robocars/robocar-oak-camera
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fix disparity pipeline

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This commit is contained in:
Cyrille Nofficial 2024-01-27 15:06:07 +01:00
parent 31ceef93ae
commit 69b4e28323
1 changed files with 3 additions and 1 deletions
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4
camera/oak_pipeline.py
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@ -332,7 +332,6 @@ class TemporalFilter(StereoDepthPostFilter):
self._alpha = alpha self._alpha = alpha
self._delta = delta self._delta = delta
def apply(self, config: dai.RawStereoDepthConfig) -> None: def apply(self, config: dai.RawStereoDepthConfig) -> None:
config.postProcessing.temporalFilter.enable = self._enable config.postProcessing.temporalFilter.enable = self._enable
config.postProcessing.temporalFilter.persistencyMode = self._persistencyMode config.postProcessing.temporalFilter.persistencyMode = self._persistencyMode
@ -442,8 +441,10 @@ class DepthSource(Source):
# Properties # Properties
self._monoLeft.setResolution(dai.MonoCameraProperties.SensorResolution.THE_400_P) self._monoLeft.setResolution(dai.MonoCameraProperties.SensorResolution.THE_400_P)
self._monoLeft.setCamera("left") self._monoLeft.setCamera("left")
self._monoLeft.out.link(self._depth.left)
self._monoRight.setResolution(dai.MonoCameraProperties.SensorResolution.THE_400_P) self._monoRight.setResolution(dai.MonoCameraProperties.SensorResolution.THE_400_P)
self._monoRight.setCamera("right") self._monoRight.setCamera("right")
self._monoRight.out.link(self._depth.right)
# Create a node that will produce the depth map # Create a node that will produce the depth map
# (using disparity output as it's easier to visualize depth this way) # (using disparity output as it's easier to visualize depth this way)
@ -453,6 +454,7 @@ class DepthSource(Source):
self._depth.setLeftRightCheck(lr_check) self._depth.setLeftRightCheck(lr_check)
self._depth.setExtendedDisparity(extended_disparity) self._depth.setExtendedDisparity(extended_disparity)
self._depth.setSubpixel(subpixel) self._depth.setSubpixel(subpixel)
self._depth.disparity.link(self._xout_disparity.input)
if len(filters) > 0: if len(filters) > 0:
# Configure post-processing filters # Configure post-processing filters