StereoDepth: update getMaxDisparity

luxonis · Nov 12, 2024 · fe5b1fb · fe5b1fb
1 parent 36d3743
commit fe5b1fb
Showing 1 changed file with 42 additions and 0 deletions.
diff --git a/src/pipeline/datatype/StereoDepthConfig.cpp b/src/pipeline/datatype/StereoDepthConfig.cpp
@@ -99,6 +99,48 @@ float StereoDepthConfig::getMaxDisparity() const {
     maxDisp += cfg.algorithmControl.disparityShift;
     if(cfg.algorithmControl.enableExtended) maxDisp *= 2;
     if(cfg.algorithmControl.enableSubpixel) maxDisp *= (1 << cfg.algorithmControl.subpixelFractionalBits);
+
+    std::vector<dai::StereoDepthConfig::PostProcessing::Filter> filtersToExecute;
+    for(auto filter : cfg.postProcessing.filteringOrder) {
+        switch(filter) {
+            case RawStereoDepthConfig::PostProcessing::Filter::SPECKLE:
+                if(cfg.postProcessing.speckleFilter.enable) {
+                    filtersToExecute.push_back(filter);
+                }
+                break;
+            case RawStereoDepthConfig::PostProcessing::Filter::TEMPORAL:
+                if(cfg.postProcessing.temporalFilter.enable) {
+                    filtersToExecute.push_back(filter);
+                }
+                break;
+            case RawStereoDepthConfig::PostProcessing::Filter::SPATIAL:
+                if(cfg.postProcessing.spatialFilter.enable) {
+                    filtersToExecute.push_back(filter);
+                }
+                break;
+            case RawStereoDepthConfig::PostProcessing::Filter::DECIMATION:
+                if(cfg.postProcessing.decimationFilter.decimationFactor > 1) {
+                    filtersToExecute.push_back(filter);
+                }
+                break;
+            case RawStereoDepthConfig::PostProcessing::Filter::MEDIAN:
+                if(cfg.postProcessing.median != dai::MedianFilter::MEDIAN_OFF) {
+                    filtersToExecute.push_back(filter);
+                }
+                break;
+            case RawStereoDepthConfig::PostProcessing::Filter::NONE:
+                break;
+            default:
+                break;
+        }
+    }
+
+    if(filtersToExecute.size() != 0) {
+        if(filtersToExecute.back() != RawStereoDepthConfig::PostProcessing::Filter::MEDIAN) {
+            maxDisp = 1 << 13;
+        }
+    }
+
     return maxDisp;
 }