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Stereo filter improvements: do postprocessing in 13 bit range #1151

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merged 8 commits into from
Nov 8, 2024
Merged

Stereo filter improvements: do postprocessing in 13 bit range #1151

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15d6a79
SpeckleFilter: Add differenceThreshold config
SzabolcsGergely Oct 3, 2024
76e5cbd
Implement configurable filtering order
SzabolcsGergely Oct 4, 2024
7e11d06
Stereo: Scale disparity to 13 bit range prior to filtering
SzabolcsGergely Oct 9, 2024
bc7c7cc
StereoDepth: postprocessing: handle edge case when post-processing fi…
SzabolcsGergely Oct 11, 2024
69f7669
StereoDepth postprocessing: improve SpatialFilt/er and TemporalFilter…
SzabolcsGergely Oct 17, 2024
60d84e7
StereoDepth: add arbitrary filtering order support with scaling
SzabolcsGergely Oct 21, 2024
71b80f9
Merge remote-tracking branch 'origin/develop' into HEAD
SzabolcsGergely Nov 7, 2024
02f004d
Stereo: Core: add new stereo presets
SzabolcsGergely Nov 7, 2024
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2 changes: 1 addition & 1 deletion cmake/Depthai/DepthaiDeviceSideConfig.cmake
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Original file line number Diff line number Diff line change
Expand Up @@ -2,7 +2,7 @@
set(DEPTHAI_DEVICE_SIDE_MATURITY "snapshot")

# "full commit hash of device side binary"
set(DEPTHAI_DEVICE_SIDE_COMMIT "5a168b72adfbd1bcc7c5e0e0cb8506a18304fcd4")
set(DEPTHAI_DEVICE_SIDE_COMMIT "f5f9f88ada8dc7ac279e44e6a02d37198e333549")

# "version if applicable"
set(DEPTHAI_DEVICE_SIDE_VERSION "")
11 changes: 9 additions & 2 deletions include/depthai/pipeline/node/StereoDepth.hpp
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Expand Up @@ -23,11 +23,18 @@ class StereoDepth : public NodeCRTP<Node, StereoDepth, StereoDepthProperties> {
/**
* Prefers accuracy over density. More invalid depth values, but less outliers.
*/
HIGH_ACCURACY,
HIGH_ACCURACY [[deprecated("Will be removed in future releases and replaced with DEFAULT")]],
/**
* Prefers density over accuracy. Less invalid depth values, but more outliers.
*/
HIGH_DENSITY
HIGH_DENSITY [[deprecated("Will be removed in future releases and replaced with DEFAULT")]],

DEFAULT,
FACE,
HIGH_DETAIL,
HIGH_FPS,
HIGH_ACCURACY2,
ROBOTICS
};

protected:
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2 changes: 1 addition & 1 deletion shared/depthai-shared
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Submodule depthai-shared updated 1 files
+25 −4 include/depthai-shared/datatype/RawStereoDepthConfig.hpp
234 changes: 234 additions & 0 deletions src/pipeline/node/StereoDepth.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -216,6 +216,240 @@ void StereoDepth::setDefaultProfilePreset(PresetMode mode) {
initialConfig.setLeftRightCheck(true);
initialConfig.setLeftRightCheckThreshold(10);
} break;
case PresetMode::DEFAULT: {
setDefaultProfilePreset(PresetMode::HIGH_DENSITY);
initialConfig.setLeftRightCheck(true);
initialConfig.setExtendedDisparity(false);
initialConfig.setSubpixel(true);
initialConfig.setSubpixelFractionalBits(3);
initialConfig.setMedianFilter(MedianFilter::KERNEL_7x7);

dai::RawStereoDepthConfig config = initialConfig.get();

config.postProcessing.filteringOrder = {RawStereoDepthConfig::PostProcessing::Filter::DECIMATION,
RawStereoDepthConfig::PostProcessing::Filter::MEDIAN,
RawStereoDepthConfig::PostProcessing::Filter::SPECKLE,
RawStereoDepthConfig::PostProcessing::Filter::SPATIAL,
RawStereoDepthConfig::PostProcessing::Filter::TEMPORAL};
config.postProcessing.decimationFilter.decimationFactor = 2;
config.postProcessing.decimationFilter.decimationMode = RawStereoDepthConfig::PostProcessing::DecimationFilter::DecimationMode::NON_ZERO_MEAN;

config.postProcessing.spatialFilter.enable = true;
config.postProcessing.spatialFilter.holeFillingRadius = 1;
config.postProcessing.spatialFilter.numIterations = 2;
config.postProcessing.spatialFilter.alpha = 0.5;
config.postProcessing.spatialFilter.delta = 3;

config.postProcessing.temporalFilter.enable = true;
config.postProcessing.temporalFilter.alpha = 0.5;
config.postProcessing.temporalFilter.delta = 3;

config.postProcessing.speckleFilter.enable = true;
config.postProcessing.speckleFilter.speckleRange = 200;
config.postProcessing.speckleFilter.differenceThreshold = 2;

