# 来自主机的立体深度 此示例使用来自主机的立体图像对，在设备上运行立体视差匹配。立体图像对已预先校正，因此设备无需执行校正操作。 代码中有3种深度模式可供选择： * lr_check：用于更好的遮挡处理。更多信息请[点击此处](https://docs.luxonis.com/software/depthai-components/nodes/stereo_depth.md) * extended_disparity：适用于近距离物体。更多信息请[点击此处](https://docs.luxonis.com/software/depthai-components/nodes/stereo_depth.md) * subpixel：适用于远距离物体。更多信息请[点击此处](https://docs.luxonis.com/software/depthai-components/nodes/stereo_depth.md) 示例使用opencv的滑块，用户可以轻松配置许多立体设置，并实时查看结果。 ## 演示 ## 设置 请运行[安装脚本](https://github.com/luxonis/depthai-python/blob/main/examples/install_requirements.py)以下载所有必需的依赖项。请注意，此脚本必须在 git 上下文中运行，因此您需要先下载 [depthai-python](https://github.com/luxonis/depthai-python) 仓库，然后运行该脚本。 ```bash git clone https://github.com/luxonis/depthai-python.git cd depthai-python/examples python3 install_requirements.py ``` 更多信息，请参考[安装指南](https://docs.luxonis.com/software/depthai/manual-install.md)。 此示例还需要数据集文件夹——你可以从[此处](https://drive.google.com/file/d/1mPyghc_0odGtSU2cROS1uLD-qwRU8aug)下载 ## 源代码 #### Python ```python #!/usr/bin/env python3 import cv2 import numpy as np import depthai as dai from time import sleep import datetime import argparse from pathlib import Path import math import os, re datasetDefault = str((Path(__file__).parent / Path("../models/dataset")).resolve().absolute()) parser = argparse.ArgumentParser() parser.add_argument("-p", "--dataset", nargs="?", help="Path to recorded frames", default=None) parser.add_argument("-d", "--debug", action="store_true", help="Enable debug outputs.") parser.add_argument("-e", "--evaluate", help="Evaluate the disparity calculation.", default=None) parser.add_argument("-dumpdispcost", "--dumpdisparitycostvalues", action="store_true", help="Dumps the disparity cost values for each disparity range. 96 byte for each pixel.") parser.add_argument("--download", action="store_true", help="Downloads the 2014 Middlebury dataset.") parser.add_argument("--calibration", help="Path to calibration file", default=None) parser.add_argument("--rectify", action="store_true", help="Enable rectified streams") parser.add_argument("--swapLR", action="store_true", help="Swap left and right cameras.") args = parser.parse_args() if args.evaluate is not None and args.dataset is not None: import sys raise ValueError("Cannot use both --dataset and --evaluate arguments at the same time.") evaluation_mode = args.evaluate is not None args.dataset = args.dataset or datasetDefault if args.download and args.evaluate is None: import sys raise ValueError("Cannot use --download without --evaluate argument.") if args.evaluate is None and not Path(args.dataset).exists(): import sys raise FileNotFoundError(f"Required file/s not found, please run '{sys.executable} install_requirements.py'") if args.evaluate is not None and not args.download and not Path(args.evaluate).exists(): import sys raise FileNotFoundError(f"Evaluation dataset path does not exist, use the --evaluate argument to specify the path.") if args.evaluate is not None and args.download and not Path(args.evaluate).exists(): os.makedirs(args.evaluate) def download_2014_middlebury(data_path): import requests, zipfile, io url = "https://vision.middlebury.edu/stereo/data/scenes2014/zip/" r = requests.get(url) c = r.content reg = re.compile(r"href=('|\")(.+\.zip)('|\")") matches = reg.findall(c.decode("utf-8")) files = [m[1] for m in matches] for f in files: if os.path.isdir(os.path.join(data_path, f[:-4])): print(f"Skipping {f}") else: print(f"Downloading {f} from {url + f}") r = requests.get(url + f) print(f"Extracting {f} to {data_path}") z = zipfile.ZipFile(io.BytesIO(r.content)) z.extractall(data_path) if args.download: download_2014_middlebury(args.evaluate) if not evaluation_mode: sys.exit(0) class StereoConfigHandler: class Trackbar: def __init__(self, trackbarName, windowName, minValue, maxValue, defaultValue, handler): self.min = minValue self.max = maxValue self.windowName = windowName self.trackbarName = trackbarName