Class ParallelStereo

The role of this class is to extract a PointCloud data from 2 incoming RenderTexture taken from parallel camera.

Inheritance

Object

NodeRuntime

Transcoder

ParallelStereo

ParallelStereoNode

Inherited Members

Transcoder.inTranscode

Transcoder.outTranscode

Transcoder._computeShader

Transcoder._computeKernelIdx

Transcoder.EnableInterfaceOnChangeEvent()

Transcoder.DisableInterfaceOnChangeEvent()

Transcoder.InitializeComputeShader(String, String)

NodeRuntime._parent

NodeRuntime._portList

NodeRuntime._queryPath

NodeRuntime._tickCPUTimeNs

NodeRuntime.Initialize(SystemGraphComponent)

NodeRuntime.InternalInitialize()

NodeRuntime.Start()

NodeRuntime.OnTick(Double, Double, Scheduler.ClockState, Scheduler.Signal)

NodeRuntime.Update()

NodeRuntime.FixedUpdate()

NodeRuntime.OnPortAdded(String, Type, String, PortDirection, FieldExtra, IPortType)

NodeRuntime.OnPortRemoved(String)

NodeRuntime.InitializeDynamicPorts(SystemGraphComponent)

NodeRuntime.QueryPath

NodeRuntime.TickCPUTimeNs

NodeRuntime.PortDataList

Namespace: Mechatronics.SensorSDK

Syntax

public class ParallelStereo : Transcoder

Fields

_baseline

Distance between the two views in meter. A non-positive baseline is invalid.

Declaration

protected float _baseline

Field Value

Type	Description
Single

_computeClearDisparitiesKernelIdx

Kernel index, in the compute shader, to clear the disparities buffer.

Declaration

protected int _computeClearDisparitiesKernelIdx

Field Value

Type	Description
Int32

_computePointCloudKernelIdx

Kernel index, in the compute shader, to generate the point cloud.

Declaration

protected int _computePointCloudKernelIdx

Field Value

Type	Description
Int32

_disparitiesScores

Internal reference to the disparities buffer.

Declaration

protected RenderTexture _disparitiesScores

Field Value

Type	Description
RenderTexture

_pointCloud

Internal reference to the output point cloud.

Declaration

protected PointCloud _pointCloud

Field Value

Type	Description
PointCloud

boundLeftTransform

Transform of the object used to generate the left samples.

Declaration

[Binding("LeftTransform")]
[SerializeField]
protected Binding<Transform> boundLeftTransform

Field Value

Type	Description
Binding<Transform>

boundRightTransform

Transform of the object used to generate the right samples.

Declaration

[Binding("RightTransform")]
[SerializeField]
protected Binding<Transform> boundRightTransform

Field Value

Type	Description
Binding<Transform>

disparityMax

Declaration

[Tooltip("Max pixel distance to look for a similar pattern.")]
[Field("DisparityMax", PortDirection.Left, FieldExtra.Read)]
[SerializeField]
protected PortType<uint> disparityMax

Field Value

Type	Description
PortType<UInt32>

disparityMin

Declaration

[Tooltip("Min pixel distance to look for a similar pattern.")]
[Field("DisparityMin", PortDirection.Left, FieldExtra.Read)]
[SerializeField]
protected PortType<uint> disparityMin

Field Value

Type	Description
PortType<UInt32>

focalLength

Declaration

[Tooltip("Distance between lens and the sensor.")]
[Field("FocalLength", PortDirection.Left, FieldExtra.Read)]
[SerializeField]
protected PortType<float> focalLength

Field Value

Type	Description
PortType<Single>

leftViewSamples

Declaration

[Tooltip("RenderTexture corresponding to the left view of the camera.")]
[Field("LeftViewSamples", PortDirection.Left, FieldExtra.Read)]
[SerializeField]
protected PortType<RenderTexture> leftViewSamples

Field Value

Type	Description
PortType<RenderTexture>

patchSize

Declaration

[Tooltip("This is the kernel size use to make the pattern matching in pixel.")]
[Field("PatchSize", PortDirection.Left, FieldExtra.Read)]
[SerializeField]
protected PortType<uint> patchSize

Field Value

Type	Description
PortType<UInt32>

pointCloud

Declaration

[Field("PointCloud", PortDirection.Right, FieldExtra.Write)]
[SerializeField]
protected PortType<PointCloud> pointCloud

Field Value

Type	Description
PortType<PointCloud>

rightViewSamples

Declaration

[Tooltip("RenderTexture corresponding to the right view of the camera.")]
[Field("RightViewSamples", PortDirection.Left, FieldExtra.Read)]
[SerializeField]
protected PortType<RenderTexture> rightViewSamples

Field Value

Type	Description
PortType<RenderTexture>

sensorHeight

Declaration

[Tooltip("Distance between lens and the sensor.")]
[Field("SensorHeight", PortDirection.Left, FieldExtra.Read)]
[SerializeField]
protected PortType<float> sensorHeight

Field Value

Type	Description
PortType<Single>

sensorWidth

Declaration

[Tooltip("Distance between lens and the sensor.")]
[Field("SensorWidth", PortDirection.Left, FieldExtra.Read)]
[SerializeField]
protected PortType<float> sensorWidth

Field Value

Type	Description
PortType<Single>

Methods

ComputeBaseline()

Computes the distance between the two cameras.

Declaration

protected void ComputeBaseline()

Remarks

Enforces that there is only a translation along the X axis between the cameras.

Disable()

Unregister change event on ports and release graphic resources.

Declaration

public override void Disable()

Overrides

NodeRuntime.Disable()

Enable(Scheduler.ClockState)

Setup the change event on ports and call the compute shader initialization.

Declaration

public override void Enable(Scheduler.ClockState clockState)

Parameters

Type	Name	Description
Scheduler.ClockState	clockState	The parameters of the waveform associated to this node

Overrides

NodeRuntime.Enable(Scheduler.ClockState)

InitializeComputeShader()

Initialize the compute buffer and all kernel used for the parallel stereo camera (ComputeDisparitiesScores, ComputePointCloud, ClearDisparities).

Declaration

protected virtual void InitializeComputeShader()

PrepareDisparityBuffer(Int32, Int32)

Create or resize the disparities buffer.

Declaration

protected virtual void PrepareDisparityBuffer(int frameWidth, int frameHeight)

Parameters

Type	Name	Description
Int32	frameWidth	Texture buffer width.
Int32	frameHeight	Texture buffer height.

Release()

Release graphic resources

Declaration

protected override void Release()

Overrides

Transcoder.Release()

Transcode(CustomPassContext)

Execute the transcoding process.

Declaration

protected override void Transcode(CustomPassContext ctx)

Parameters

Type	Name	Description
CustomPassContext	ctx	A graphic context with a command buffer.

Overrides

Transcoder.Transcode(CustomPassContext)