config.postProcessing.thresholdFilter.minRange = 0;
config.postProcessing.thresholdFilter.maxRange = 15000;

initialConfig.set(config);

setPostProcessingHardwareResources(3, 3);
} break;
case PresetMode::FACE: {
setDefaultProfilePreset(PresetMode::HIGH_DENSITY);
initialConfig.setLeftRightCheck(true);
initialConfig.setExtendedDisparity(true);
initialConfig.setSubpixel(true);
initialConfig.setSubpixelFractionalBits(5);
initialConfig.setMedianFilter(MedianFilter::MEDIAN_OFF);

dai::RawStereoDepthConfig config = initialConfig.get();

config.postProcessing.filteringOrder = {RawStereoDepthConfig::PostProcessing::Filter::DECIMATION,
RawStereoDepthConfig::PostProcessing::Filter::MEDIAN,
RawStereoDepthConfig::PostProcessing::Filter::SPECKLE,
RawStereoDepthConfig::PostProcessing::Filter::SPATIAL,
RawStereoDepthConfig::PostProcessing::Filter::TEMPORAL};
config.postProcessing.decimationFilter.decimationFactor = 2;
config.postProcessing.decimationFilter.decimationMode = RawStereoDepthConfig::PostProcessing::DecimationFilter::DecimationMode::NON_ZERO_MEAN;

config.postProcessing.spatialFilter.enable = true;
config.postProcessing.spatialFilter.holeFillingRadius = 1;
config.postProcessing.spatialFilter.numIterations = 1;
config.postProcessing.spatialFilter.alpha = 0.5;
config.postProcessing.spatialFilter.delta = 3;

config.postProcessing.temporalFilter.enable = true;
config.postProcessing.temporalFilter.alpha = 0.5;
config.postProcessing.temporalFilter.delta = 3;

config.postProcessing.speckleFilter.enable = true;
config.postProcessing.speckleFilter.speckleRange = 200;
config.postProcessing.speckleFilter.differenceThreshold = 2;

config.postProcessing.thresholdFilter.minRange = 30;
config.postProcessing.thresholdFilter.maxRange = 3000;

initialConfig.set(config);

setPostProcessingHardwareResources(3, 3);
} break;
case PresetMode::HIGH_DETAIL: {
setDefaultProfilePreset(PresetMode::HIGH_ACCURACY);
initialConfig.setLeftRightCheck(true);
initialConfig.setExtendedDisparity(true);
initialConfig.setSubpixel(true);
initialConfig.setSubpixelFractionalBits(5);
initialConfig.setMedianFilter(MedianFilter::MEDIAN_OFF);

dai::RawStereoDepthConfig config = initialConfig.get();

config.postProcessing.filteringOrder = {RawStereoDepthConfig::PostProcessing::Filter::DECIMATION,
RawStereoDepthConfig::PostProcessing::Filter::MEDIAN,
RawStereoDepthConfig::PostProcessing::Filter::SPECKLE,
RawStereoDepthConfig::PostProcessing::Filter::SPATIAL,
RawStereoDepthConfig::PostProcessing::Filter::TEMPORAL};
config.postProcessing.decimationFilter.decimationFactor = 1;
config.postProcessing.decimationFilter.decimationMode = RawStereoDepthConfig::PostProcessing::DecimationFilter::DecimationMode::NON_ZERO_MEAN;

config.postProcessing.spatialFilter.enable = true;
config.postProcessing.spatialFilter.holeFillingRadius = 1;
config.postProcessing.spatialFilter.numIterations = 3;
config.postProcessing.spatialFilter.alpha = 0.7;
config.postProcessing.spatialFilter.delta = 3;

config.postProcessing.temporalFilter.enable = true;
config.postProcessing.temporalFilter.alpha = 0.5;
config.postProcessing.temporalFilter.delta = 3;

config.postProcessing.speckleFilter.enable = true;
config.postProcessing.speckleFilter.speckleRange = 200;
config.postProcessing.speckleFilter.differenceThreshold = 2;

config.postProcessing.thresholdFilter.minRange = 0;
config.postProcessing.thresholdFilter.maxRange = 15000;

initialConfig.set(config);

setPostProcessingHardwareResources(3, 3);
} break;
case PresetMode::HIGH_FPS: {
setDefaultProfilePreset(PresetMode::HIGH_DENSITY);
initialConfig.setLeftRightCheck(true);
initialConfig.setExtendedDisparity(false);
initialConfig.setSubpixel(true);
initialConfig.setSubpixelFractionalBits(3);
initialConfig.setMedianFilter(MedianFilter::KERNEL_3x3);

dai::RawStereoDepthConfig config = initialConfig.get();

config.postProcessing.filteringOrder = {RawStereoDepthConfig::PostProcessing::Filter::DECIMATION,
RawStereoDepthConfig::PostProcessing::Filter::MEDIAN,
RawStereoDepthConfig::PostProcessing::Filter::SPECKLE,
RawStereoDepthConfig::PostProcessing::Filter::SPATIAL,
RawStereoDepthConfig::PostProcessing::Filter::TEMPORAL};
config.postProcessing.decimationFilter.decimationFactor = 2;
config.postProcessing.decimationFilter.decimationMode = RawStereoDepthConfig::PostProcessing::DecimationFilter::DecimationMode::NON_ZERO_MEAN;

