Depth Sensing Module

Classes

class  RuntimeParameters
 Runtime parameters used by the ZEDCamera.Grab() function, and its Camera::grab() counterpart in the SDK. More...
 
struct  CameraParameters
 Calibration information for an individual sensor on the ZED (left or right). More...
 
struct  CalibrationParameters
 Holds calibration information about the current ZED's hardware, including per-sensor calibration and offsets between the two sensors. More...
 

Enumerations

enum class  DEPTH_MODE
 Lists available depth computation modes. Each mode offers better accuracy than the mode before it, but at a performance cost. More...
 
enum class  SENSING_MODE
 Lists available sensing modes - whether to produce the original depth map (STANDARD) or one with smoothing and other effects added to fill gaps and roughness (FILL). More...
 
enum class  MEASURE
 Lists available measure types retrieved from the camera, used for creating precise measurement maps (Measure-type textures). Based on the MEASURE enum in the ZED C++ SDK. For more info, see: https://www.stereolabs.com/docs/api/group__Depth__group.html#ga798a8eed10c573d759ef7e5a5bcd545d More...
 

Enumeration Type Documentation

◆ DEPTH_MODE

enum DEPTH_MODE
strong

Lists available depth computation modes. Each mode offers better accuracy than the mode before it, but at a performance cost.

Mirrors DEPTH_MODE in the ZED C++ SDK. For more info, see: https://www.stereolabs.com/docs/api/group__Depth__group.html#ga8d542017c9b012a19a15d46be9b7fa43

Enumerator
NONE 

Does not compute any depth map. Only rectified stereo images will be available.

PERFORMANCE 

Fastest mode for depth computation.

QUALITY 

Balanced quality mode. Depth map is robust in most environment and requires medium compute power.

ULTRA 

Native depth. Very accurate, but at a large performance cost.

◆ SENSING_MODE

enum SENSING_MODE
strong

Lists available sensing modes - whether to produce the original depth map (STANDARD) or one with smoothing and other effects added to fill gaps and roughness (FILL).

Enumerator
STANDARD 

This mode outputs the standard ZED depth map that preserves edges and depth accuracy. However, there will be missing data where a depth measurement couldn't be taken, such as from a surface being occluded from one sensor but not the other. Better for: Obstacle detection, autonomous navigation, people detection, 3D reconstruction.

FILL 

This mode outputs a smooth and fully dense depth map. It doesn't have gaps in the data like STANDARD where depth can't be calculated directly, but the values it fills them with is less accurate than a real measurement. Better for: AR/VR, mixed-reality capture, image post-processing.

◆ MEASURE

enum MEASURE
strong

Lists available measure types retrieved from the camera, used for creating precise measurement maps (Measure-type textures). Based on the MEASURE enum in the ZED C++ SDK. For more info, see: https://www.stereolabs.com/docs/api/group__Depth__group.html#ga798a8eed10c573d759ef7e5a5bcd545d

Enumerator
DISPARITY 

Disparity map. As a ZEDMat, MAT_TYPE is set to MAT_32F_C1.

DEPTH 

Depth map. As a ZEDMat, MAT_TYPE is set to MAT_32F_C1.

CONFIDENCE 

Certainty/confidence of the disparity map. As a ZEDMat, MAT_TYPE is set to MAT_32F_C1.

XYZ 

3D coordinates of the image points. Used for point clouds in ZEDPointCloudManager. As a ZEDMat, MAT_TYPE is set to MAT_32F_C4. The 4th channel may contain the colors.

XYZRGBA 

3D coordinates and color of the image. As a ZEDMat, MAT_TYPE is set to MAT_32F_C4. The 4th channel encodes 4 UCHARs for colors in R-G-B-A order.

XYZBGRA 

3D coordinates and color of the image. As a ZEDMat, MAT_TYPE is set to MAT_32F_C4. The 4th channel encode 4 UCHARs for colors in B-G-R-A order.

XYZARGB 

3D coordinates and color of the image. As a ZEDMat, MAT_TYPE is set to MAT_32F_C4. The 4th channel encodes 4 UCHARs for color in A-R-G-B order.

XYZABGR 

3D coordinates and color of the image. As a ZEDMat, MAT_TYPE is set to MAT_32F_C4. Channel 4 contains color in A-B-G-R order.

NORMALS 

3D coordinates and color of the image. As a ZEDMat, MAT_TYPE is set to MAT_32F_C4. The 4th channel encode 4 UCHARs for color in A-B-G-R order.

DISPARITY_RIGHT 

Disparity map for the right sensor. As a ZEDMat, MAT_TYPE is set to MAT_32F_C1.

DEPTH_RIGHT 

Depth map for right sensor. As a ZEDMat, MAT_TYPE is set to MAT_32F_C1.

XYZ_RIGHT 

Point cloud for right sensor. As a ZEDMat, MAT_TYPE is set to MAT_32F_C4. Channel 4 is empty.

XYZRGBA_RIGHT 

Colored point cloud for right sensor. As a ZEDMat, MAT_TYPE is set to MAT_32F_C4. Channel 4 contains colors in R-G-B-A order.

XYZBGRA_RIGHT 

Colored point cloud for right sensor. As a ZEDMat, MAT_TYPE is set to MAT_32F_C4. Channel 4 contains colors in B-G-R-A order.

XYZARGB_RIGHT 

Colored point cloud for right sensor. As a ZEDMat, MAT_TYPE is set to MAT_32F_C4. Channel 4 contains colors in A-R-G-B order.

XYZABGR_RIGHT 

Colored point cloud for right sensor. As a ZEDMat, MAT_TYPE is set to MAT_32F_C4. Channel 4 contains colors in A-B-G-R order.

NORMALS_RIGHT 

Normals vector for right view. As a ZEDMat, MAT_TYPE is set to MAT_32F_C4. Channel 4 is empty (set to 0).