feat(disparity): fine tuning mode and post-processing filters
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README.md
133
README.md
@ -9,3 +9,136 @@ To build images, run script:
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```bash
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./build-docker.sh
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```
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## Usage
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```shell
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usage: cli.py [-h] [-u MQTT_USERNAME] [-p MQTT_PASSWORD] [-b MQTT_BROKER_HOST]
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[-P MQTT_BROKER_PORT] [-C MQTT_CLIENT_ID]
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[-c MQTT_TOPIC_ROBOCAR_OAK_CAMERA]
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[-o MQTT_TOPIC_ROBOCAR_OBJECTS] [-t OBJECTS_THRESHOLD]
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[-d MQTT_TOPIC_ROBOCAR_DISPARITY] [-f CAMERA_FPS]
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[--camera-tuning-exposition {default,500us,8300us}]
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[-H IMAGE_HEIGHT] [-W IMAGE_WIDTH] [--log {info,debug}]
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[--stereo-mode-lr-check] [--stereo-mode-extended-disparity]
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[--stereo-mode-subpixel]
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[--stereo-post-processing-median-filter]
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[--stereo-post-processing-median-value {MEDIAN_OFF,KERNEL_3x3,KERNEL_5x5,KERNEL_7x7}]
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[--stereo-post-processing-speckle-filter]
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[--stereo-post-processing-speckle-enable STEREO_POST_PROCESSING_SPECKLE_ENABLE]
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[--stereo-post-processing-speckle-range STEREO_POST_PROCESSING_SPECKLE_RANGE]
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[--stereo-post-processing-temporal-filter]
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[--stereo-post-processing-temporal-persistency-mode {PERSISTENCY_OFF,VALID_8_OUT_OF_8,VALID_2_IN_LAST_3,VALID_2_IN_LAST_4,VALID_2_OUT_OF_8,VALID_1_IN_LAST_2,VALID_1_IN_LAST_5,VALID_1_IN_LAST_8,PERSISTENCY_INDEFINITELY}]
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[--stereo-post-processing-temporal-alpha STEREO_POST_PROCESSING_TEMPORAL_ALPHA]
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[--stereo-post-processing-temporal-delta STEREO_POST_PROCESSING_TEMPORAL_DELTA]
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[--stereo-post-processing-spatial-filter]
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[--stereo-post-processing-spatial-enable STEREO_POST_PROCESSING_SPATIAL_ENABLE]
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[--stereo-post-processing-spatial-hole-filling-radius STEREO_POST_PROCESSING_SPATIAL_HOLE_FILLING_RADIUS]
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[--stereo-post-processing-spatial-alpha STEREO_POST_PROCESSING_SPATIAL_ALPHA]
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[--stereo-post-processing-spatial-delta STEREO_POST_PROCESSING_SPATIAL_DELTA]
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[--stereo-post-processing-spatial-num-iterations STEREO_POST_PROCESSING_SPATIAL_NUM_ITERATIONS]
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[--stereo-post-processing-threshold-filter]
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[--stereo-post-processing-threshold-min-range STEREO_POST_PROCESSING_THRESHOLD_MIN_RANGE]
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[--stereo-post-processing-threshold-max-range STEREO_POST_PROCESSING_THRESHOLD_MAX_RANGE]
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[--stereo-post-processing-decimation-filter]
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[--stereo-post-processing-decimation-decimal-factor {1,2,3,4}]
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[--stereo-post-processing-decimation-mode {PIXEL_SKIPPING,NON_ZERO_MEDIAN,NON_ZERO_MEAN}]
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options:
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-h, --help show this help message and exit
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-u MQTT_USERNAME, --mqtt-username MQTT_USERNAME
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MQTT user
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-p MQTT_PASSWORD, --mqtt-password MQTT_PASSWORD
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MQTT password
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-b MQTT_BROKER_HOST, --mqtt-broker-host MQTT_BROKER_HOST
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MQTT broker host
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-P MQTT_BROKER_PORT, --mqtt-broker-port MQTT_BROKER_PORT
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MQTT broker port
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-C MQTT_CLIENT_ID, --mqtt-client-id MQTT_CLIENT_ID
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MQTT client id
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-c MQTT_TOPIC_ROBOCAR_OAK_CAMERA, --mqtt-topic-robocar-oak-camera MQTT_TOPIC_ROBOCAR_OAK_CAMERA
