org.bytedeco.depthai

Class StereoDepthProperties

java.lang.Object

org.bytedeco.javacpp.Pointer

org.bytedeco.depthai.DaiProperties

org.bytedeco.depthai.StereoDepthPropertiesSerializable

org.bytedeco.depthai.StereoDepthProperties

All Implemented Interfaces:

AutoCloseable

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

Specify properties for StereoDepth

Nested Class Summary

Nested Classes

Modifier and Type	Class and Description
static class	StereoDepthProperties.RectificationMesh

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

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

Field Summary

Fields

Modifier and Type	Field and Description
static int	AUTO

Fields inherited from class org.bytedeco.javacpp.Pointer

address, capacity, limit, position

Constructor Summary

Constructors

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

Method Summary

Modifier and Type	Method and Description
FloatOptional	alphaScaling() Free scaling parameter between 0 (when all the pixels in the undistorted image are valid) and 1 (when all the source image pixels are retained in the undistorted image).
StereoDepthProperties	alphaScaling(FloatOptional setter)
static int	AUTO()
FloatOptional	baseline() Override baseline from calibration.
StereoDepthProperties	baseline(FloatOptional setter)
depthai.CameraBoardSocket	depthAlignCamera() Which camera to align disparity/depth to.
StereoDepthProperties	depthAlignCamera(depthai.CameraBoardSocket setter)
BoolOptional	depthAlignmentUseSpecTranslation() Use baseline information for depth alignment from specs (design data) or from calibration.
StereoDepthProperties	depthAlignmentUseSpecTranslation(BoolOptional setter)
BoolOptional	disparityToDepthUseSpecTranslation() Use baseline information for disparity to depth conversion from specs (design data) or from calibration.
StereoDepthProperties	disparityToDepthUseSpecTranslation(BoolOptional setter)
boolean	enableRectification() Enable stereo rectification/dewarp or not.
StereoDepthProperties	enableRectification(boolean setter)
boolean	enableRuntimeStereoModeSwitch() Whether to enable switching stereo modes at runtime or not.
StereoDepthProperties	enableRuntimeStereoModeSwitch(boolean setter)
FloatOptional	focalLength() Override focal length from calibration.
StereoDepthProperties	focalLength(FloatOptional setter)
boolean	focalLengthFromCalibration() Whether to use horizontal focal length from calibration intrinsics (fx) or calculate based on calibration FOV.
StereoDepthProperties	focalLengthFromCalibration(boolean setter)
StereoDepthProperties	getPointer(long i)
IntOptional	height() Input frame height.
StereoDepthProperties	height(IntOptional setter)
RawStereoDepthConfig	initialConfig() Initial stereo config
StereoDepthProperties	initialConfig(RawStereoDepthConfig setter)
StereoDepthProperties.RectificationMesh	mesh() Specify a direct warp mesh to be used for rectification, instead of intrinsics + extrinsic matrices
StereoDepthProperties	mesh(StereoDepthProperties.RectificationMesh setter)
int	numFramesPool() Num frames in output pool
StereoDepthProperties	numFramesPool(int setter)
int	numPostProcessingMemorySlices() Number of memory slices reserved for stereo depth post processing.
StereoDepthProperties	numPostProcessingMemorySlices(int setter)
int	numPostProcessingShaves() Number of shaves reserved for stereo depth post processing.
StereoDepthProperties	numPostProcessingShaves(int setter)
IntOptional	outHeight() Output disparity/depth height.
StereoDepthProperties	outHeight(IntOptional setter)
boolean	outKeepAspectRatio() Whether to keep aspect ratio of the input (rectified) or not
StereoDepthProperties	outKeepAspectRatio(boolean setter)
IntOptional	outWidth() Output disparity/depth width.
StereoDepthProperties	outWidth(IntOptional setter)
StereoDepthProperties	position(long position)
BoolOptional	rectificationUseSpecTranslation() Obtain rectification matrices using spec translation (design data) or from calibration in calculations.
StereoDepthProperties	rectificationUseSpecTranslation(BoolOptional setter)
int	rectifyEdgeFillColor() Fill color for missing data at frame edges - grayscale 0..255, or -1 to replicate pixels
StereoDepthProperties	rectifyEdgeFillColor(int setter)
BoolOptional	useHomographyRectification() Use 3x3 homography matrix for stereo rectification instead of sparse mesh generated on device.
StereoDepthProperties	useHomographyRectification(BoolOptional setter)
IntOptional	width() Input frame width.
StereoDepthProperties	width(IntOptional setter)

