Class holding an externally computed disparity or depth map, to be ingested with Camera.ingest_custom_depth(). More...
Functions | |
| Mat | map (self) |
| Disparity or depth map, MAT_TYPE.F32_C1, in CPU or GPU memory. More... | |
| CUSTOM_DEPTH_FORMAT | format (self) |
| Content type of map. More... | |
| float | scale (self) |
| Multiplier applied to each value of map before interpretation. More... | |
| Mat | confidence (self) |
| Optional confidence map, MAT_TYPE.F32_C1, same resolution as map. More... | |
| CUSTOM_CONFIDENCE_CONVENTION | confidence_convention (self) |
| Value convention of confidence. More... | |
| int | timestamp (self) |
| Timestamp (in nanoseconds) of the frame the map was computed from, i.e. More... | |
Class holding an externally computed disparity or depth map, to be ingested with Camera.ingest_custom_depth().
Requires InitParameters.depth_mode set to DEPTH_MODE.CUSTOM. The expected sequence per frame is: Camera.read(), retrieve the rectified images, compute the map externally, Camera.ingest_custom_depth(), then Camera.grab(). The map can be provided at any resolution (typically the network output resolution), the SDK resamples it internally.
| Mat map | ( | self | ) |
Disparity or depth map, MAT_TYPE.F32_C1, in CPU or GPU memory.
The data is consumed during the Camera.ingest_custom_depth() call.
| CUSTOM_DEPTH_FORMAT format | ( | self | ) |
Content type of map.
Default: CUSTOM_DEPTH_FORMAT.DISPARITY
| float scale | ( | self | ) |
Multiplier applied to each value of map before interpretation.
Default: 1 Lets normalized or differently-conventioned outputs be ingested without an extra pass: e.g. the maximum disparity if the network outputs disparity normalized to [0,1], -1 if it outputs negative disparities, 1/16 for fixed-point SGBM output.
| Mat confidence | ( | self | ) |
Optional confidence map, MAT_TYPE.F32_C1, same resolution as map.
If left unset, a confidence map is derived from the validity of map.
| CUSTOM_CONFIDENCE_CONVENTION confidence_convention | ( | self | ) |
Value convention of confidence.
Only consulted when confidence is set. Default: CUSTOM_CONFIDENCE_CONVENTION.PROBABILITY
| int timestamp | ( | self | ) |
Timestamp (in nanoseconds) of the frame the map was computed from, i.e.
Camera.get_timestamp() with TIME_REFERENCE.IMAGE after Camera.read(). Used to detect frame mismatches. Optional: 0 disables the check.
Referenced by Mat.__cinit__().