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MQTT topic where to publish robocar-oak-camera frames
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-o MQTT_TOPIC_ROBOCAR_OBJECTS, ---mqtt-topic-robocar-objects MQTT_TOPIC_ROBOCAR_OBJECTS
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MQTT topic where to publish objects detection results
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-t OBJECTS_THRESHOLD, --objects-threshold OBJECTS_THRESHOLD
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threshold to filter detected objects
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-d MQTT_TOPIC_ROBOCAR_DISPARITY, ---mqtt-topic-robocar-disparity MQTT_TOPIC_ROBOCAR_DISPARITY
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MQTT topic where to publish disparity results
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-f CAMERA_FPS, --camera-fps CAMERA_FPS
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set rate at which camera should produce frames
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--camera-tuning-exposition {default,500us,8300us}
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override camera exposition configuration
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-H IMAGE_HEIGHT, --image-height IMAGE_HEIGHT
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image height
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-W IMAGE_WIDTH, --image-width IMAGE_WIDTH
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image width
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--log {info,debug} Log level
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--stereo-mode-lr-check
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remove incorrectly calculated disparity pixels due to
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occlusions at object borders
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--stereo-mode-extended-disparity
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allows detecting closer distance objects for the given
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baseline. This increases the maximum disparity search
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from 96 to 191, meaning the range is now: [0..190]
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--stereo-mode-subpixel
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iimproves the precision and is especially useful for
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long range measurements
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--stereo-post-processing-median-filter
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enable post-processing median filter
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--stereo-post-processing-median-value {MEDIAN_OFF,KERNEL_3x3,KERNEL_5x5,KERNEL_7x7}
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Median filter config
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--stereo-post-processing-speckle-filter
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enable post-processing speckle filter
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--stereo-post-processing-speckle-enable STEREO_POST_PROCESSING_SPECKLE_ENABLE
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enable post-processing speckle filter
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--stereo-post-processing-speckle-range STEREO_POST_PROCESSING_SPECKLE_RANGE
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Speckle search range
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--stereo-post-processing-temporal-filter
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enable post-processing temporal filter
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--stereo-post-processing-temporal-persistency-mode {PERSISTENCY_OFF,VALID_8_OUT_OF_8,VALID_2_IN_LAST_3,VALID_2_IN_LAST_4,VALID_2_OUT_OF_8,VALID_1_IN_LAST_2,VALID_1_IN_LAST_5,VALID_1_IN_LAST_8,PERSISTENCY_INDEFINITELY}
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Persistency mode.
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--stereo-post-processing-temporal-alpha STEREO_POST_PROCESSING_TEMPORAL_ALPHA
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The Alpha factor in an exponential moving average with
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Alpha=1 - no filter. Alpha = 0 - infinite filter.
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Determines the extent of the temporal history that
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should be averaged.
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--stereo-post-processing-temporal-delta STEREO_POST_PROCESSING_TEMPORAL_DELTA
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Step-size boundary. Establishes the threshold used to
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preserve surfaces (edges). If the disparity value
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between neighboring pixels exceed the disparity
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threshold set by this delta parameter, then filtering
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will be temporarily disabled. Default value 0 means
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auto: 3 disparity integer levels. In case of subpixel
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mode it’s 3*number of subpixel levels.
