Depth Sensing Module

Classes

class  RuntimeParameters
 Parameters that defines the behavior of the grab. More...
 
struct  CameraParameters
 Intrinsic parameters of a camera. More...
 
struct  CalibrationParameters
 Intrinsic and Extrinsic parameters of the camera (translation and rotation). More...
 

Enumerations

enum  DEPTH_MODE
 Lists available depth computation modes. More...
 
enum  SENSING_MODE
 Lists available depth sensing modes. More...
 
enum  MEASURE
 Lists retrievable measures. More...
 

Enumeration Type Documentation

◆ DEPTH_MODE

enum DEPTH_MODE
strong

Lists available depth computation modes.

Enumerator
NONE 

This mode does not compute any depth map. Only rectified stereo images will be available.

PERFORMANCE 

Computation mode optimized for speed.

QUALITY 

Computation mode designed for challenging areas with untextured surfaces.

ULTRA 

Computation mode favorising edges and sharpness. Requires more GPU memory and computation power.

LAST 

◆ SENSING_MODE

enum SENSING_MODE
strong

Lists available depth sensing modes.

Enumerator
STANDARD 

This mode outputs ZED standard depth map that preserves edges and depth accuracy. Applications example: Obstacle detection, Automated navigation, People detection, 3D reconstruction, measurements.

FILL 

This mode outputs a smooth and fully dense depth map. Applications example: AR/VR, Mixed-reality capture, Image post-processing.

LAST 

◆ MEASURE

enum MEASURE
strong

Lists retrievable measures.

Enumerator
DISPARITY 

Disparity map. Each pixel contains 1 float. sl::MAT_TYPE::F32_C1.

DEPTH 

Depth map. Each pixel contains 1 float. sl::MAT_TYPE::F32_C1.

CONFIDENCE 

Certainty/confidence of the depth map. Each pixel contains 1 float. sl::MAT_TYPE::F32_C1.

XYZ 

Point cloud. Each pixel contains 4 float (X, Y, Z, not used). sl::MAT_TYPE::F32_C4.

XYZRGBA 

Colored point cloud. Each pixel contains 4 float (X, Y, Z, color). The color need to be read as an usigned char[4] representing the RGBA color. sl::MAT_TYPE::F32_C4.

XYZBGRA 

Colored point cloud. Each pixel contains 4 float (X, Y, Z, color). The color need to be read as an usigned char[4] representing the BGRA color. sl::MAT_TYPE::F32_C4.

XYZARGB 

Colored point cloud. Each pixel contains 4 float (X, Y, Z, color). The color need to be read as an usigned char[4] representing the ARGB color. sl::MAT_TYPE::F32_C4.

XYZABGR 

Colored point cloud. Each pixel contains 4 float (X, Y, Z, color). The color need to be read as an usigned char[4] representing the ABGR color. sl::MAT_TYPE::F32_C4.

NORMALS 

Normals vector. Each pixel contains 4 float (X, Y, Z, 0). sl::MAT_TYPE::F32_C4.

DISPARITY_RIGHT 

Disparity map for right sensor. Each pixel contains 1 float. sl::MAT_TYPE::F32_C1.

DEPTH_RIGHT 

Depth map for right sensor. Each pixel contains 1 float. sl::MAT_TYPE::F32_C1.

XYZ_RIGHT 

Point cloud for right sensor. Each pixel contains 4 float (X, Y, Z, not used). sl::MAT_TYPE::F32_C4.

XYZRGBA_RIGHT 

Colored point cloud for right sensor. Each pixel contains 4 float (X, Y, Z, color). The color need to be read as an usigned char[4] representing the RGBA color. sl::MAT_TYPE::F32_C4.

XYZBGRA_RIGHT 

Colored point cloud for right sensor. Each pixel contains 4 float (X, Y, Z, color). The color need to be read as an usigned char[4] representing the BGRA color. sl::MAT_TYPE::F32_C4.

XYZARGB_RIGHT 

Colored point cloud for right sensor. Each pixel contains 4 float (X, Y, Z, color). The color need to be read as an usigned char[4] representing the ARGB color. sl::MAT_TYPE::F32_C4.

XYZABGR_RIGHT 

Colored point cloud for right sensor. Each pixel contains 4 float (X, Y, Z, color). The color need to be read as an usigned char[4] representing the ABGR color. sl::MAT_TYPE::F32_C4.

NORMALS_RIGHT 

Normals vector for right view. Each pixel contains 4 float (X, Y, Z, 0). sl::MAT_TYPE::F32_C4.

LAST