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Get Depth Planes from Stereo (G Dataflow)

Last Modified: June 25, 2019

Returns the X, Y and Z values, or 3D point coordinates, of all points in the input disparity image.

The X, Y, and Z coordinate values are returned as separate images.

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depth control

Range of depth values that are valid for the system.

If the value is out of range, NaN is returned.

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invalid disparity replace value

Pixel value assigned to invalid disparity values in the input disparity image. Use the same value that was used either in the Stereo Correspondence (Block Matching) node or Stereo Correspondence (SG Block Matching) node.

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binocular stereo session in

Reference to the binocular stereo vision session on which this node operates.

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disparity image

Reference to the image that contains the disparity values.

This image is the output of the Stereo Correspondence (Block Matching) node or the Stereo Correspondence (SG Block Matching) node.

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x plane image in

Reference to the image that will contain the X coordinates of the points in the disparity image after the node executes.

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y plane image in

Reference to the image that will contain the Y coordinates of the points in the disparity image after the node executes.

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error in

Error conditions that occur before this node runs.

The node responds to this input according to standard error behavior.

Standard Error Behavior

Many nodes provide an error in input and an error out output so that the node can respond to and communicate errors that occur while code is running. The value of error in specifies whether an error occurred before the node runs. Most nodes respond to values of error in in a standard, predictable way.

error in does not contain an error error in contains an error
If no error occurred before the node runs, the node begins execution normally.

If no error occurs while the node runs, it returns no error. If an error does occur while the node runs, it returns that error information as error out.

If an error occurred before the node runs, the node does not execute. Instead, it returns the error in value as error out.

Default: No error

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z plane image in

Reference to the image that contains the Z coordinates of the points in the disparity image after the node executes.

The values in this image are the same as the values in the depth image returned by the get depth image from stereo node. This image is a SGL datatype.

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binocular stereo session out

Reference to the stereo vision session on which this node operates.

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disparity image dup

Reference to the input disparity image.

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x plane image out

Reference to the image that contains the X coordinates of all valid points in the input disparity image.

A NaN value is returned at points with invalid disparity.

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y plane image out

Reference to the image that contains the Y coordinates of all valid points in the input disparity image.

A NaN value is returned at points with invalid disparity.

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error out

Error information.

The node produces this output according to standard error behavior.

Standard Error Behavior

Many nodes provide an error in input and an error out output so that the node can respond to and communicate errors that occur while code is running. The value of error in specifies whether an error occurred before the node runs. Most nodes respond to values of error in in a standard, predictable way.

error in does not contain an error error in contains an error
If no error occurred before the node runs, the node begins execution normally.

If no error occurs while the node runs, it returns no error. If an error does occur while the node runs, it returns that error information as error out.

If an error occurred before the node runs, the node does not execute. Instead, it returns the error in value as error out.
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z plane image out

Reference to the image that contains the Z coordinates of all valid points in the input disparity image.

A NaN value is returned at points with invalid disparity.

Where This Node Can Run:

Desktop OS: Windows

FPGA: Not supported

Web Server: Not supported in VIs that run in a web application


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