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 class	DEPTH_MODE
	Lists available depth computation modes. More...
enum class	SENSING_MODE
	Lists available depth sensing modes. More...
enum class	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.
NEURAL	End to End Neural disparity estimation, requires AI module

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.

MEASURE

enum MEASURE

strong

Lists retrievable measures.

Enumerator
DISPARITY	Disparity map. Each pixel contains 1 float. sl::MAT_TYPE::F32_C1.
DEPTH	Depth map. In sl::UNIT defined in sl::InitParameters. 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 unsigned 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 unsigned 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 unsigned 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 unsigned 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 unsigned 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 unsigned 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 unsigned 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 unsigned 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.
DEPTH_U16_MM	Depth map in millimeter whatever the sl::UNIT defined in sl::InitParameters. Invalid values are set to 0, depth values are clamped at 65000. Each pixel contains 1 unsigned short. sl::MAT_TYPE::U16_C1.
DEPTH_U16_MM_RIGHT	Depth map in millimeter for right sensor. Each pixel contains 1 unsigned short. sl::MAT_TYPE::U16_C1.