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--stereo-post-processing-spatial-filter
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enable post-processing spatial filter
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--stereo-post-processing-spatial-enable STEREO_POST_PROCESSING_SPATIAL_ENABLE
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Whether to enable or disable the filter
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--stereo-post-processing-spatial-hole-filling-radius STEREO_POST_PROCESSING_SPATIAL_HOLE_FILLING_RADIUS
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An in-place heuristic symmetric hole-filling mode
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applied horizontally during the filter passes
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--stereo-post-processing-spatial-alpha STEREO_POST_PROCESSING_SPATIAL_ALPHA
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The Alpha factor in an exponential moving average with
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Alpha=1 - no filter. Alpha = 0 - infinite filter
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--stereo-post-processing-spatial-delta STEREO_POST_PROCESSING_SPATIAL_DELTA
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Step-size boundary. Establishes the threshold used to
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preserve edges
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--stereo-post-processing-spatial-num-iterations STEREO_POST_PROCESSING_SPATIAL_NUM_ITERATIONS
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Number of iterations over the image in both horizontal
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and vertical direction
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--stereo-post-processing-threshold-filter
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enable post-processing threshold filter
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--stereo-post-processing-threshold-min-range STEREO_POST_PROCESSING_THRESHOLD_MIN_RANGE
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Minimum range in depth units. Depth values under this
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value are invalidated
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--stereo-post-processing-threshold-max-range STEREO_POST_PROCESSING_THRESHOLD_MAX_RANGE
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Maximum range in depth units. Depth values over this
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value are invalidated.
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--stereo-post-processing-decimation-filter
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enable post-processing decimation filter
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--stereo-post-processing-decimation-decimal-factor {1,2,3,4}
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Decimation factor
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--stereo-post-processing-decimation-mode {PIXEL_SKIPPING,NON_ZERO_MEDIAN,NON_ZERO_MEAN}
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Decimation algorithm type
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```
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219
camera/cli.py
219
camera/cli.py
@ -5,13 +5,16 @@ import argparse
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import logging
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import os
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import signal
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import typing, types
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import types
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import typing
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from typing import List
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import depthai as dai
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import paho.mqtt.client as mqtt
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from camera import oak_pipeline as cam
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from oak_pipeline import DisparityProcessor
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from camera.oak_pipeline import StereoDepthPostFilter, MedianFilter, SpeckleFilter, TemporalFilter, SpatialFilter, \
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ThresholdFilter, DecimationFilter
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CAMERA_EXPOSITION_DEFAULT = "default"
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CAMERA_EXPOSITION_8300US = "8300us"
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@ -50,7 +53,7 @@ def _parse_args_cli() -> argparse.Namespace:
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help="threshold to filter detected objects",
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type=float,
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default=_get_env_float_value("OBJECTS_THRESHOLD", 0.2))
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parser.add_argument("-o", "---mqtt-topic-robocar-disparity",
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parser.add_argument("-d", "---mqtt-topic-robocar-disparity",
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help="MQTT topic where to publish disparity results",
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default=_get_env_value("MQTT_TOPIC_DISPARITY", "/disparity"))
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parser.add_argument("-f", "--camera-fps",
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@ -71,6 +74,123 @@ def _parse_args_cli() -> argparse.Namespace:
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type=str,
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default="info",
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choices=["info", "debug"])
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parser.add_argument("--stereo-mode-lr-check",
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help="remove incorrectly calculated disparity pixels due to occlusions at object borders",
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default=False, action="store_true"
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)
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parser.add_argument("--stereo-mode-extended-disparity",
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help="allows detecting closer distance objects for the given baseline. This increases the maximum disparity search from 96 to 191, meaning the range is now: [0..190]",
