# TYCamport3: TYImageProc.h Source File

TYImageProc.h
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#ifndef TY_IMAGE_PROC_H_
#define TY_IMAGE_PROC_H_
#include "TYApi.h"
#include "TYCoordinateMapper.h"
#include "TyIsp.h"
TY_CAPI TYImageProcesAcceEnable(bool en);
TY_CAPI TYUndistortImage (const TY_CAMERA_CALIB_INFO *srcCalibInfo
, const TY_IMAGE_DATA *srcImage
, const TY_CAMERA_INTRINSIC *cameraNewIntrinsic
, TY_IMAGE_DATA *dstImage
);
// -----------------------------------------------------------
struct DepthSpeckleFilterParameters {
int max_speckle_size; // blob size smaller than this will be removed
int max_speckle_diff; // Maximum difference between neighbor disparity pixels
};
#define DepthSpeckleFilterParameters_Initializer {150, 64}
TY_CAPI TYDepthSpeckleFilter (TY_IMAGE_DATA* depthImage
, const DepthSpeckleFilterParameters* param
);
// -----------------------------------------------------------
struct DepthEnhenceParameters{
float sigma_s;
float sigma_r;
int outlier_win_sz;
float outlier_rate;
};
#define DepthEnhenceParameters_Initializer {10, 20, 10, 0.1f}
TY_CAPI TYDepthEnhenceFilter (const TY_IMAGE_DATA* depthImages
, int imageNum
, TY_IMAGE_DATA *guide
, TY_IMAGE_DATA *output
, const DepthEnhenceParameters* param
);
#endif
TYImageProcesAcceEnable
TY_CAPI TYImageProcesAcceEnable(bool en)
Image processing acceleration switch.
DepthEnhenceParameters::sigma_s
float sigma_s
filter param on space
Definition: TYImageProc.h:55
DepthSpeckleFilterParameters
default parameter value definition
Definition: TYImageProc.h:34
DepthEnhenceParameters::sigma_r
float sigma_r
filter param on range
Definition: TYImageProc.h:56
TYCoordinateMapper.h
Coordinate Conversion API.
DepthEnhenceParameters::outlier_win_sz
int outlier_win_sz
outlier filter windows ize
Definition: TYImageProc.h:57
TYDepthSpeckleFilter
TY_CAPI TYDepthSpeckleFilter(TY_IMAGE_DATA *depthImage, const DepthSpeckleFilterParameters *param)
Remove speckles on depth image.
TYDepthEnhenceFilter
TY_CAPI TYDepthEnhenceFilter(const TY_IMAGE_DATA *depthImages, int imageNum, TY_IMAGE_DATA *guide, TY_IMAGE_DATA *output, const DepthEnhenceParameters *param)
Remove speckles on depth image.
TyIsp.h
TY_CAMERA_CALIB_INFO
Definition: TYApi.h:791
TY_CAMERA_INTRINSIC
Definition: TYApi.h:753
TY_IMAGE_DATA
Definition: TYApi.h:969
TYApi.h
TYApi.h includes camera control and data receiving interface, which supports configuration for image ...
TYUndistortImage
TY_CAPI TYUndistortImage(const TY_CAMERA_CALIB_INFO *srcCalibInfo, const TY_IMAGE_DATA *srcImage, const TY_CAMERA_INTRINSIC *cameraNewIntrinsic, TY_IMAGE_DATA *dstImage)
Do image undistortion, only support TY_PIXEL_FORMAT_MONO ,TY_PIXEL_FORMAT_RGB,TY_PIXEL_FORMAT_BGR.
DepthEnhenceParameters
default parameter value definition
Definition: TYImageProc.h:54