Class ParallelStereo
The role of this class is to extract a PointCloud data from 2 incoming RenderTexture taken from parallel camera.
Inherited Members
Namespace: Mechatronics.SensorSDK
Assembly: solution.dll
Syntax
public class ParallelStereo : TranscoderFields
| Name | Description |
|---|---|
| _baseline | Distance between the two views in meter. A non-positive baseline is invalid. |
| _clearDisparitiesShader | Kernel index, in the compute shader, to clear the disparities buffer. |
| _computePointCloudShader | Kernel index, in the compute shader, to generate the point cloud. |
| _disparitiesScores | Internal reference to the disparities buffer. |
| _pointCloud | Internal reference to the output point cloud. |
| boundLeftTransform | Transform of the object used to generate the left samples. |
| boundRightTransform | Transform of the object used to generate the right samples. |
| disparityMax | |
| disparityMin | |
| disparityVariation | Disparity variation is defined as max disparity - min disparity inside the speckle filter window. |
| focalLength | |
| leftViewSamples | |
| patchSize | |
| pointCloud | |
| rightViewSamples | |
| sensorHeight | |
| sensorWidth | |
| speckleWindow | The speckle filter invalidates a disparity if there is too much variation in its neighbor window. |
Methods
| Name | Description |
|---|---|
| AreParametersValid() | Checks whether all input port values are valid, and log diagnostic messages if not. |
| ComputeBaseline() | Computes the distance between the two cameras. |
| Disable() | Unregister change event on ports and release graphic resources. |
| Enable(ClockState) | Setup the change event on ports and call the compute shader initialization. |
| InitializeComputeShader() | Initialize the compute buffer and all kernel used for the parallel stereo camera (ComputeDisparitiesScores, ComputePointCloud, ClearDisparities). |
| PrepareDisparityBuffer(int, int) | Create or resize the disparities buffer. |
| Release() | Release graphic resources |
| Transcode(CustomPassContext) | Execute the transcoding process. |