Add vertical stereo support

luxonis · Oct 20, 2023 · 874518d · 874518d
1 parent ba9497a
commit 874518d
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Showing 3 changed files with 6 additions and 1 deletion.
diff --git a/depthai-core b/depthai-core
diff --git a/src/pipeline/CommonBindings.cpp b/src/pipeline/CommonBindings.cpp
@@ -392,6 +392,7 @@ void CommonBindings::bind(pybind11::module& m, void* pCallstack){
         .value("BYPASS", Interpolation::BYPASS)
         .value("DEFAULT", Interpolation::DEFAULT)
         .value("DEFAULT_DISPARITY_DEPTH", Interpolation::DEFAULT_DISPARITY_DEPTH)
+        .value("DEFAULT_STEREO_RECTIFICATION", Interpolation::DEFAULT_STEREO_RECTIFICATION)
     ;
 
     //backward compatibility

diff --git a/src/pipeline/node/StereoDepthBindings.cpp b/src/pipeline/node/StereoDepthBindings.cpp
@@ -61,6 +61,8 @@ void bind_stereodepth(pybind11::module& m, void* pCallstack){
         .def_readwrite("rectificationUseSpecTranslation", &StereoDepthProperties::rectificationUseSpecTranslation, DOC(dai, StereoDepthProperties, rectificationUseSpecTranslation))
         .def_readwrite("depthAlignmentUseSpecTranslation", &StereoDepthProperties::depthAlignmentUseSpecTranslation, DOC(dai, StereoDepthProperties, depthAlignmentUseSpecTranslation))
         .def_readwrite("alphaScaling", &StereoDepthProperties::alphaScaling, DOC(dai, StereoDepthProperties, alphaScaling))
+        .def_readwrite("verticalStereo", &StereoDepthProperties::verticalStereo, DOC(dai, StereoDepthProperties, verticalStereo))
+        .def_readwrite("rectificationInterpolation", &StereoDepthProperties::rectificationInterpolation, DOC(dai, StereoDepthProperties, rectificationInterpolation))
         ;
 
     stereoDepthPresetMode
@@ -176,6 +178,8 @@ void bind_stereodepth(pybind11::module& m, void* pCallstack){
         .def("setRectificationUseSpecTranslation", &StereoDepth::setRectificationUseSpecTranslation, DOC(dai, node, StereoDepth, setRectificationUseSpecTranslation))
         .def("setDepthAlignmentUseSpecTranslation", &StereoDepth::setDepthAlignmentUseSpecTranslation, DOC(dai, node, StereoDepth, setDepthAlignmentUseSpecTranslation))
         .def("setAlphaScaling", &StereoDepth::setAlphaScaling, DOC(dai, node, StereoDepth, setAlphaScaling))
+        .def("setVerticalStereo", &StereoDepth::setVerticalStereo, DOC(dai, node, StereoDepth, setVerticalStereo))
+        .def("setRectificationInterpolation", &StereoDepth::setRectificationInterpolation, DOC(dai, node, StereoDepth, setRectificationInterpolation))
         ;
     // ALIAS
     daiNodeModule.attr("StereoDepth").attr("Properties") = stereoDepthProperties;
+1 −1		cmake/Depthai/DepthaiDeviceSideConfig.cmake
+12 −0		include/depthai/pipeline/node/StereoDepth.hpp
+1 −1		shared/depthai-shared
+8 −0		src/pipeline/node/StereoDepth.cpp