StereoDepthConfig

This message is used to configure the StereoDepth node. With this message you can set filters, confidences, thresholds and mode of the StereoDepth node.

Examples of functionality

• Stereo Depth from host

Reference

Python

C++

class depthai.StereoDepthConfig

class MedianFilter

Members:

MEDIAN_OFF

KERNEL_3x3

KERNEL_5x5

KERNEL_7x7

property name

get(self: depthai.StereoDepthConfig) → depthai.RawStereoDepthConfig

getBilateralFilterSigma(self: depthai.StereoDepthConfig) → int

getConfidenceThreshold(self: depthai.StereoDepthConfig) → int

getData(self: object) → numpy.ndarray[numpy.uint8]

getDepthUnit(self: depthai.StereoDepthConfig) → depthai.RawStereoDepthConfig.AlgorithmControl.DepthUnit

getLeftRightCheckThreshold(self: depthai.StereoDepthConfig) → int

getMaxDisparity(self: depthai.StereoDepthConfig) → float

getMedianFilter(self: depthai.StereoDepthConfig) → depthai.MedianFilter

getRaw(self: depthai.ADatatype) → depthai.RawBuffer

getSequenceNum(self: depthai.Buffer) → int

getTimestamp(self: depthai.Buffer) → datetime.timedelta

getTimestampDevice(self: depthai.Buffer) → datetime.timedelta

set(self: depthai.StereoDepthConfig, config: depthai.RawStereoDepthConfig) → depthai.StereoDepthConfig

setBilateralFilterSigma(self: depthai.StereoDepthConfig, sigma: int) → depthai.StereoDepthConfig

setConfidenceThreshold(self: depthai.StereoDepthConfig, confThr: int) → depthai.StereoDepthConfig

setData(*args, **kwargs)

Overloaded function.

1. setData(self: depthai.Buffer, arg0: list[int]) -> None

2. setData(self: depthai.Buffer, arg0: numpy.ndarray[numpy.uint8]) -> None

setDepthAlign(self: depthai.StereoDepthConfig, align: depthai.RawStereoDepthConfig.AlgorithmControl.DepthAlign) → depthai.StereoDepthConfig

setDepthUnit(self: depthai.StereoDepthConfig, arg0: depthai.RawStereoDepthConfig.AlgorithmControl.DepthUnit) → depthai.StereoDepthConfig

setDisparityShift(self: depthai.StereoDepthConfig, arg0: int) → depthai.StereoDepthConfig

setExtendedDisparity(self: depthai.StereoDepthConfig, enable: bool) → depthai.StereoDepthConfig

setLeftRightCheck(self: depthai.StereoDepthConfig, enable: bool) → depthai.StereoDepthConfig

setLeftRightCheckThreshold(self: depthai.StereoDepthConfig, sigma: int) → depthai.StereoDepthConfig

setMedianFilter(self: depthai.StereoDepthConfig, median: depthai.MedianFilter) → depthai.StereoDepthConfig

setNumInvalidateEdgePixels(self: depthai.StereoDepthConfig, arg0: int) → depthai.StereoDepthConfig

setSequenceNum(self: depthai.Buffer, arg0: int) → depthai.Buffer

setSubpixel(self: depthai.StereoDepthConfig, enable: bool) → depthai.StereoDepthConfig

setSubpixelFractionalBits(self: depthai.StereoDepthConfig, subpixelFractionalBits: int) → depthai.StereoDepthConfig

setTimestamp(self: depthai.Buffer, arg0: datetime.timedelta) → depthai.Buffer

setTimestampDevice(self: depthai.Buffer, arg0: datetime.timedelta) → depthai.Buffer

class dai::StereoDepthConfig : public dai::Buffer

StereoDepthConfig message.

Public Types

using MedianFilter = dai::MedianFilter

using AlgorithmControl = RawStereoDepthConfig::AlgorithmControl

using PostProcessing = RawStereoDepthConfig::PostProcessing

using CensusTransform = RawStereoDepthConfig::CensusTransform

using CostMatching = RawStereoDepthConfig::CostMatching

using CostAggregation = RawStereoDepthConfig::CostAggregation

Public Functions

StereoDepthConfig()

Construct StereoDepthConfig message.

StereoDepthConfig(std::shared_ptr<RawStereoDepthConfig> ptr)

~StereoDepthConfig() = default

StereoDepthConfig &setDepthAlign(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

StereoDepthConfig &setConfidenceThreshold(int confThr)

Confidence threshold for disparity calculation

Parameters

• confThr: Confidence threshold value 0..255

int getConfidenceThreshold() const

Get confidence threshold for disparity calculation

StereoDepthConfig &setMedianFilter(MedianFilter median)

Parameters

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

MedianFilter getMedianFilter() const

Get median filter setting

StereoDepthConfig &setBilateralFilterSigma(uint16_t 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

uint16_t getBilateralFilterSigma() const

Get sigma value for 5x5 bilateral filter

StereoDepthConfig &setLeftRightCheckThreshold(int threshold)

Parameters

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

int getLeftRightCheckThreshold() const

Get threshold for left-right check combine

StereoDepthConfig &setLeftRightCheck(bool enable)

Computes and combines disparities in both L-R and R-L directions, and combine them.

For better occlusion handling, discarding invalid disparity values

StereoDepthConfig &setExtendedDisparity(bool enable)

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

StereoDepthConfig &setSubpixel(bool enable)

Computes disparity with sub-pixel interpolation (3 fractional bits by default).

Suitable for long range. Currently incompatible with extended disparity

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.

StereoDepthConfig &setDepthUnit(AlgorithmControl::DepthUnit depthUnit)

Set depth unit of depth map.

Meter, centimeter, millimeter, inch, foot or custom unit is available.

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.

StereoDepthConfig &setNumInvalidateEdgePixels(int32_t 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.

AlgorithmControl::DepthUnit getDepthUnit()

Get depth unit of depth map.

float getMaxDisparity() const

Useful for normalization of the disparity map.

Return

Maximum disparity value that the node can return

StereoDepthConfig &set(dai::RawStereoDepthConfig config)

Set explicit configuration.

Parameters

• config: Explicit configuration

dai::RawStereoDepthConfig get() const

Retrieve configuration data for StereoDepth.

Return

config for stereo depth algorithm

Private Functions

std::shared_ptr<RawBuffer> serialize() const override

Private Members

RawStereoDepthConfig &cfg

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