simsense_depth¶
Get depth image from stereo IR images using simsense
- class real_robot.sensors.simsense_depth.SimsenseDepth(ir_size: tuple[int, int], k_l: ndarray, k_r: ndarray, l2r: ndarray, k_rgb: ndarray | None = None, rgb_size: tuple[int, int] | None = None, l2rgb: ndarray | None = None, min_depth: float = 0.0, max_depth: float = 10.0, ir_noise_seed: int = 0, speckle_shape: float = 0.0, speckle_scale: float = 0.0, gaussian_mu: float = 0.0, gaussian_sigma: float = 0.0, rectified: bool = False, census_width: int = 7, census_height: int = 7, max_disp: int = 128, block_width: int = 7, block_height: int = 7, p1_penalty: int = 7, p2_penalty: int = 86, uniqueness_ratio: int = 15, lr_max_diff: int = 1, median_filter_size: int = 3, depth_dilation: bool = False)[source]¶
Bases:
object- compute(img_l: ndarray, img_r: ndarray) ndarray[source]¶
Take two images captured by a pair of nearby parallel cameras, and output the computed depth map in meters.
- Parameters:
img_l – Grayscale/infrared image (uint8) captured by left camera.
img_r – Grayscale/infrared image (uint8) captured by right camera.
- Returns:
Computed depth map (in meters) from left camera’s view or rgb camera’s view.
- set_census_window_size(census_width: int, census_height: int) None[source]¶
- Parameters:
census_width – Width of the center-symmetric census transform window. This must be an odd number.
census_height – Height of the center-symmetric census transform window. This must be an odd number.
- set_ir_noise_parameters(speckle_shape: float, speckle_scale: float, gaussian_mu: float, gaussian_sigma: float) None[source]¶
- Parameters:
speckle_shape – Shape parameter for simulating infrared speckle noise (Gamma distribution). Set to 0 to disable noise simulation
speckle_scale – Scale parameter for simulating infrared speckle noise (Gamma distribution).
gaussian_mu – Mean for simulating infrared thermal noise (Gaussian distribution).
gaussian_sigma – Standard deviation for simulating infrared thermal noise (Gaussian distribution).
- set_lr_max_diff(lr_max_diff: int) None[source]¶
- Parameters:
lr_max_diff – Maximum allowed difference in the left-right consistency check. Set it to 255 to disable the check.
- set_matching_block_size(block_width: int, block_height: int) None[source]¶
- Parameters:
block_width – Width of the matched block. This must be an odd number.
block_height – Height of the matched block. This must be an odd number.