NeuralDepthConfig
配置选项
后处理
- confidenceThreshold：视差计算的置信度阈值。置信度高于此值的像素视为有效。有效范围为[0, 255]，默认值为125。
- edgeThreshold：视差计算的边缘阈值。边缘幅度低于此值的像素视为无效。有效范围为[0, 255]，默认值为10。
- temporalFilter：时间滤波（可选持久性），可减少随时间变化的噪声。
算法控制
- depthUnit：深度数据的测量单位（例如，
MILLIMETER、CENTIMETER、METER）。 - customDepthUnitMultiplier：相对于1米的自定义深度单位倍数。倍数为1000表示深度单位为毫米。
参考
class
dai::NeuralDepthConfig
variable
AlgorithmControl algorithmControl
Controls the flow of stereo algorithm - left-right check, subpixel etc.
variable
PostProcessing postProcessing
Controls the postprocessing of disparity and/or depth map.
function
NeuralDepthConfig()function
~NeuralDepthConfig()function
NeuralDepthConfig & setConfidenceThreshold(uint8_t confThr)Confidence threshold for disparity calculation
Parameters
- confThr: Confidence threshold value 0..255
function
uint8_t getConfidenceThreshold()Get confidence threshold for disparity calculation
function
NeuralDepthConfig & setEdgeThreshold(uint8_t edgeThr)Set edge threshold for disparity calculation
Parameters
- edgeThr: Edge threshold value 0..255
function
uint8_t getEdgeThreshold()Get edge threshold for disparity calculation
function
NeuralDepthConfig & setDepthUnit(AlgorithmControl::DepthUnit depthUnit)Set depth unit of depth map.
function
AlgorithmControl::DepthUnit getDepthUnit()Get depth unit of depth map.
function
NeuralDepthConfig & setCustomDepthUnitMultiplier(float multiplier)Set custom depth unit multiplier relative to 1 meter.
function
float getCustomDepthUnitMultiplier()Get custom depth unit multiplier relative to 1 meter.
function
void serialize(std::vector< std::uint8_t > & metadata, DatatypeEnum & datatype)function
DEPTHAI_SERIALIZE(NeuralDepthConfig, algorithmControl, postProcessing)struct
dai::NeuralDepthConfig::AlgorithmControl
variable
DepthUnit depthUnit
Measurement unit for depth data. Depth data is integer value, multiple of depth unit.
variable
float customDepthUnitMultiplier
Custom depth unit multiplier, if custom depth unit is enabled, relative to 1 meter. A multiplier of 1000 effectively means depth unit in millimeter.
function
DEPTHAI_SERIALIZE(AlgorithmControl, depthUnit, customDepthUnitMultiplier)enum
dai::DepthUnit DepthUnit
struct
dai::NeuralDepthConfig::PostProcessing
variable
uint8_t confidenceThreshold
Confidence threshold for disparity calculation, Confidences above this value will be considered valid. Valid range is [0,255].
variable
uint8_t edgeThreshold
Edge threshold for disparity calculation, Pixels with edge magnitude below this value will be considered invalid. Valid range is [0,255].
variable
ThresholdFilter thresholdFilter
Threshold filtering. Filters out distances outside of a given interval.
variable
TemporalFilter temporalFilter
Temporal filtering with optional persistence.
function
DEPTHAI_SERIALIZE(PostProcessing, confidenceThreshold, edgeThreshold, thresholdFilter, temporalFilter)enum
filters::params::ThresholdFilter ThresholdFilter
enum
filters::params::TemporalFilter TemporalFilter
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