config.postProcessing.spatialFilter.enable = true;
config.postProcessing.spatialFilter.holeFillingRadius = 1;
config.postProcessing.spatialFilter.numIterations = 2;
config.postProcessing.spatialFilter.alpha = 0.5;
config.postProcessing.spatialFilter.delta = 3;

config.postProcessing.temporalFilter.enable = false;
config.postProcessing.temporalFilter.alpha = 0.5;
config.postProcessing.temporalFilter.delta = 3;

config.postProcessing.speckleFilter.enable = true;
config.postProcessing.speckleFilter.speckleRange = 50;
config.postProcessing.speckleFilter.differenceThreshold = 2;

config.postProcessing.thresholdFilter.minRange = 0;
config.postProcessing.thresholdFilter.maxRange = 15000;

initialConfig.set(config);

setPostProcessingHardwareResources(3, 3);
} break;
case PresetMode::HIGH_ACCURACY2: {
setDefaultProfilePreset(PresetMode::HIGH_ACCURACY);
initialConfig.setLeftRightCheck(true);
initialConfig.setExtendedDisparity(true);
initialConfig.setSubpixel(true);
initialConfig.setSubpixelFractionalBits(5);
initialConfig.setMedianFilter(MedianFilter::MEDIAN_OFF);

dai::RawStereoDepthConfig config = initialConfig.get();

config.postProcessing.filteringOrder = {RawStereoDepthConfig::PostProcessing::Filter::DECIMATION,
RawStereoDepthConfig::PostProcessing::Filter::MEDIAN,
RawStereoDepthConfig::PostProcessing::Filter::SPECKLE,
RawStereoDepthConfig::PostProcessing::Filter::SPATIAL,
RawStereoDepthConfig::PostProcessing::Filter::TEMPORAL};
config.postProcessing.decimationFilter.decimationFactor = 2;
config.postProcessing.decimationFilter.decimationMode = RawStereoDepthConfig::PostProcessing::DecimationFilter::DecimationMode::NON_ZERO_MEAN;

config.postProcessing.spatialFilter.enable = true;
config.postProcessing.spatialFilter.holeFillingRadius = 1;
config.postProcessing.spatialFilter.numIterations = 3;
config.postProcessing.spatialFilter.alpha = 0.5;
config.postProcessing.spatialFilter.delta = 3;

config.postProcessing.temporalFilter.enable = true;
config.postProcessing.temporalFilter.alpha = 0.5;
config.postProcessing.temporalFilter.delta = 3;

config.postProcessing.speckleFilter.enable = true;
config.postProcessing.speckleFilter.speckleRange = 200;
config.postProcessing.speckleFilter.differenceThreshold = 2;

config.postProcessing.thresholdFilter.minRange = 0;
config.postProcessing.thresholdFilter.maxRange = 15000;

initialConfig.set(config);

setPostProcessingHardwareResources(3, 3);
} break;
case PresetMode::ROBOTICS: {
setDefaultProfilePreset(PresetMode::HIGH_DENSITY);
initialConfig.setLeftRightCheck(true);
initialConfig.setExtendedDisparity(false);
initialConfig.setSubpixel(true);
initialConfig.setSubpixelFractionalBits(3);
initialConfig.setMedianFilter(MedianFilter::KERNEL_7x7);

dai::RawStereoDepthConfig config = initialConfig.get();

config.postProcessing.filteringOrder = {RawStereoDepthConfig::PostProcessing::Filter::DECIMATION,
RawStereoDepthConfig::PostProcessing::Filter::MEDIAN,
RawStereoDepthConfig::PostProcessing::Filter::SPECKLE,
RawStereoDepthConfig::PostProcessing::Filter::SPATIAL,
RawStereoDepthConfig::PostProcessing::Filter::TEMPORAL};
config.postProcessing.decimationFilter.decimationFactor = 2;
config.postProcessing.decimationFilter.decimationMode = RawStereoDepthConfig::PostProcessing::DecimationFilter::DecimationMode::NON_ZERO_MEAN;

config.postProcessing.spatialFilter.enable = true;
config.postProcessing.spatialFilter.holeFillingRadius = 2;
config.postProcessing.spatialFilter.numIterations = 1;
config.postProcessing.spatialFilter.alpha = 0.5;
config.postProcessing.spatialFilter.delta = 20;

config.postProcessing.temporalFilter.enable = false;
config.postProcessing.temporalFilter.alpha = 0.5;
config.postProcessing.temporalFilter.delta = 3;

config.postProcessing.speckleFilter.enable = true;
config.postProcessing.speckleFilter.speckleRange = 200;
config.postProcessing.speckleFilter.differenceThreshold = 2;

config.postProcessing.thresholdFilter.minRange = 0;
config.postProcessing.thresholdFilter.maxRange = 10000;

initialConfig.set(config);

setPostProcessingHardwareResources(3, 3);
} break;
}
}

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