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default=False, action="store_true"
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)
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parser.add_argument("--stereo-mode-subpixel",
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help="iimproves the precision and is especially useful for long range measurements",
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default=False, action="store_true"
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)
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parser.add_argument("--stereo-post-processing-median-filter",
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help="enable post-processing median filter",
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default=False, action="store_true"
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)
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parser.add_argument("--stereo-post-processing-median-value",
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help="Median filter config ",
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type=str,
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choices=["MEDIAN_OFF", "KERNEL_3x3", "KERNEL_5x5", "KERNEL_7x7"],
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default="KERNEL_7x7",
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)
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parser.add_argument("--stereo-post-processing-speckle-filter",
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help="enable post-processing speckle filter",
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default=False, action="store_true"
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)
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parser.add_argument("--stereo-post-processing-speckle-enable",
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help="enable post-processing speckle filter",
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type=bool, default=False
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)
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parser.add_argument("--stereo-post-processing-speckle-range",
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help="Speckle search range",
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type=int, default=50
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)
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parser.add_argument("--stereo-post-processing-temporal-filter",
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help="enable post-processing temporal filter",
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default=False, action="store_true"
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)
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parser.add_argument("--stereo-post-processing-temporal-persistency-mode",
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help="Persistency mode.",
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type=str, default="VALID_2_IN_LAST_4",
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choices=["PERSISTENCY_OFF", "VALID_8_OUT_OF_8", "VALID_2_IN_LAST_3", "VALID_2_IN_LAST_4",
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"VALID_2_OUT_OF_8", "VALID_1_IN_LAST_2", "VALID_1_IN_LAST_5", "VALID_1_IN_LAST_8",
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"PERSISTENCY_INDEFINITELY"]
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)
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parser.add_argument("--stereo-post-processing-temporal-alpha",
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help="The Alpha factor in an exponential moving average with Alpha=1 - no filter. "
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"Alpha = 0 - infinite filter. Determines the extent of the temporal history that should be "
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"averaged. ",
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type=float, default=0.4,
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)
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parser.add_argument("--stereo-post-processing-temporal-delta",
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help="Step-size boundary. Establishes the threshold used to preserve surfaces (edges). "
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"If the disparity value between neighboring pixels exceed the disparity threshold set by "
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"this delta parameter, then filtering will be temporarily disabled. Default value 0 means "
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"auto: 3 disparity integer levels. In case of subpixel mode it’s 3*number of subpixel "
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"levels.",
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type=int, default=0,
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)
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parser.add_argument("--stereo-post-processing-spatial-filter",
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help="enable post-processing spatial filter",
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default=False, action="store_true"
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)
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parser.add_argument("--stereo-post-processing-spatial-enable",
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help="Whether to enable or disable the filter",
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type=bool, default=False,
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)
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parser.add_argument("--stereo-post-processing-spatial-hole-filling-radius",
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help="An in-place heuristic symmetric hole-filling mode applied horizontally during the filter passes",
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type=int, default=2,
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)
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parser.add_argument("--stereo-post-processing-spatial-alpha",
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help="The Alpha factor in an exponential moving average with Alpha=1 - no filter. Alpha = 0 - infinite filter",
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type=float, default=0.5,
