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...
enum	DEPTH_FORMAT
	Lists available file formats for saving depth maps. More...
enum	POINT_CLOUD_FORMAT
	Lists available file formats for saving point clouds. Stores the spatial coordinates (x,y,z) of each pixel and optionally its RGB color. More...

Functions
bool	saveDepthAs (Camera &zed, DEPTH_FORMAT format, String name, float factor=1.)
	Writes the current depth map into a file. More...
bool	saveDepthAs (Mat &depth, DEPTH_FORMAT format, String name, float factor=1.)
	Writes the current depth map into a file. More...
bool	savePointCloudAs (Camera &zed, POINT_CLOUD_FORMAT format, String name, bool with_color=false)
	Writes the current point cloud into a file. More...
bool	savePointCloudAs (Mat &cloud, POINT_CLOUD_FORMAT format, String name, bool with_color=false)
	Writes the current point cloud into a file. More...
String	toString (const DEPTH_MODE &depthMode)
	Converts the given enumerated value into readable text. More...
String	toString (const SENSING_MODE &sensingMode)
	Converts the given enumerated value into readable text. More...
String	toString (const MEASURE &measure)
	Converts the given enumerated value into readable text. More...
String	toString (const DEPTH_FORMAT &depth_frmt)
	Converts the given enumerated value into readable text. More...
String	toString (const POINT_CLOUD_FORMAT &pc_frmt)
	Converts the given enumerated value into readable text. More...
DEPTH_MODE	str2mode (String mode)
	Converts the given string into a DEPTH_MODE. More...
String	depthMode2str (DEPTH_MODE mode)
	Converts the given DEPTH_MODE into a string. More...
String	sensingMode2str (SENSING_MODE mode)
	Converts the given SENSING_MODE into a string. More...

Enumeration Type Documentation

DEPTH_MODE

enum DEPTH_MODE

Lists available depth computation modes.

Enumerator
DEPTH_MODE_NONE	This mode does not compute any depth map. Only rectified stereo images will be available.
DEPTH_MODE_PERFORMANCE	Computation mode optimized for speed.
DEPTH_MODE_MEDIUM	Balanced quality mode. Depth map is robust in any environment and requires medium resources for computation.
DEPTH_MODE_QUALITY	Computation mode designed for high quality results.
DEPTH_MODE_ULTRA	Computation mode favorising edges and sharpness. Requires more GPU memory and computation power.
DEPTH_MODE_LAST

SENSING_MODE

enum SENSING_MODE

Lists available depth sensing modes.

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

MEASURE

enum MEASURE

Lists retrievable measures.

Enumerator
MEASURE_DISPARITY	Disparity map. Each pixel contains 1 float. sl::MAT_TYPE_32F_C1.
MEASURE_DEPTH	Depth map. Each pixel contains 1 float. sl::MAT_TYPE_32F_C1.
MEASURE_CONFIDENCE	Certainty/confidence of the depth map. Each pixel contains 1 float. sl::MAT_TYPE_32F_C1.
MEASURE_XYZ	Point cloud. Each pixel contains 4 float (X, Y, Z, not used). sl::MAT_TYPE_32F_C4.
MEASURE_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_32F_C4.
MEASURE_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_32F_C4.
MEASURE_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_32F_C4.
MEASURE_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_32F_C4.
MEASURE_NORMALS	Normals vector. Each pixel contains 4 float (X, Y, Z, 0). sl::MAT_TYPE_32F_C4.
MEASURE_DISPARITY_RIGHT	Disparity map for right sensor. Each pixel contains 1 float. sl::MAT_TYPE_32F_C1.
MEASURE_DEPTH_RIGHT	Depth map for right sensor. Each pixel contains 1 float. sl::MAT_TYPE_32F_C1.
MEASURE_XYZ_RIGHT	Point cloud for right sensor. Each pixel contains 4 float (X, Y, Z, not used). sl::MAT_TYPE_32F_C4.
MEASURE_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_32F_C4.
MEASURE_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_32F_C4.
MEASURE_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_32F_C4.
MEASURE_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_32F_C4.
MEASURE_NORMALS_RIGHT	Normals vector for right view. Each pixel contains 4 float (X, Y, Z, 0). sl::MAT_TYPE_32F_C4.
MEASURE_LAST

DEPTH_FORMAT

enum DEPTH_FORMAT

Lists available file formats for saving depth maps.

Enumerator
DEPTH_FORMAT_PNG	PNG image format in 16bits. 32bits depth is mapped to 16bits color image to preserve the consistency of the data range.
DEPTH_FORMAT_PFM	stream of bytes, graphic image file format.
DEPTH_FORMAT_PGM	gray-scale image format.
DEPTH_FORMAT_LAST

POINT_CLOUD_FORMAT

enum POINT_CLOUD_FORMAT

Lists available file formats for saving point clouds. Stores the spatial coordinates (x,y,z) of each pixel and optionally its RGB color.

