Depth Sensing Module

Classes
struct	RuntimeParameters
	Structure containing parameters that defines the behavior of sl::Camera::grab(). More...
struct	CameraParameters
	Structure containing the intrinsic parameters of a camera. More...
struct	CalibrationParameters
	Structure containing intrinsic and extrinsic parameters of the camera (translation and rotation). More...

Enumerations
enum class	DEPTH_MODE
	Lists available depth computation modes. More...
enum class	MEASURE
	Lists retrievable measures. More...
enum class	REGION_OF_INTEREST_AUTO_DETECTION_STATE
	Lists the different states of region of interest auto detection. More...

Enumeration Type Documentation

DEPTH_MODE

enum DEPTH_MODE

strong

Lists available depth computation modes.

Enumerator
NONE	No depth map computation. 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 that favors edges and sharpness. Requires more GPU memory and computation power.
NEURAL	End to End Neural disparity estimation. Requires AI module.
NEURAL_PLUS	More accurate Neural disparity estimation. Requires AI module.

MEASURE

enum MEASURE

strong

Lists retrievable measures.

Enumerator
DISPARITY	Disparity map. Each pixel contains 1 float. Type: sl::MAT_TYPE::F32_C1
DEPTH	Depth map in sl::UNIT defined in sl::InitParameters.coordinate_units. Each pixel contains 1 float. Type: sl::MAT_TYPE::F32_C1.
CONFIDENCE	Certainty/confidence of the depth map. Each pixel contains 1 float. Type: sl::MAT_TYPE::F32_C1
XYZ	Point cloud. Each pixel contains 4 float (X, Y, Z, not used). Type: sl::MAT_TYPE::F32_C4
XYZRGBA	Colored point cloud. Each pixel contains 4 float (X, Y, Z, color). The color should to be read as an unsigned char[4] representing the RGBA color. Type: sl::MAT_TYPE::F32_C4
XYZBGRA	Colored point cloud. Each pixel contains 4 float (X, Y, Z, color). The color should to be read as an unsigned char[4] representing the BGRA color. Type: sl::MAT_TYPE::F32_C4
XYZARGB	Colored point cloud. Each pixel contains 4 float (X, Y, Z, color). The color should to be read as an unsigned char[4] representing the ARGB color. Type: sl::MAT_TYPE::F32_C4
XYZABGR	Colored point cloud. Each pixel contains 4 float (X, Y, Z, color). The color should to be read as an unsigned char[4] representing the ABGR color. Type: sl::MAT_TYPE::F32_C4
NORMALS	Normal vectors map. Each pixel contains 4 float (X, Y, Z, 0). Type: sl::MAT_TYPE::F32_C4.
DISPARITY_RIGHT	Disparity map for right sensor. Each pixel contains 1 float. Type: sl::MAT_TYPE::F32_C1.
DEPTH_RIGHT	Depth map for right sensor. Each pixel contains 1 float. Type: sl::MAT_TYPE::F32_C1.
XYZ_RIGHT	Point cloud for right sensor. Each pixel contains 4 float (X, Y, Z, not used). Type: sl::MAT_TYPE::F32_C4
XYZRGBA_RIGHT	Colored point cloud for right sensor. Each pixel contains 4 float (X, Y, Z, color). The color should to be read as an unsigned char[4] representing the RGBA color. Type: sl::MAT_TYPE::F32_C4
XYZBGRA_RIGHT	Colored point cloud for right sensor. Each pixel contains 4 float (X, Y, Z, color). The color should to be read as an unsigned char[4] representing the BGRA color. Type: sl::MAT_TYPE::F32_C4
XYZARGB_RIGHT	Colored point cloud for right sensor. Each pixel contains 4 float (X, Y, Z, color). The color should to be read as an unsigned char[4] representing the ARGB color. Type: sl::MAT_TYPE::F32_C4
XYZABGR_RIGHT	Colored point cloud for right sensor. Each pixel contains 4 float (X, Y, Z, color). The color should to be read as an unsigned char[4] representing the ABGR color. Type: sl::MAT_TYPE::F32_C4
NORMALS_RIGHT	Normal vectors map for right view. Each pixel contains 4 float (X, Y, Z, 0). Type: sl::MAT_TYPE::F32_C4.
DEPTH_U16_MM	Depth map in millimeter whatever the sl::UNIT defined in sl::InitParameters.coordinate_units. Invalid values are set to 0 and depth values are clamped at 65000. Each pixel contains 1 unsigned short. Type: sl::MAT_TYPE::U16_C1.
DEPTH_U16_MM_RIGHT	Depth map in millimeter for right sensor. Each pixel contains 1 unsigned short. Type: sl::MAT_TYPE::U16_C1.

REGION_OF_INTEREST_AUTO_DETECTION_STATE

enum REGION_OF_INTEREST_AUTO_DETECTION_STATE

strong

Lists the different states of region of interest auto detection.

Enumerator
RUNNING	The region of interest auto detection is initializing.
READY	The region of interest mask is ready, if auto_apply was enabled, the region of interest mask is being used
NOT_ENABLED	The region of interest auto detection is not enabled