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Get Maximum Disparity (G Dataflow)

Last Modified: June 25, 2019

Returns the maximum disparity value expected for a point at a certain depth from a binocular stereo system.

Use this node to compute the number of disparities that the Stereo Correspondence (Block Matching) node or Stereo Correspondence (SG Block Matching) node should search over based on the minimum depth you expect the objects under inspection to be from the stereo system.

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Q matrix

Binocular stereo setup description.

This matrix is the output from the Get Binocular Stereo Calibration Information node.

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min desired depth (real-world)

Minimum depth, in the units used during calibration, at which the stereo system should detect objects.

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image width (pixel)

Width of the images acquired by the stereo setup.

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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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max disparity

Maximum disparity value that corresponds to the input min. desired depth (real world).

Use this as the value for the number of disparities input in the Stereo Correspondence (Block Matching) node or the Stereo Correspondence (SG Block Matching) node.

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min depth covered (real-world)

Minimum depth at which the stereo setup can detect objects.

This corresponds to the output max disparity. The min depth covered (real-world) will be different from the input min. desired depth (real world) if the overlap between the cameras in the stereo setup is not large enough detect objects at desired minimum depth.

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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.

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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