Merge remote-tracking branch 'origin/disparity_invalidation' into HEAD

Author: SzabolcsGergely

depthai-core

@@ -157,6 +157,7 @@ def destroyWindow(self):
     trDecimationFactor = list()
     trDisparityShift = list()
     trCenterAlignmentShift = list()
+    trInvalidateEdgePixels = list()
 
     def trackbarSigma(value):
         StereoConfigHandler.config.postProcessing.bilateralSigmaValue = value
@@ -289,6 +290,13 @@ def trackbarCenterAlignmentShift(value):
         StereoConfigHandler.newConfig = True
         for tr in StereoConfigHandler.trCenterAlignmentShift:
             tr.set(value)
+    
+    def trackbarInvalidateEdgePixels(value):    
+        StereoConfigHandler.config.algorithmControl.numInvalidateEdgePixels = value
+        print(f"numInvalidateEdgePixels: {StereoConfigHandler.config.algorithmControl.numInvalidateEdgePixels:.2f}")
+        StereoConfigHandler.newConfig = True
+        for tr in StereoConfigHandler.trInvalidateEdgePixels:
+            tr.set(value)
 
     def handleKeypress(key, stereoDepthConfigInQueue):
         if key == ord('m'):
@@ -428,6 +436,7 @@ def registerWindow(stream):
         StereoConfigHandler.trFractionalBits.append(StereoConfigHandler.Trackbar('Subpixel fractional bits', stream, 3, 5, StereoConfigHandler.config.algorithmControl.subpixelFractionalBits, StereoConfigHandler.trackbarFractionalBits))
         StereoConfigHandler.trDisparityShift.append(StereoConfigHandler.Trackbar('Disparity shift', stream, 0, 100, StereoConfigHandler.config.algorithmControl.disparityShift, StereoConfigHandler.trackbarDisparityShift))
         StereoConfigHandler.trCenterAlignmentShift.append(StereoConfigHandler.Trackbar('Center alignment shift factor', stream, 0, 100, StereoConfigHandler.config.algorithmControl.centerAlignmentShiftFactor, StereoConfigHandler.trackbarCenterAlignmentShift))
+        StereoConfigHandler.trInvalidateEdgePixels.append(StereoConfigHandler.Trackbar('Invalidate edge pixels', stream, 0, 100, StereoConfigHandler.config.algorithmControl.numInvalidateEdgePixels, StereoConfigHandler.trackbarInvalidateEdgePixels))
         StereoConfigHandler.trLineqAlpha.append(StereoConfigHandler.Trackbar('Linear equation alpha', stream, 0, 15, StereoConfigHandler.config.costMatching.linearEquationParameters.alpha, StereoConfigHandler.trackbarLineqAlpha))
         StereoConfigHandler.trLineqBeta.append(StereoConfigHandler.Trackbar('Linear equation beta', stream, 0, 15, StereoConfigHandler.config.costMatching.linearEquationParameters.beta, StereoConfigHandler.trackbarLineqBeta))
         StereoConfigHandler.trLineqThreshold.append(StereoConfigHandler.Trackbar('Linear equation threshold', stream, 0, 255, StereoConfigHandler.config.costMatching.linearEquationParameters.threshold, StereoConfigHandler.trackbarLineqThreshold))

examples/StereoDepth/stereo_depth_from_host.py

@@ -89,6 +89,7 @@ void bind_stereodepthconfig(pybind11::module& m, void* pCallstack){
         .def_readwrite("subpixelFractionalBits", &RawStereoDepthConfig::AlgorithmControl::subpixelFractionalBits, DOC(dai, RawStereoDepthConfig, AlgorithmControl, subpixelFractionalBits))
         .def_readwrite("disparityShift", &RawStereoDepthConfig::AlgorithmControl::disparityShift, DOC(dai, RawStereoDepthConfig, AlgorithmControl, disparityShift))
         .def_readwrite("centerAlignmentShiftFactor", &RawStereoDepthConfig::AlgorithmControl::centerAlignmentShiftFactor, DOC(dai, RawStereoDepthConfig, AlgorithmControl, centerAlignmentShiftFactor))
+        .def_readwrite("numInvalidateEdgePixels", &RawStereoDepthConfig::AlgorithmControl::numInvalidateEdgePixels, DOC(dai, RawStereoDepthConfig, AlgorithmControl, numInvalidateEdgePixels))
         ;
 
     spatialFilter
@@ -241,6 +242,7 @@ void bind_stereodepthconfig(pybind11::module& m, void* pCallstack){
         .def("setDepthUnit",            &StereoDepthConfig::setDepthUnit, DOC(dai, StereoDepthConfig, setDepthUnit))
         .def("getDepthUnit",            &StereoDepthConfig::getDepthUnit, DOC(dai, StereoDepthConfig, getDepthUnit))
         .def("setDisparityShift",       &StereoDepthConfig::setDisparityShift, DOC(dai, StereoDepthConfig, setDisparityShift))
+        .def("setNumInvalidateEdgePixels",       &StereoDepthConfig::setNumInvalidateEdgePixels, DOC(dai, StereoDepthConfig, setNumInvalidateEdgePixels))
         .def("set",                     &StereoDepthConfig::set, py::arg("config"), DOC(dai, StereoDepthConfig, set))
         .def("get",                     &StereoDepthConfig::get, DOC(dai, StereoDepthConfig, get))
         ;