Methods inherited from class org.bytedeco.depthai.StereoDepthPropertiesSerializable

clone, serialize, serialize, serialize, serialize, serialize, serialize, serialize, serialize, 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

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

Field Detail

AUTO

public static final int AUTO

Constructor Detail

StereoDepthProperties

public StereoDepthProperties()

Default native constructor.

StereoDepthProperties

public StereoDepthProperties(long size)

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

StereoDepthProperties

public StereoDepthProperties(Pointer p)

Pointer cast constructor. Invokes Pointer(Pointer).

Method Detail

position

public StereoDepthProperties position(long position)

Overrides:

position in class StereoDepthPropertiesSerializable

getPointer

public StereoDepthProperties getPointer(long i)

Overrides:

getPointer in class StereoDepthPropertiesSerializable

AUTO

@MemberGetter
 @Cast(value="const std::int32_t")
public static int AUTO()

initialConfig

@ByRef
public RawStereoDepthConfig initialConfig()

Initial stereo config

initialConfig

public StereoDepthProperties initialConfig(RawStereoDepthConfig setter)

depthAlignCamera

public depthai.CameraBoardSocket depthAlignCamera()

Which camera to align disparity/depth to. When configured (not AUTO), takes precedence over 'depthAlign'

depthAlignCamera

public StereoDepthProperties depthAlignCamera(depthai.CameraBoardSocket setter)

enableRectification

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

Enable stereo rectification/dewarp or not. Useful to disable when replaying pre-recorded rectified frames.

enableRectification

public StereoDepthProperties enableRectification(boolean setter)

rectifyEdgeFillColor

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

Fill color for missing data at frame edges - grayscale 0..255, or -1 to replicate pixels

rectifyEdgeFillColor

public StereoDepthProperties rectifyEdgeFillColor(int setter)

width

@ByRef
 @Cast(value="tl::optional<std::int32_t>*")
public IntOptional width()

Input frame width. Optional (taken from MonoCamera nodes if they exist)

width

public StereoDepthProperties width(IntOptional setter)

height

@ByRef
 @Cast(value="tl::optional<std::int32_t>*")
public IntOptional height()

Input frame height. Optional (taken from MonoCamera nodes if they exist)

height

public StereoDepthProperties height(IntOptional setter)

outWidth

@ByRef
 @Cast(value="tl::optional<std::int32_t>*")
public IntOptional outWidth()

Output disparity/depth width. Currently only used when aligning to RGB

outWidth

public StereoDepthProperties outWidth(IntOptional setter)

outHeight

@ByRef
 @Cast(value="tl::optional<std::int32_t>*")
public IntOptional outHeight()

Output disparity/depth height. Currently only used when aligning to RGB

outHeight

public StereoDepthProperties outHeight(IntOptional setter)

outKeepAspectRatio

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

Whether to keep aspect ratio of the input (rectified) or not

outKeepAspectRatio

public StereoDepthProperties outKeepAspectRatio(boolean setter)

mesh

@ByRef
public StereoDepthProperties.RectificationMesh mesh()

Specify a direct warp mesh to be used for rectification, instead of intrinsics + extrinsic matrices

mesh

public StereoDepthProperties mesh(StereoDepthProperties.RectificationMesh setter)

enableRuntimeStereoModeSwitch

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

Whether to enable switching stereo modes at runtime or not. E.g. standard to subpixel, standard+LR-check to subpixel + LR-check. Note: It will allocate resources for worst cases scenario, should be enabled only if dynamic mode switch is required. Default value: false.

enableRuntimeStereoModeSwitch

public StereoDepthProperties enableRuntimeStereoModeSwitch(boolean setter)

numFramesPool

public int numFramesPool()

