MLDepthFeature

abstract class NatML.Features.MLDepthFeature : MLFeature

This feature is used to provide depth data to predictors that require such data. Implementers can derive from this class and provide custom logic for sampling depth given a pixel location.

Creating the Feature

/// <summary>
/// Initialize the depth feature with the depth map dimensions.
/// </summary>
/// <param name="width">Depth map width.</param>
/// <param name="height">Depth map height.</param>
protected MLDepthFeature (int width, int height);

The depth feature is constructed by specifying the feature size. The data type is assumed to be float32. If the data type is different, the full feature type can be specified instead:

/// <summary>
/// Initialize the depth feature with the depth map feature type.
/// </summary>
/// <param name="type">Depth map feature type.</param>
protected MLDepthFeature (MLImageType type);

Inspecting the Feature

The depth feature exposes its underlying type, along with convenience properties for inspecting the aforementioned type.

Feature Type

/// <summary>
/// Feature type.
/// </summary>
MLFeatureType type { get; }

Refer to the Inspecting the Feature section of the MLFeature class for more information.

The type is always an MLImageType.

Depth Map Width

/// <summary>
/// Depth map width.
/// </summary>
int width { get; }

The depth feature provides this convenience property for accessing the width of the feature type.

Depth Map Height

/// <summary>
/// Depth map height.
/// </summary>
int height { get; }

The depth feature provides this convenience property for accessing the height of the feature type.

Sampling Pixel Depth

/// <summary>
/// Sample the depth feature at a given point.
/// </summary>
/// <param name="point">Point to sample in normalized coordinates.</param>
/// <returns>Depth in meters.</returns>
abstract float Sample (Vector2 point);

The depth feature defines the Sample method for sampling the depth at a given normalized viewport coordinate.

The point is specified in normalized coordinates, and as such must be in range [0.0, 1.0].

The depth unit is assumed to be in meters, except defined otherwise by implementations.

Projecting to 3D Space

/// <summary>
/// Project a 2D point into 3D world space using depth.
/// </summary>
/// <param name="point">Point to transform in normalized camera coordinates.</param>
/// <returns>Projected point in 3D world space.</param>
abstract Vector3 Unproject (Vector2 point);

The depth feature defines the ViewportToWorldPoint for projecting a normalized 2D viewport point into 3D space using its underlying depth data.

The point is specified in normalized coordinates, and as such must be in range [0.0, 1.0].