Merge pull request #847 from luxonis/tof_median_filter

Tof median filter support

Author: SzabolcsGergely

depthai-core

@@ -588,6 +588,9 @@ def __init__(self, config):
 fov = 71.86
 focal = width / (2 * math.tan(fov / 2 / 180 * math.pi))
 
+stereo.setBaseline(baseline/10)
+stereo.setFocalLength(focal)
+
 streams = ['left', 'right']
 if outRectified:
     streams.extend(['rectified_left', 'rectified_right'])

examples/StereoDepth/stereo_depth_from_host.py

@@ -48,10 +48,10 @@ void bind_tofconfig(pybind11::module& m, void* pCallstack){
 
     depthParams
         .def(py::init<>())
-        .def_readwrite("enable", &RawToFConfig::DepthParams::enable, DOC(dai, RawToFConfig, DepthParams, enable))
         .def_readwrite("freqModUsed", &RawToFConfig::DepthParams::freqModUsed, DOC(dai, RawToFConfig, DepthParams, freqModUsed))
         .def_readwrite("avgPhaseShuffle", &RawToFConfig::DepthParams::avgPhaseShuffle, DOC(dai, RawToFConfig, DepthParams, avgPhaseShuffle))
         .def_readwrite("minimumAmplitude", &RawToFConfig::DepthParams::minimumAmplitude, DOC(dai, RawToFConfig, DepthParams, minimumAmplitude))
+        .def_readwrite("median", &RawToFConfig::DepthParams::median, DOC(dai, RawToFConfig, DepthParams, median))
         ;
 
     // Message
@@ -63,6 +63,7 @@ void bind_tofconfig(pybind11::module& m, void* pCallstack){
         .def("setFreqModUsed", static_cast<ToFConfig&(ToFConfig::*)(dai::ToFConfig::DepthParams::TypeFMod)>(&ToFConfig::setFreqModUsed), DOC(dai, ToFConfig, setFreqModUsed))
         .def("setAvgPhaseShuffle", &ToFConfig::setAvgPhaseShuffle, DOC(dai, ToFConfig, setAvgPhaseShuffle))
         .def("setMinAmplitude", &ToFConfig::setMinAmplitude, DOC(dai, ToFConfig, setMinAmplitude))
+        .def("setMedianFilter", &ToFConfig::setMedianFilter, DOC(dai, ToFConfig, setMedianFilter))
 
         .def("set", &ToFConfig::set, py::arg("config"), DOC(dai, ToFConfig, set))
         .def("get", &ToFConfig::get, DOC(dai, ToFConfig, get))

src/pipeline/datatype/ToFConfigBindings.cpp

@@ -89,6 +89,8 @@ def socket_type_pair(arg):
                     help="Show also ToF amplitude output alongside depth")
 parser.add_argument('-tofcm', '--tof-cm', action='store_true',
                     help="Show ToF depth output in centimeters, capped to 255")
+parser.add_argument('-tofmedian', '--tof-median', choices=[0,3,5,7], default=5, type=int,
+                    help="ToF median filter kernel size")
 parser.add_argument('-rgbprev', '--rgb-preview', action='store_true',
                     help="Show RGB `preview` stream instead of full size `isp`")
 
@@ -221,6 +223,16 @@ def get(self):
             tofConfig.depthParams.freqModUsed = dai.RawToFConfig.DepthParams.TypeFMod.MIN
             tofConfig.depthParams.avgPhaseShuffle = False
             tofConfig.depthParams.minimumAmplitude = 3.0
+
+            if args.tof_median == 0:
+                tofConfig.depthParams.median = dai.MedianFilter.MEDIAN_OFF
+            elif args.tof_median == 3:
+                tofConfig.depthParams.median = dai.MedianFilter.KERNEL_3x3
+            elif args.tof_median == 5:
+                tofConfig.depthParams.median = dai.MedianFilter.KERNEL_5x5
+            elif args.tof_median == 7:
+                tofConfig.depthParams.median = dai.MedianFilter.KERNEL_7x7
+
             tof[c].initialConfig.set(tofConfig)
             if args.tof_amplitude:
                 amp_name = 'tof_amplitude_' + c