GRID Docs | General Robotics

Estimate depth from stereo pair using FoundationStereo.

Parameters

Union[str, Image.Image, np.ndarray]

required

Left stereo image.

Union[str, Image.Image, np.ndarray]

required

Right stereo image.

Dict[str, Any]

Camera parameters: - “K”: 3x3 camera intrinsics matrix - “baseline”: Stereo baseline in meters - “hiera”: Hierarchy level (0-2) - “valid_iters”: Number of valid iterations

float | None

Optional HTTP timeout.

Returns

np.ndarray: Depth map as numpy array (H, W) with dtype float32. Values represent metric depth in meters.

Example

from grid_cortex_client import CortexClient, ModelType
import numpy as np
from PIL import Image
client = CortexClient()
K = np.array([[525, 0, 320], [0, 525, 240], [0, 0, 1]], dtype=np.float32)
aux = {"K": K, "baseline": 0.1, "hiera": 0, "valid_iters": 32}
left_image = np.array(Image.open("left.jpg"))
right_image = np.array(Image.open("right.jpg"))
depth = client.run(ModelType.FOUNDATIONSTEREO, left_image=left_image, right_image=right_image, aux_args=aux)
print(depth.shape)  # (480, 640)

Overview

Cortex Models

foundationstereo

Parameters

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Example

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Parameters

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Example