cast(value="std::uint8_t*") @StdVector
                         byte[] dataLeft,
                         @Cast(value="std::uint8_t*") @StdVector
                         byte[] dataRight)

setMeshStep

public void setMeshStep(int width,
                        int height)

Set the distance between mesh points. Default: (16, 16)

setInputResolution

public void setInputResolution(int width,
                               int height)

Specify input resolution size Optional if MonoCamera exists, otherwise necessary

setOutputSize

public void setOutputSize(int width,
                          int height)

Specify disparity/depth output resolution size, implemented by scaling. Currently only applicable when aligning to RGB camera

setOutputKeepAspectRatio

public void setOutputKeepAspectRatio(@Cast(value="bool")
                                     boolean keep)

Specifies whether the frames resized by setOutputSize should preserve aspect ratio, with potential cropping when enabled. Default true

setMedianFilter

@Deprecated
public void setMedianFilter(depthai.MedianFilter median)

Deprecated.

Parameters:

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

setMedianFilter

@Deprecated
public void setMedianFilter(@Cast(value="dai::MedianFilter")
                                        int median)

Deprecated.

setDepthAlign

public void setDepthAlign(@ByVal
                          StereoDepthProperties.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

setDepthAlign

public void setDepthAlign(depthai.CameraBoardSocket camera)

Parameters:

camera - Set the camera from whose perspective the disparity/depth will be aligned

setDepthAlign

public void setDepthAlign(@Cast(value="dai::CameraBoardSocket")
                          int camera)

setConfidenceThreshold

@Deprecated
public void setConfidenceThreshold(int confThr)

Deprecated.

Confidence threshold for disparity calculation

Parameters:

confThr - Confidence threshold value 0..255

setRectification

public void setRectification(@Cast(value="bool")
                             boolean enable)

Rectify input images or not.

setLeftRightCheck

public void 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

setSubpixel

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

Computes disparity with sub-pixel interpolation (5 fractional bits). Suitable for long range. Currently incompatible with extended disparity

setExtendedDisparity

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

Disparity range increased from 0-95 to 0-190, combined from full resolution and downscaled images. Suitable for short range objects. Currently incompatible with sub-pixel disparity

setRectifyEdgeFillColor

public void setRectifyEdgeFillColor(int color)

Fill color for missing data at frame edges

Parameters:

color - Grayscale 0..255, or -1 to replicate pixels

setRectifyMirrorFrame

public void setRectifyMirrorFrame(@Cast(value="bool")
                                  boolean enable)

Mirror rectified frames, only when LR-check mode is disabled. Default true. The mirroring is required to have a normal non-mirrored disparity/depth output. A side effect of this option is disparity alignment to the perspective of left or right input: false: mapped to left and mirrored, true: mapped to right. With LR-check enabled, this option is ignored, none of the outputs are mirrored, and disparity is mapped to right.

Parameters:

enable - True for normal disparity/depth, otherwise mirrored

setOutputRectified

@Deprecated
public void setOutputRectified(@Cast(value="bool")
                                           boolean enable)

Deprecated.

Enable outputting rectified frames. Optimizes computation on device side when disabled. DEPRECATED. The outputs are auto-enabled if used

setOutputDepth

@Deprecated
public void setOutputDepth(@Cast(value="bool")
                                       boolean enable)

Deprecated.

Enable outputting 'depth' stream (converted from disparity). In certain configurations, this will disable 'disparity' stream. DEPRECATED. The output is auto-enabled if used

getMaxDisparity

public float getMaxDisparity()

Useful for normalization of the disparity map.

Returns:

Maximum disparity value that the node can return