深度后处理

1#!/usr/bin/env python3
2
3import cv2
4import depthai as dai
5import numpy as np
6
7# Closer-in minimum depth, disparity range is doubled (from 95 to 190):
8extended_disparity = False
9# Better accuracy for longer distance, fractional disparity 32-levels:
10subpixel = False
11# Better handling for occlusions:
12lr_check = True
13
14# Create pipeline
15pipeline = dai.Pipeline()
16
17# Define sources and outputs
18monoLeft = pipeline.create(dai.node.MonoCamera)
19monoRight = pipeline.create(dai.node.MonoCamera)
20depth = pipeline.create(dai.node.StereoDepth)
21xout = pipeline.create(dai.node.XLinkOut)
22
23xout.setStreamName("disparity")
24
25# Properties
26monoLeft.setResolution(dai.MonoCameraProperties.SensorResolution.THE_400_P)
27monoLeft.setCamera("left")
28monoRight.setResolution(dai.MonoCameraProperties.SensorResolution.THE_400_P)
29monoRight.setCamera("right")
30
31# Create a node that will produce the depth map (using disparity output as it's easier to visualize depth this way)
32depth.setDefaultProfilePreset(dai.node.StereoDepth.PresetMode.HIGH_DENSITY)
33# Options: MEDIAN_OFF, KERNEL_3x3, KERNEL_5x5, KERNEL_7x7 (default)
34depth.initialConfig.setMedianFilter(dai.MedianFilter.KERNEL_7x7)
35depth.setLeftRightCheck(lr_check)
36depth.setExtendedDisparity(extended_disparity)
37depth.setSubpixel(subpixel)
38
39config = depth.initialConfig.get()
40config.postProcessing.speckleFilter.enable = False
41config.postProcessing.speckleFilter.speckleRange = 50
42config.postProcessing.temporalFilter.enable = True
43config.postProcessing.spatialFilter.enable = True
44config.postProcessing.spatialFilter.holeFillingRadius = 2
45config.postProcessing.spatialFilter.numIterations = 1
46config.postProcessing.thresholdFilter.minRange = 400
47config.postProcessing.thresholdFilter.maxRange = 15000
48config.postProcessing.decimationFilter.decimationFactor = 1
49depth.initialConfig.set(config)
50
51# Linking
52monoLeft.out.link(depth.left)
53monoRight.out.link(depth.right)
54depth.disparity.link(xout.input)
55
56# Connect to device and start pipeline
57with dai.Device(pipeline) as device:
58
59    # Output queue will be used to get the disparity frames from the outputs defined above
60    q = device.getOutputQueue(name="disparity", maxSize=4, blocking=False)
61
62    while True:
63        inDisparity = q.get()  # blocking call, will wait until a new data has arrived
64        frame = inDisparity.getFrame()
65        # Normalization for better visualization
66        frame = (frame * (255 / depth.initialConfig.getMaxDisparity())).astype(np.uint8)
67
68        cv2.imshow("disparity", frame)
69
70        # Available color maps: https://docs.opencv.org/3.4/d3/d50/group__imgproc__colormap.html
71        frame = cv2.applyColorMap(frame, cv2.COLORMAP_JET)
72        cv2.imshow("disparity_color", frame)
73
74        if cv2.waitKey(1) == ord('q'):
75            break

1#include <iostream>
2
3// Inludes common necessary includes for development using depthai library
4#include "depthai/depthai.hpp"
5
6// Closer-in minimum depth, disparity range is doubled (from 95 to 190):
7static std::atomic<bool> extended_disparity{false};
8// Better accuracy for longer distance, fractional disparity 32-levels:
9static std::atomic<bool> subpixel{false};
10// Better handling for occlusions:
11static std::atomic<bool> lr_check{true};
12
13int main() {
14    // Create pipeline
15    dai::Pipeline pipeline;
16
17    // Define sources and outputs
18    auto monoLeft = pipeline.create<dai::node::MonoCamera>();
19    auto monoRight = pipeline.create<dai::node::MonoCamera>();
20    auto depth = pipeline.create<dai::node::StereoDepth>();
21    auto xout = pipeline.create<dai::node::XLinkOut>();
22
23    xout->setStreamName("disparity");
24
25    // Properties
26    monoLeft->setResolution(dai::MonoCameraProperties::SensorResolution::THE_400_P);
27    monoLeft->setCamera("left");
28    monoRight->setResolution(dai::MonoCameraProperties::SensorResolution::THE_400_P);
29    monoRight->setCamera("right");
30
31    // Create a node that will produce the depth map (using disparity output as it's easier to visualize depth this way)
32    depth->setDefaultProfilePreset(dai::node::StereoDepth::PresetMode::HIGH_DENSITY);
33    // Options: MEDIAN_OFF, KERNEL_3x3, KERNEL_5x5, KERNEL_7x7 (default)
34    depth->initialConfig.setMedianFilter(dai::MedianFilter::KERNEL_7x7);
35    depth->setLeftRightCheck(lr_check);
36    depth->setExtendedDisparity(extended_disparity);
37    depth->setSubpixel(subpixel);
38    auto config = depth->initialConfig.get();
39    config.postProcessing.speckleFilter.enable = false;
40    config.postProcessing.speckleFilter.speckleRange = 50;
41    config.postProcessing.temporalFilter.enable = true;
42    config.postProcessing.spatialFilter.enable = true;
43    config.postProcessing.spatialFilter.holeFillingRadius = 2;
44    config.postProcessing.spatialFilter.numIterations = 1;
45    config.postProcessing.thresholdFilter.minRange = 400;
46    config.postProcessing.thresholdFilter.maxRange = 15000;
47    config.postProcessing.decimationFilter.decimationFactor = 1;
48    depth->initialConfig.set(config);
49
50    // Linking
51    monoLeft->out.link(depth->left);
52    monoRight->out.link(depth->right);
53    depth->disparity.link(xout->input);
54
55    // Connect to device and start pipeline
56    dai::Device device(pipeline);
57
58    // Output queue will be used to get the disparity frames from the outputs defined above
59    auto q = device.getOutputQueue("disparity", 4, false);
60
61    while(true) {
62        auto inDepth = q->get<dai::ImgFrame>();
63        auto frame = inDepth->getFrame();
64        // Normalization for better visualization
65        frame.convertTo(frame, CV_8UC1, 255 / depth->initialConfig.getMaxDisparity());
66
67        cv::imshow("disparity", frame);
68
69        // Available color maps: https://docs.opencv.org/3.4/d3/d50/group__imgproc__colormap.html
70        cv::applyColorMap(frame, frame, cv::COLORMAP_JET);
71        cv::imshow("disparity_color", frame);
72
73        int key = cv::waitKey(1);
74        if(key == 'q' || key == 'Q') {
75            return 0;
76        }
77    }
78    return 0;
79}