robocars/robocar-oak-camera
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disable disparity frames

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This commit is contained in:
Cyrille Nofficial 2024-03-16 10:52:46 +01:00
parent 267c90750d
commit b2f2570968
2 changed files with 24 additions and 12 deletions
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22
camera/cli.py
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@ -75,7 +75,10 @@ def _parse_args_cli() -> argparse.Namespace:
default="info",
choices=["info", "debug"])
parser.add_argument("--disable-disparity", action="store_true",
help="enable disparity frame",
default=False
)
parser.add_argument("--stereo-mode-lr-check",
help="remove incorrectly calculated disparity pixels due to occlusions at object borders",
default=False, action="store_true"
@ -228,7 +231,16 @@ def execute_from_command_line() -> None:
object_processor = cam.ObjectProcessor(mqtt_client=client,
objects_topic=args.mqtt_topic_robocar_objects,
objects_threshold=args.objects_threshold)
disparity_processor = cam.DisparityProcessor(mqtt_client=client, disparity_topic=args.mqtt_topic_robocar_disparity)
if args.disable_disparity == False:
depth_source = cam.DepthSource(pipeline=pipeline,
extended_disparity=args.stereo_mode_extended_disparity,
subpixel=args.stereo_mode_subpixel,
lr_check=args.stereo_mode_lr_check,
stereo_filters=stereo_filters),
disparity_processor = cam.DisparityProcessor(mqtt_client=client, disparity_topic=args.mqtt_topic_robocar_disparity)
else:
disparity_processor = None
depth_source = None
pipeline = dai.Pipeline()
if args.camera_tuning_exposition == CAMERA_EXPOSITION_500US:
@ -247,11 +259,7 @@ def execute_from_command_line() -> None:
img_height=args.image_height,
fps=args.camera_fps,
),
depth_source=cam.DepthSource(pipeline=pipeline,
extended_disparity=args.stereo_mode_extended_disparity,
subpixel=args.stereo_mode_subpixel,
lr_check=args.stereo_mode_lr_check,
stereo_filters=stereo_filters),
depth_source=depth_source,
disparity_processor=disparity_processor)
def sigterm_handler(signum: int, frame: typing.Optional[

14
camera/oak_pipeline.py
View File

@ -590,8 +590,11 @@ class PipelineController:
blocking=False)
q_nn = dev.getOutputQueue(name=self._object_node.get_stream_name(), maxSize=queue_size, # type: ignore
blocking=False)
q_disparity = dev.getOutputQueue(name=self._depth_source.get_stream_name(), maxSize=queue_size, # type: ignore
blocking=False)
if self._disparity_processor is not None:
q_disparity = dev.getOutputQueue(name=self._depth_source.get_stream_name(), maxSize=queue_size, # type: ignore
blocking=False)
else:
q_disparity = None
start_time = time.time()
counter = 0
@ -638,9 +641,10 @@ class PipelineController:
logger.debug("objects processed")
logger.debug("process disparity")
in_disparity: dai.ImgFrame = q_disparity.get() # type: ignore
self._disparity_processor.process(in_disparity, frame_ref=frame_ref,
focal_length_in_pixels=self._focal_length_in_pixels)
if self._disparity_processor is not None:
in_disparity: dai.ImgFrame = q_disparity.get() # type: ignore
self._disparity_processor.process(in_disparity, frame_ref=frame_ref,
focal_length_in_pixels=self._focal_length_in_pixels)
logger.debug("disparity processed")
def stop(self) -> None: