Depth Sensing Module

Classes
class	RuntimeParameters
	Runtime parameters used by the ZEDCamera.Grab() function, and its Camera::grab() counterpart in the SDK. More...
struct	CameraParameters
	Calibration information for an individual sensor on the ZED (left or right). More...
struct	CalibrationParameters
	Holds calibration information about the current ZED's hardware, including per-sensor calibration and offsets between the two sensors. More...

Enumerations
enum class	DEPTH_MODE
	Lists available depth computation modes. Each mode offers better accuracy than the mode before it, but at a performance cost. More...
enum class	SENSING_MODE
	Lists available sensing modes - whether to produce the original depth map (STANDARD) or one with smoothing and other effects added to fill gaps and roughness (FILL). More...
enum class	MEASURE
	Lists available measure types retrieved from the camera, used for creating precise measurement maps (Measure-type textures). Based on the MEASURE enum in the ZED C++ SDK. For more info, see: https://www.stereolabs.com/docs/api_3.X/group__Depth__group.html#ga798a8eed10c573d759ef7e5a5bcd545d More...

Enumeration Type Documentation

DEPTH_MODE

enum DEPTH_MODE

strong

Lists available depth computation modes. Each mode offers better accuracy than the mode before it, but at a performance cost.

Mirrors DEPTH_MODE in the ZED C++ SDK. For more info, see: https://www.stereolabs.com/docs/api_3.X/group__Depth__group.html#ga8d542017c9b012a19a15d46be9b7fa43

Enumerator
NONE	Does not compute any depth map. Only rectified stereo images will be available.
PERFORMANCE	Fastest mode for depth computation.
QUALITY	Balanced quality mode. Depth map is robust in most environment and requires medium compute power.
ULTRA	Native depth. Very accurate, but at a large performance cost.
NEURAL	End to End Neural disparity estimation, requires AI module

SENSING_MODE

enum SENSING_MODE

strong

Lists available sensing modes - whether to produce the original depth map (STANDARD) or one with smoothing and other effects added to fill gaps and roughness (FILL).

Enumerator
STANDARD	This mode outputs the standard ZED depth map that preserves edges and depth accuracy. However, there will be missing data where a depth measurement couldn't be taken, such as from a surface being occluded from one sensor but not the other. Better for: Obstacle detection, autonomous navigation, people detection, 3D reconstruction.
FILL	This mode outputs a smooth and fully dense depth map. It doesn't have gaps in the data like STANDARD where depth can't be calculated directly, but the values it fills them with is less accurate than a real measurement. Better for: AR/VR, mixed-reality capture, image post-processing.

MEASURE

enum MEASURE

strong

Lists available measure types retrieved from the camera, used for creating precise measurement maps (Measure-type textures). Based on the MEASURE enum in the ZED C++ SDK. For more info, see: https://www.stereolabs.com/docs/api_3.X/group__Depth__group.html#ga798a8eed10c573d759ef7e5a5bcd545d

Enumerator
DISPARITY	Disparity map. As a ZEDMat, MAT_TYPE is set to MAT_32F_C1.
DEPTH	Depth map. As a ZEDMat, MAT_TYPE is set to MAT_32F_C1.
CONFIDENCE	Certainty/confidence of the disparity map. As a ZEDMat, MAT_TYPE is set to MAT_32F_C1.
XYZ	3D coordinates of the image points. Used for point clouds in ZEDPointCloudManager. As a ZEDMat, MAT_TYPE is set to MAT_32F_C4. The 4th channel may contain the colors.
XYZRGBA	3D coordinates and color of the image. As a ZEDMat, MAT_TYPE is set to MAT_32F_C4. The 4th channel encodes 4 UCHARs for colors in R-G-B-A order.
XYZBGRA	3D coordinates and color of the image. As a ZEDMat, MAT_TYPE is set to MAT_32F_C4. The 4th channel encode 4 UCHARs for colors in B-G-R-A order.
XYZARGB	3D coordinates and color of the image. As a ZEDMat, MAT_TYPE is set to MAT_32F_C4. The 4th channel encodes 4 UCHARs for color in A-R-G-B order.
XYZABGR	3D coordinates and color of the image. As a ZEDMat, MAT_TYPE is set to MAT_32F_C4. Channel 4 contains color in A-B-G-R order.
NORMALS	3D coordinates and color of the image. As a ZEDMat, MAT_TYPE is set to MAT_32F_C4. The 4th channel encode 4 UCHARs for color in A-B-G-R order.
DISPARITY_RIGHT	Disparity map for the right sensor. As a ZEDMat, MAT_TYPE is set to MAT_32F_C1.
DEPTH_RIGHT	Depth map for right sensor. As a ZEDMat, MAT_TYPE is set to MAT_32F_C1.
XYZ_RIGHT	Point cloud for right sensor. As a ZEDMat, MAT_TYPE is set to MAT_32F_C4. Channel 4 is empty.
XYZRGBA_RIGHT	Colored point cloud for right sensor. As a ZEDMat, MAT_TYPE is set to MAT_32F_C4. Channel 4 contains colors in R-G-B-A order.
XYZBGRA_RIGHT	Colored point cloud for right sensor. As a ZEDMat, MAT_TYPE is set to MAT_32F_C4. Channel 4 contains colors in B-G-R-A order.
XYZARGB_RIGHT	Colored point cloud for right sensor. As a ZEDMat, MAT_TYPE is set to MAT_32F_C4. Channel 4 contains colors in A-R-G-B order.
XYZABGR_RIGHT	Colored point cloud for right sensor. As a ZEDMat, MAT_TYPE is set to MAT_32F_C4. Channel 4 contains colors in A-B-G-R order.
NORMALS_RIGHT	Normals vector for right view. As a ZEDMat, MAT_TYPE is set to MAT_32F_C4. Channel 4 is empty (set to 0).
DEPTH_U16_MM	Depth map in millimeter. Each pixel contains 1 unsigned short. As a Mat, MAT_TYPE is set to MAT_U16_C1.
DEPTH_U16_MM_RIGHT	Depth map in millimeter for right sensor. Each pixel contains 1 unsigned short. As a Mat, MAT_TYPE is set to MAT_U16_C1.