Enumerator
POINT_CLOUD_FORMAT_XYZ_ASCII	Generic point cloud file format, without color information.
POINT_CLOUD_FORMAT_PCD_ASCII	Point Cloud Data file, with color information.
POINT_CLOUD_FORMAT_PLY_ASCII	PoLYgon file format, with color information.
POINT_CLOUD_FORMAT_VTK_ASCII	Visualization ToolKit file, without color information.
POINT_CLOUD_FORMAT_LAST

Function Documentation

saveDepthAs() [1/2]

bool sl::saveDepthAs	(	Camera &	zed,
		DEPTH_FORMAT	format,
		String	name,
		float	factor = 1.
	)

Writes the current depth map into a file.

Parameters

zed	: the current camera object.
format	: the depth file format you desired.
name	: the name (path) in which the depth will be saved.
factor	: only for PNG and PGM, apply a gain to the depth value. default : 1. The PNG format only stores integers between 0 and 65536, if you're saving a depth map in meters, values will be rounded to the nearest integer. Set factor to 0.001 to reduce this effect by converting to millimeters. Do not forget to scale (by 1./factor) the pixel value at reading to get the real depth. The occlusions are represented by 0.

Returns

False if something wrong happens, else return true.

Referenced by Camera::isOpened().

saveDepthAs() [2/2]

bool sl::saveDepthAs	(	Mat &	depth,
		DEPTH_FORMAT	format,
		String	name,
		float	factor = 1.
	)

Writes the current depth map into a file.

Parameters

depth	: the depth map to record (CPU 32F_C1 Mat)
format	: the depth file format you desired.
name	: the name (path) in which the depth will be saved.
factor	: only for PNG and PGM, apply a gain to the depth value. default : 1. The PNG format only stores integers between 0 and 65536, if you're saving a depth map in meters, values will be rounded to the nearest integer. Set factor to 0.001 to reduce this effect by converting to millimeters. Do not forget to scale (by 1./factor) the pixel value at reading to get the real depth. The occlusions are represented by 0.

Returns

False if something wrong happens, else return true.

savePointCloudAs() [1/2]

bool sl::savePointCloudAs	(	Camera &	zed,
		POINT_CLOUD_FORMAT	format,
		String	name,
		bool	with_color = false
	)

Writes the current point cloud into a file.

Parameters

zed	: the current camera object.
format	: the point cloud file format you desired.
name	: the name (path) in which the point cloud will be saved.
with_color	: indicates if the color must be saved. default : false.

Returns

False if something wrong happens, else return true.

Note

The color is not saved for XYZ and VTK files.

Referenced by Camera::isOpened().

savePointCloudAs() [2/2]

bool sl::savePointCloudAs	(	Mat &	cloud,
		POINT_CLOUD_FORMAT	format,
		String	name,
		bool	with_color = false
	)

Writes the current point cloud into a file.

Parameters

cloud	: the point cloud to record (CPU 32F_C4 Mat)
format	: the point cloud file format you desired.
name	: the name (path) in which the point cloud will be saved.
with_color	: indicates if the color must be saved. default : false.

Returns

False if something wrong happens, else return true.

Note

The color is not saved for XYZ and VTK files.

toString() [1/5]

String sl::toString

(

const DEPTH_MODE &

depthMode

)

Converts the given enumerated value into readable text.

Returns

The enumerated value as a string.

toString() [2/5]

String sl::toString

(

const SENSING_MODE &

sensingMode

)

Converts the given enumerated value into readable text.

Returns

The enumerated value as a string.

toString() [3/5]

String sl::toString

(

const MEASURE &

measure

)

Converts the given enumerated value into readable text.

Returns

The enumerated value as a string.

toString() [4/5]

String sl::toString

(

const DEPTH_FORMAT &

depth_frmt

)

Converts the given enumerated value into readable text.

Returns

The enumerated value as a string.

toString() [5/5]

String sl::toString

(

const POINT_CLOUD_FORMAT &

pc_frmt

)

Converts the given enumerated value into readable text.

Returns

The enumerated value as a string.

str2mode()

DEPTH_MODE sl::str2mode

(

String

mode

)

Converts the given string into a DEPTH_MODE.

Parameters

mode	: a specific depth

Returns

The corresponding DEPTH_MODE

depthMode2str()

String sl::depthMode2str

(

DEPTH_MODE

mode

)

Converts the given DEPTH_MODE into a string.

Parameters

mode	: a specific DEPTH_MODE

Returns

The corresponding string

Deprecated:

See toString.

sensingMode2str()

String sl::sensingMode2str

(

SENSING_MODE

mode

)

Converts the given SENSING_MODE into a string.

Parameters

mode	: a specific SENSING_MODE

Returns

The corresponding string

Deprecated:

See toString.