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)
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parser.add_argument("--stereo-post-processing-spatial-delta",
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help="Step-size boundary. Establishes the threshold used to preserve edges",
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type=int, default=0,
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)
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parser.add_argument("--stereo-post-processing-spatial-num-iterations",
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help="Number of iterations over the image in both horizontal and vertical direction",
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type=int, default=1,
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)
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parser.add_argument("--stereo-post-processing-threshold-filter",
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help="enable post-processing threshold filter",
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default=False, action="store_true"
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)
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parser.add_argument("--stereo-post-processing-threshold-min-range",
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help="Minimum range in depth units. Depth values under this value are invalidated",
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type=int, default=500,
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)
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parser.add_argument("--stereo-post-processing-threshold-max-range",
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help="Maximum range in depth units. Depth values over this value are invalidated.",
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type=int, default=15000,
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)
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parser.add_argument("--stereo-post-processing-decimation-filter",
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help="enable post-processing decimation filter",
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default=False, action="store_true"
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)
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parser.add_argument("--stereo-post-processing-decimation-decimal-factor",
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help="Decimation factor",
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type=int, default=1, choices=[1, 2, 3, 4]
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)
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parser.add_argument("--stereo-post-processing-decimation-mode",
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help="Decimation algorithm type",
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type=str, default="PIXEL_SKIPPING",
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choices=["PIXEL_SKIPPING", "NON_ZERO_MEDIAN", "NON_ZERO_MEAN"]
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)
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args = parser.parse_args()
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return args
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@ -116,6 +236,7 @@ def execute_from_command_line() -> None:
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elif args.camera_tuning_exposition == CAMERA_EXPOSITION_8300US:
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pipeline.setCameraTuningBlobPath('/camera_tuning/tuning_exp_limit_8300us.bin')
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stereo_filters = _get_stereo_filters(args)
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pipeline_controller = cam.PipelineController(pipeline=pipeline,
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frame_processor=frame_processor,
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@ -126,7 +247,11 @@ def execute_from_command_line() -> None:
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img_height=args.image_height,
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fps=args.camera_fps,
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),
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depth_source=cam.DepthSource(pipeline=pipeline),
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depth_source=cam.DepthSource(pipeline=pipeline,
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extended_disparity=args.stereo_mode_extended_disparity,
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subpixel=args.stereo_mode_subpixel,
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lr_check=args.stereo_mode_lr_check,
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*stereo_filters),
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disparity_processor=disparity_processor)
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def sigterm_handler(signum: int, frame: typing.Optional[
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@ -152,3 +277,89 @@ def _get_env_int_value(env_var: str, default_value: int) -> int:
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def _get_env_float_value(env_var: str, default_value: float) -> float:
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value = _get_env_value(env_var, str(default_value))
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return float(value)
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def _get_stereo_filters(args: argparse.Namespace) -> List[StereoDepthPostFilter]:
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filters = []
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if args.stereo_post_processing_median_filter:
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if args.stereo_post_processing_median_value == "MEDIAN_OFF":
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value = dai.MedianFilter.MEDIAN_OFF
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elif args.stereo_post_processing_median_value == "KERNEL_3x3":
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value = dai.MedianFilter.KERNEL_3x3
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elif args.stereo_post_processing_median_value == "KERNEL_5x5":
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value = dai.MedianFilter.KERNEL_5x5
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elif args.stereo_post_processing_median_value == "KERNEL_7x7":