Num frames in output pool

numFramesPool

public StereoDepthProperties numFramesPool(int setter)

numPostProcessingShaves

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

Number of shaves reserved for stereo depth post processing. Post processing can use multiple shaves to increase performance. -1 means auto, resources will be allocated based on enabled filters. 0 means that it will reuse the shave assigned for main stereo algorithm. For optimal performance it's recommended to allocate more than 0, so post processing will run in parallel with main stereo algorithm. Minimum 1, maximum 10.

numPostProcessingShaves

public StereoDepthProperties numPostProcessingShaves(int setter)

numPostProcessingMemorySlices

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

Number of memory slices reserved for stereo depth post processing. -1 means auto, memory will be allocated based on initial stereo settings and number of shaves. 0 means that it will reuse the memory slices assigned for main stereo algorithm. For optimal performance it's recommended to allocate more than 0, so post processing will run in parallel with main stereo algorithm. Minimum 1, maximum 6.

numPostProcessingMemorySlices

public StereoDepthProperties numPostProcessingMemorySlices(int setter)

focalLengthFromCalibration

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

Whether to use horizontal focal length from calibration intrinsics (fx) or calculate based on calibration FOV. Default value is true. If set to false it's calculated from FOV and image resolution: focalLength = calib.width / (2.f * tan(calib.fov / 2 / 180.f * pi));

focalLengthFromCalibration

public StereoDepthProperties focalLengthFromCalibration(boolean setter)

useHomographyRectification

@ByRef
public BoolOptional useHomographyRectification()

Use 3x3 homography matrix for stereo rectification instead of sparse mesh generated on device. Default behaviour is AUTO, for lenses with FOV over 85 degrees sparse mesh is used, otherwise 3x3 homography. If custom mesh data is provided through loadMeshData or loadMeshFiles this option is ignored. true: 3x3 homography matrix generated from calibration data is used for stereo rectification, can't correct lens distortion. false: sparse mesh is generated on-device from calibration data with mesh step specified with setMeshStep (Default: (16, 16)), can correct lens distortion. Implementation for generating the mesh is same as opencv's initUndistortRectifyMap function. Only the first 8 distortion coefficients are used from calibration data.

useHomographyRectification

public StereoDepthProperties useHomographyRectification(BoolOptional setter)

baseline

@ByRef
public FloatOptional baseline()

Override baseline from calibration. Used only in disparity to depth conversion. Units are centimeters.

baseline

public StereoDepthProperties baseline(FloatOptional setter)

focalLength

@ByRef
public FloatOptional focalLength()

Override focal length from calibration. Used only in disparity to depth conversion. Units are pixels.

focalLength

public StereoDepthProperties focalLength(FloatOptional setter)

disparityToDepthUseSpecTranslation

@ByRef
public BoolOptional disparityToDepthUseSpecTranslation()

Use baseline information for disparity to depth conversion from specs (design data) or from calibration. Suitable for debugging. Utilizes calibrated value as default

disparityToDepthUseSpecTranslation

public StereoDepthProperties disparityToDepthUseSpecTranslation(BoolOptional setter)

rectificationUseSpecTranslation

@ByRef
public BoolOptional rectificationUseSpecTranslation()

Obtain rectification matrices using spec translation (design data) or from calibration in calculations. Suitable for debugging. Default: false

rectificationUseSpecTranslation

public StereoDepthProperties rectificationUseSpecTranslation(BoolOptional setter)

depthAlignmentUseSpecTranslation

@ByRef
public BoolOptional depthAlignmentUseSpecTranslation()

Use baseline information for depth alignment from specs (design data) or from calibration. Suitable for debugging. Utilizes calibrated value as default

depthAlignmentUseSpecTranslation

public StereoDepthProperties depthAlignmentUseSpecTranslation(BoolOptional setter)

alphaScaling

@ByRef
public FloatOptional alphaScaling()

Free scaling parameter between 0 (when all the pixels in the undistorted image are valid) and 1 (when all the source image pixels are retained in the undistorted image). On some high distortion lenses, and/or due to rectification (image rotated) invalid areas may appear even with alpha=0, in these cases alpha < 0.0 helps removing invalid areas. See getOptimalNewCameraMatrix from opencv for more details.

alphaScaling

public StereoDepthProperties alphaScaling(FloatOptional setter)