From 3c6aab01455ee99d2bf0b4a6a88deb56bf4d4ebb Mon Sep 17 00:00:00 2001
From: Cyrille Nofficial <cynoffic@cyrilix.fr>
Date: Sat, 9 Mar 2024 16:00:54 +0100
Subject: [PATCH] k8s(camera): configure disparity

---
 .../files/robocar/car/deployments.yaml        | 36 +++++++++++++++++++
 .../files/robocar/car/kustomization.yaml      |  4 ++-
 .../files/robocar/common/configmap.yaml       |  7 ++--
 3 files changed, 43 insertions(+), 4 deletions(-)

diff --git a/ansible/roles/microservices/files/robocar/car/deployments.yaml b/ansible/roles/microservices/files/robocar/car/deployments.yaml
index 9c6dede..a005278 100644
--- a/ansible/roles/microservices/files/robocar/car/deployments.yaml
+++ b/ansible/roles/microservices/files/robocar/car/deployments.yaml
@@ -112,6 +112,37 @@ spec:
             - "--log=info"
             - "--camera-tuning-exposition=8300us"
             #- "--camera-tuning-exposition=500us"
+
+            - "--stereo-mode-lr-check" # remove incorrectly calculated disparity pixels due to occlusions at object borders
+            - "--stereo-mode-extended-disparity"  # 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 ]
+            - "--stereo-mode-subpixel"  # improves the precision and is especially useful for long range measurements
+
+            #- "--stereo-post-processing-median-filter"
+            #- "--stereo-post-processing-median-value=KERNEL_7x7" #{MEDIAN_OFF,KERNEL_3x3,KERNEL_5x5,KERNEL_7x7}
+
+            - "--stereo-post-processing-speckle-filter"
+            - "--stereo-post-processing-speckle-enable=true"
+            - "--stereo-post-processing-speckle-range=200"
+
+            #- "--stereo-post-processing-temporal-filter"
+            #- "--stereo-post-processing-temporal-persistency-mode=VALID_2_IN_LAST_4"  # {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}
+            #- "--stereo-post-processing-temporal-alpha=0.4"
+            #- "--stereo-post-processing-temporal-delta=0"
+
+            - "--stereo-post-processing-spatial-filter"
+            - "--stereo-post-processing-spatial-enable=true"
+            - "--stereo-post-processing-spatial-hole-filling-radius=4"
+            #- "--stereo-post-processing-spatial-alpha=0.5"
+            #- "--stereo-post-processing-spatial-delta=0"
+            - "--stereo-post-processing-spatial-num-iterations=1"
+
+            - "--stereo-post-processing-threshold-filter"
+            - "--stereo-post-processing-threshold-min-range=1450"
+            - "--stereo-post-processing-threshold-max-range=15000"
+
+            #- "--stereo-post-processing-decimation-filter"
+            #- "--stereo-post-processing-decimation-decimal-factor=2" # {1,2,3,4}
+            #- "--stereo-post-processing-decimation-mode=PIXEL_SKIPPING" # {PIXEL_SKIPPING,NON_ZERO_MEDIAN,NON_ZERO_MEAN}
           securityContext:
             runAsUser: 0
             privileged: true
@@ -147,6 +178,11 @@ spec:
                 configMapKeyRef:
                   key: MQTT_TOPIC_OBJECTS
                   name: robocar
+            - name: MQTT_TOPIC_DISPARITY
+              valueFrom:
+                configMapKeyRef:
+                  key: MQTT_TOPIC_CAMERA_DISPARITY
+                  name: robocar
             - name: THRESHOLD_OBJECTS
               valueFrom:
                 configMapKeyRef:
diff --git a/ansible/roles/microservices/files/robocar/car/kustomization.yaml b/ansible/roles/microservices/files/robocar/car/kustomization.yaml
index cb6bebd..495ec01 100644
--- a/ansible/roles/microservices/files/robocar/car/kustomization.yaml
+++ b/ansible/roles/microservices/files/robocar/car/kustomization.yaml
@@ -17,4 +17,6 @@ images:
     newTag: v0.6.4
 
   - name: git.cyrilix.bzh/robocars/robocar-oak-camera
-    newTag: v0.5.0
+    #newTag: v0.5.0-2-gfb5b351 # Enable disparity
+    newTag: v0.5.0-6-g01e2c8c # disparity filters
+    #newTag: v0.5.0
diff --git a/ansible/roles/microservices/files/robocar/common/configmap.yaml b/ansible/roles/microservices/files/robocar/common/configmap.yaml
index a2e9120..9137f26 100644
--- a/ansible/roles/microservices/files/robocar/common/configmap.yaml
+++ b/ansible/roles/microservices/files/robocar/common/configmap.yaml
@@ -4,13 +4,14 @@ metadata:
   name: robocar
 data:
   # Broker configuration
-  MQTT_BROKER_HOST: nats-server.nats.svc.cluster.local
+  MQTT_BROKER_HOST: "nats-server.nats.svc.cluster.local"
   #MQTT_BROKER: "tcp://mqtt.robocar.svc.cluster.local:1883"
   MQTT_BROKER: "tcp://nats-server.nats.svc.cluster.local:1883"
 
   # Camera
-  MQTT_TOPIC_CAMERA: car/satanas/part/camera/color
-  MQTT_TOPIC_CAMERA_OAK_COLOR: car/satanas/part/camera/color
+  MQTT_TOPIC_CAMERA: "car/satanas/part/camera/color"
+  MQTT_TOPIC_CAMERA_OAK_COLOR: "car/satanas/part/camera/color"
+  MQTT_TOPIC_CAMERA_DISPARITY: "car/satanas/part/camera/disparity"
 
   # Objects detection
   MQTT_TOPIC_OBJECTS: car/satanas/part/objects