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value = dai.MedianFilter.KERNEL_7x7
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else:
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value = dai.MedianFilter.KERNEL_7x7
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filters.append(MedianFilter(value=value))
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if args.stereo_post_processing_speckle_filter:
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filters.append(SpeckleFilter(enable=args.stereo_post_processing_speckle_enable,
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speckle_range=args.stereo_post_processing_speckle_range))
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if args.stereo_post_processing_temporal_filter:
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if args.stereo_post_processing_temporal_persistency-mode == "PERSISTENCY_OFF":
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mode=dai.RawStereoDepthConfig.PostProcessing.TemporalFilter.PersistencyMode.PERSISTENCY_OFF
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elif args.stereo_post_processing_temporal_persistency-mode == "VALID_8_OUT_OF_8":
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mode=dai.RawStereoDepthConfig.PostProcessing.TemporalFilter.PersistencyMode.VALID_8_OUT_OF_8
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elif args.stereo_post_processing_temporal_persistency-mode == "VALID_2_IN_LAST_3":
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mode=dai.RawStereoDepthConfig.PostProcessing.TemporalFilter.PersistencyMode.VALID_2_IN_LAST_3
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elif args.stereo_post_processing_temporal_persistency-mode == "VALID_2_IN_LAST_4":
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mode=dai.RawStereoDepthConfig.PostProcessing.TemporalFilter.PersistencyMode.VALID_2_IN_LAST_4
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elif args.stereo_post_processing_temporal_persistency-mode == "VALID_2_OUT_OF_8":
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mode=dai.RawStereoDepthConfig.PostProcessing.TemporalFilter.PersistencyMode.VALID_2_OUT_OF_8
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elif args.stereo_post_processing_temporal_persistency-mode == "VALID_1_IN_LAST_2":
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mode=dai.RawStereoDepthConfig.PostProcessing.TemporalFilter.PersistencyMode.VALID_1_IN_LAST_2
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elif args.stereo_post_processing_temporal_persistency-mode == "VALID_1_IN_LAST_5":
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mode=dai.RawStereoDepthConfig.PostProcessing.TemporalFilter.PersistencyMode.VALID_1_IN_LAST_5
|
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elif args.stereo_post_processing_temporal_persistency-mode == "VALID_1_IN_LAST_8":
|
||||
mode=dai.RawStereoDepthConfig.PostProcessing.TemporalFilter.PersistencyMode.VALID_1_IN_LAST_8
|
||||
elif args.stereo_post_processing_temporal_persistency-mode == "PERSISTENCY_INDEFINITELY":
|
||||
mode=dai.RawStereoDepthConfig.PostProcessing.TemporalFilter.PersistencyMode.PERSISTENCY_INDEFINITELY
|
||||
else:
|
||||
mode=dai.RawStereoDepthConfig.PostProcessing.TemporalFilter.PersistencyMode.VALID_2_IN_LAST_4
|
||||
|
||||
filters.append(TemporalFilter(
|
||||
enable=args.stereo_post_processing_temporal_enable,
|
||||
persistencyMode=mode,
|
||||
alpha=args.stereo_post_processing_temporal_alpha,
|
||||
delta=args.stereo_post_processing_temporal_delta
|
||||
))
|
||||
|
||||
if args.stereo_post_processing_spatial_filter:
|
||||
filters.append(SpatialFilter(enable=args.stereo_post_processing_spatial_enable,
|
||||
hole_filling_radius=args.stereo_post_processing_spatial_hole_filling_radius,
|
||||
alpha=args.stereo_post_processing_spatial_alpha,
|
||||
delta=args.stereo_post_processing_spatial_delta,
|
||||
num_iterations=args.stereo_post_processing_spatial_num_iterations,
|
||||
))
|
||||
|
||||
if args.stereo_post_processing_threshold_filter:
|
||||
filters.append(ThresholdFilter(
|
||||
min_range=args.stereo_post_processing_threshold_min_range,
|
||||
max_range=args.stereo_post_processing_threshold_max_range,
|
||||
))
|
||||
|
||||
if args.stereo_post_processing_decimation_filter:
|
||||
|
||||
if args.stereo_post_processing_decimation_mode == "PIXEL_SKIPPING":
|
||||
mode=dai.RawStereoDepthConfig.PostProcessing.DecimationFilter.DecimationMode.PIXEL_SKIPPING
|
||||
if args.stereo_post_processing_decimation_mode == "NON_ZERO_MEDIAN":
|
||||
mode=dai.RawStereoDepthConfig.PostProcessing.DecimationFilter.DecimationMode.NON_ZERO_MEDIAN
|
||||
if args.stereo_post_processing_decimation_mode == "NON_ZERO_MEAN":
|
||||
mode=dai.RawStereoDepthConfig.PostProcessing.DecimationFilter.DecimationMode.NON_ZERO_MEAN
|
||||
else:
|
||||
mode=dai.RawStereoDepthConfig.PostProcessing.DecimationFilter.DecimationMode.PIXEL_SKIPPING
|
||||
|
||||
filters.append(DecimationFilter(
|
||||
decimation_factor=args.stereo_post_processing_decimation_decimal_factor,
|
||||
mode=mode
|
||||
))
|
||||
|
||||
return filters
|
||||
|
||||
if __name__ == '__main__':
|
||||
execute_from_command_line()
|
||||
@ -266,11 +266,163 @@ class CameraSource(Source):
|
||||
return manip
|
||||
|
||||
|
||||
class StereoDepthPostFilter(abc.ABC):
|
||||
@abc.abstractmethod
|
||||
def apply(self, config: dai.RawStereoDepthConfig) -> None:
|
||||
pass
|
||||
|
||||
|
||||
class MedianFilter(StereoDepthPostFilter):
|
||||
"""
|
||||
This is a non-edge preserving Median filter, which can be used to reduce noise and smoothen the depth map.
|
||||
Median filter is implemented in hardware, so it’s the fastest filter.
|
||||
"""
|
||||
def __init__(self, value: dai.MedianFilter = dai.MedianFilter.KERNEL_7x7) -> None:
|
||||
self._value = value
|
||||
|
||||
def apply(self, config: dai.RawStereoDepthConfig) -> None:
|
||||
config.postProcessing.median.value = self._value
|
||||
|
||||
|
||||
class SpeckleFilter(StereoDepthPostFilter):
|
||||
"""
|
||||
Speckle Filter is used to reduce the speckle noise. Speckle noise is a region with huge variance between
|
||||
neighboring disparity/depth pixels, and speckle filter tries to filter this region.
|
||||
"""
|
||||
def __init__(self, enable: bool = True, speckle_range: int = 50) -> None:
|
||||
"""
|
||||
:param enable: Whether to enable or disable the filter.
|
||||
:param speckle_range: Speckle search range.
|
||||
"""
|
||||
self._enable = enable
|
||||
self._speckle_range = speckle_range
|
||||
|
||||
def apply(self, config: dai.RawStereoDepthConfig) -> None:
|
||||
config.postProcessing.speckleFilter.enable = self._enable
|
||||
config.postProcessing.speckleFilter.speckleRange = self._speckle_range
|
||||
|
||||
|
||||
class TemporalFilter(StereoDepthPostFilter):
|
||||
"""
|
||||
Temporal Filter is intended to improve the depth data persistency by manipulating per-pixel values based on
|
||||
previous frames. The filter performs a single pass on the data, adjusting the depth values while also updating the
|
||||
tracking history. In cases where the pixel data is missing or invalid, the filter uses a user-defined persistency
|
||||
mode to decide whether the missing value should be rectified with stored data. Note that due to its reliance on
|
||||
historic data the filter may introduce visible blurring/smearing artifacts, and therefore is best-suited for
|
||||
static scenes.
|
||||
"""
|
||||
def __init__(self,
|
||||
enable: bool = True,
|
||||
persistencyMode: dai.RawStereoDepthConfig.PostProcessing.TemporalFilter.PersistencyMode=dai.RawStereoDepthConfig.PostProcessing.TemporalFilter.PersistencyMode.VALID_2_IN_LAST_4,
|
||||
alpha: float = 0.4,
|
||||
delta: int = 0):
|
||||
"""
|
||||
:param enable: Whether to enable or disable the filter.
|
||||
:param persistencyMode: Persistency mode. If the current disparity/depth value is invalid, it will be replaced
|
||||
by an older value, based on persistency mode.
|
||||
:param alpha: The Alpha factor in an exponential moving average with Alpha=1 - no filter.
|
||||
Alpha = 0 - infinite filter. Determines the extent of the temporal history that should be averaged.
|
||||
:param delta: Step-size boundary. Establishes the threshold used to preserve surfaces (edges).
|
||||
If the disparity value between neighboring pixels exceed the disparity threshold set by this delta parameter,
|
||||
then filtering will be temporarily disabled. Default value 0 means auto: 3 disparity integer levels.
|
||||
In case of subpixel mode it’s 3*number of subpixel levels.
|
||||
"""
|
||||
self._enable = enable
|
||||
self._persistencyMode = persistencyMode
|
||||
self._alpha = alpha
|
||||
self._delta = delta
|
||||
|
||||
|
||||
def apply(self, config: dai.RawStereoDepthConfig) -> None:
|
||||
config.postProcessing.temporalFilter.enable = self._enable
|
||||
config.postProcessing.temporalFilter.persistencyMode = self._persistencyMode
|
||||
config.postProcessing.temporalFilter.alpha = self._alpha
|
||||
config.postProcessing.temporalFilter.delta = self._delta
|
||||
|
||||
|
||||
class SpatialFilter(StereoDepthPostFilter):
|
||||
"""
|
||||
Spatial Edge-Preserving Filter will fill invalid depth pixels with valid neighboring depth pixels. It performs a
|
||||
series of 1D horizontal and vertical passes or iterations, to enhance the smoothness of the reconstructed data.
|
||||
"""
|
||||
def __init__(self,
|
||||
enable: bool = True,
|
||||
hole_filling_radius: int = 2,
|
||||
alpha: float = 0.5,
|
||||
delta: int = 0,
|
||||
num_iterations: int = 1):
|
||||
"""
|
||||
:param enable: Whether to enable or disable the filter.
|
||||
:param hole_filling_radius: An in-place heuristic symmetric hole-filling mode applied horizontally during
|
||||
the filter passes. Intended to rectify minor artefacts with minimal performance impact. Search radius for
|
||||
hole filling.
|
||||
:param alpha: The Alpha factor in an exponential moving average with Alpha=1 - no filter.
|
||||
Alpha = 0 - infinite filter. Determines the amount of smoothing.
|
||||
:param delta: Step-size boundary. Establishes the threshold used to preserve “edges”. If the disparity value
|
||||
between neighboring pixels exceed the disparity threshold set by this delta parameter, then filtering will be
|
||||
temporarily disabled. Default value 0 means auto: 3 disparity integer levels. In case of subpixel mode it’s
|
||||
3*number of subpixel levels.
