Stereo application
This section lists all properties, inputs and outputs of the stereo application.
Properties
distance_enabled
- Type:
Bool
- Description:
Enable/disable the computation of the distance map.
pointcloud_enabled
- Type:
Bool
- Description:
Enable/disable the computation of the point cloud.
source_camera_exposure_lock
- Type:
Bool
- Description:
Lock/unlock the auto exposure control.
source_camera_exposure_min
- Type:
UInt64
- Description:
The minimum exposure time in microseconds.
source_camera_exposure_max
- Type:
UInt64
- Description:
The maximum exposure time in microseconds.
source_camera_exposure_compensation
- Type:
Float
- Description:
The exposure compensation. If < 0, the image becomes darker, if >0 the images gets brighter.
source_camera_gain_min
- Type:
Float
- Description:
The minimum value of the analog gain.
source_camera_gain_max
- Type:
Float
- Description:
The maximum value of the analog gain.
source_camera_digital_gain_min
- Type:
Float
- Description:
The minimum value of the digital gain.
source_camera_digital_gain_max
- Type:
Float
- Description:
The maximum value of the digital gain.
source_camera_frame_rate
- Type:
Float
- Description:
The camera’s frame rate.
source_camera_edge_enhance_strength
- Type:
Float
- Description:
The strength of the edge enhancement.
stereo_matcher_type
- Type:
Enum
- Values:
Semi-Global Matching, Block Matching, Deep Neural Network
- Description:
Defines the stereo matching algorithm.
stereo_matching_image_width
- Type:
UInt32
- Description:
The width in pixels of the rectified camera. This image of this camera will be used for the stereo matching. Higher values give better results but increase the computation duration.
stereo_matching_image_height
- Type:
UInt32
- Description:
The height in pixels of the rectified camera. This image of this camera will be used for the stereo matching. Higher values give better results but increase the computation duration.
stereo_matching_image_fov_h
- Type:
Float
- Description:
The horizontal field of view in degrees of the rectified camera. The range will be mapped to the number of pixels configured by
stereo_matching_image_width
.
stereo_matching_image_fov_v
- Type:
Float
- Description:
The vertical field of view in degrees of the rectified camera. The range will be mapped to the number of pixels configured by
stereo_matching_image_height
.
stereo_target_camera_enabled
- Type:
Bool
- Description:
Enable/disable the target camera. This reprojects image, distance map and point cloud into a configurable target camera. If disabled, the model of the rectified cameras will be used.
stereo_target_camera_model
- Type:
Enum
- Values:
EpipolarEquidistant, Equiangular, Equirectangular, Pinhole
- Description:
Set the camera model of the target camera.
stereo_target_image_width
- Type:
UInt32
- Description:
The width in pixels of the target camera.
stereo_target_image_height
- Type:
UInt32
- Description:
The height in pixels of the target camera.
stereo_target_image_fov_h
- Type:
Float
- Description:
The horizontal field of view in degrees of the target camera. The range will be mapped to the number of pixels configured by
stereo_target_image_width
.
stereo_target_image_fov_v
- Type:
Float
- Description:
The vertical field of view in degrees of the target camera. The range will be mapped to the number of pixels configured by
stereo_target_image_height
.
stereo_textureness_filter_enabled
- Type:
Bool
- Description:
Whether or not to apply the textureness filter. Used to “filter out” regions with low optical texture, where the stereo matching algorithm potentially generates wrong results.
stereo_textureness_filter_win_size
- Type:
Int32
- Description:
The window size of the textureness filter.
stereo_textureness_filter_average_textureness
- Type:
Float
- Description:
The required average textureness value inside the window.
Inputs
The stereo application has no inputs.
Outputs
image_orig_0
- Type:
- Description:
The raw image of camera 0 as UInt8 matrix with three-channels representing the color channels red, green and blue.
image_orig_1
- Type:
- Description:
The raw image of camera 1 as UInt8 matrix with three-channels representing the color channels red, green and blue.
image
- Type:
- Description:
The image of the target camera as UInt8 matrix with three-channels representing the color channels red, green and blue. If the target camera is disabled, it contains the rectified image of camera 0.
distance
- Type:
- Description:
The distance map as single-channel UInt16 matrix representing the distance in millimeters. The matrix is congruent with the
image
matrix.
pointcloud
- Type:
- Description:
The point cloud as three-channel Float matrix representing the 3D point in the camera coordinate system. The matrix is congruent with the
image
matrix. The channel order is x, y, z and the unit is in millimeters.
image_rect_0
- Type:
- Description:
The rectified image of camera 0 as UInt8 matrix with three-channels representing the color channels red, green and blue.
image_rect_1
- Type:
- Description:
The rectified image of camera 1 as UInt8 matrix with three-channels representing the color channels red, green and blue.
stereo_frame
- Type:
- Description:
A map containing the image, the distance and the point cloud. The keys are equal to the topic names.
fps
- Type:
- Description:
The internal frame rate.