|
||||
:param num_iterations: Number of iterations over the image in both horizontal and vertical direction.
|
||||
"""
|
||||
self._enable = enable
|
||||
self._hole_filling_radius = hole_filling_radius
|
||||
self._alpha = alpha
|
||||
self._delta = delta
|
||||
self._num_iterations = num_iterations
|
||||
|
||||
def apply(self, config: dai.RawStereoDepthConfig) -> None:
|
||||
config.postProcessing.spatialFilter.enable = self._enable
|
||||
config.postProcessing.spatialFilter.holeFillingRadius = self._hole_filling_radius
|
||||
config.postProcessing.spatialFilter.alpha = self._alpha
|
||||
config.postProcessing.spatialFilter.delta = self._delta
|
||||
config.postProcessing.spatialFilter.numIterations = self._num_iterations
|
||||
|
||||
|
||||
class ThresholdFilter(StereoDepthPostFilter):
|
||||
"""
|
||||
Threshold Filter filters out all disparity/depth pixels outside the configured min/max threshold values.
|
||||
"""
|
||||
def __init__(self, min_range: int = 400, max_range: int = 15000):
|
||||
"""
|
||||
:param min_range: Minimum range in depth units. Depth values under this value are invalidated.
|
||||
:param max_range: Maximum range in depth units. Depth values over this value are invalidated.
|
||||
"""
|
||||
self._min_range = min_range
|
||||
self._max_range = max_range
|
||||
|
||||
def apply(self, config: dai.RawStereoDepthConfig) -> None:
|
||||
config.postProcessing.thresholdFilter.minRange = self._min_range
|
||||
config.postProcessing.thresholdFilter.maxRange = self._max_range
|
||||
|
||||
|
||||
class DecimationFilter(StereoDepthPostFilter):
|
||||
"""
|
||||
Decimation Filter will sub-samples the depth map, which means it reduces the depth scene complexity and allows
|
||||
other filters to run faster. Setting decimationFactor to 2 will downscale 1280x800 depth map to 640x400.
|
||||
"""
|
||||
def __init__(self,
|
||||
decimation_factor: int = 1,
|
||||
decimation_mode: dai.RawStereoDepthConfig.PostProcessing.DecimationFilter.DecimationMode = dai.RawStereoDepthConfig.PostProcessing.DecimationFilter.DecimationMode.PIXEL_SKIPPING
|
||||
):
|
||||
"""
|
||||
:param decimation_factor: Decimation factor. Valid values are 1,2,3,4. Disparity/depth map x/y resolution will
|
||||
be decimated with this value.
|
||||
:param decimation_mode: Decimation algorithm type.
|
||||
"""
|
||||
self._decimation_factor = decimation_factor
|
||||
self._mode = decimation_mode
|
||||
|
||||
def apply(self, config: dai.RawStereoDepthConfig) -> None:
|
||||
config.postProcessing.decimationFilter.decimationFactor = self._decimation_factor
|
||||
config.postProcessing.decimationFilter.decimationMode = self._mode
|
||||
|
||||
|
||||
class DepthSource(Source):
|
||||
def __init__(self, pipeline: dai.Pipeline,
|
||||
extended_disparity: bool = False,
|
||||
subpixel: bool = False,
|
||||
lr_check: bool = True
|
||||
lr_check: bool = True,
|
||||
*filters: StereoDepthPostFilter
|
||||
) -> None:
|
||||
"""
|
||||
# Closer-in minimum depth, disparity range is doubled (from 95 to 190):
|
||||
@ -302,6 +454,13 @@ class DepthSource(Source):
|
||||
self._depth.setExtendedDisparity(extended_disparity)
|
||||
self._depth.setSubpixel(subpixel)
|
||||
|
||||
if len(filters) > 0:
|
||||
# Configure post-processing filters
|
||||
config = self._depth.initialConfig.get()
|
||||
for filter in filters:
|
||||
filter.apply(config)
|
||||
self._depth.initialConfig.set(config)
|
||||
|
||||
def get_stream_name(self) -> str:
|
||||
return self._xout_disparity.getStreamName()
|
||||
|
||||
|
||||
Loading…
Reference in New Issue
Block a user