cv2.createTrackbar(trackbarName, windowName, minValue, maxValue, handler) cv2.setTrackbarPos(trackbarName, windowName, defaultValue) def set(self, value): if value < self.min: value = self.min print(f"{self.trackbarName} min value is {self.min}") if value > self.max: value = self.max print(f"{self.trackbarName} max value is {self.max}") cv2.setTrackbarPos(self.trackbarName, self.windowName, value) class CensusMaskHandler: stateColor = [(0, 0, 0), (255, 255, 255)] gridHeight = 50 gridWidth = 50 def fillRectangle(self, row, col): src = self.gridList[row][col]["topLeft"] dst = self.gridList[row][col]["bottomRight"] stateColor = self.stateColor[1] if self.gridList[row][col]["state"] else self.stateColor[0] self.changed = True cv2.rectangle(self.gridImage, src, dst, stateColor, -1) cv2.imshow(self.windowName, self.gridImage) def clickCallback(self, event, x, y, flags, param): if event == cv2.EVENT_LBUTTONDOWN: col = x * (self.gridSize[1]) // self.width row = y * (self.gridSize[0]) // self.height self.gridList[row][col]["state"] = not self.gridList[row][col]["state"] self.fillRectangle(row, col) def __init__(self, windowName, gridSize): self.gridSize = gridSize self.windowName = windowName self.changed = False cv2.namedWindow(self.windowName) self.width = StereoConfigHandler.CensusMaskHandler.gridWidth * self.gridSize[1] self.height = StereoConfigHandler.CensusMaskHandler.gridHeight * self.gridSize[0] self.gridImage = np.zeros((self.height + 50, self.width, 3), np.uint8) cv2.putText(self.gridImage, "Click on grid to change mask!", (0, self.height+20), cv2.FONT_HERSHEY_SIMPLEX, 0.4, (255, 255, 255)) cv2.putText(self.gridImage, "White: ON | Black: OFF", (0, self.height+40), cv2.FONT_HERSHEY_SIMPLEX, 0.4, (255, 255, 255)) self.gridList = [[dict() for _ in range(self.gridSize[1])] for _ in range(self.gridSize[0])] for row in range(self.gridSize[0]): rowFactor = self.height // self.gridSize[0] srcY = row*rowFactor + 1 dstY = (row+1)*rowFactor - 1 for col in range(self.gridSize[1]): colFactor = self.width // self.gridSize[1] srcX = col*colFactor + 1 dstX = (col+1)*colFactor - 1 src = (srcX, srcY) dst = (dstX, dstY) self.gridList[row][col]["topLeft"] = src self.gridList[row][col]["bottomRight"] = dst self.gridList[row][col]["state"] = False self.fillRectangle(row, col) cv2.setMouseCallback(self.windowName, self.clickCallback) cv2.imshow(self.windowName, self.gridImage) def getMask(self) -> np.uint64: mask = np.uint64(0) for row in range(self.gridSize[0]): for col in range(self.gridSize[1]): if self.gridList[row][col]["state"]: pos = row*self.gridSize[1] + col mask = np.bitwise_or(mask, np.uint64(1) << np.uint64(pos)) return mask def setMask(self, _mask: np.uint64): mask = np.uint64(_mask) for row in range(self.gridSize[0]): for col in range(self.gridSize[1]): pos = row*self.gridSize[1] + col if np.bitwise_and(mask, np.uint64(1) << np.uint64(pos)): self.gridList[row][col]["state"] = True else: self.gridList[row][col]["state"] = False self.fillRectangle(row, col) def isChanged(self): changed = self.changed self.changed = False return changed def destroyWindow(self): cv2.destroyWindow(self.windowName) censusMaskHandler = None newConfig = False config = None trSigma = list() trConfidence = list() trLrCheck = list() trFractionalBits = list() trLineqAlpha = list() trLineqBeta = list() trLineqThreshold = list() trCostAggregationP1 = list() trCostAggregationP2 = list() trTemporalAlpha = list() trTemporalDelta = list() trThresholdMinRange = list() trThresholdMaxRange = list() trSpeckleRange = list() trSpatialAlpha = list() trSpatialDelta = list() trSpatialHoleFilling = list() trSpatialNumIterations = list() trDecimationFactor = list() trDisparityShift = list() trCenterAlignmentShift = list() trInvalidateEdgePixels = list() def trackbarSigma(value): StereoConfigHandler.config.postProcessing.bilateralSigmaValue = value StereoConfigHandler.newConfig = True for tr in StereoConfigHandler.trSigma: tr.set(value) def trackbarConfidence(value): StereoConfigHandler.config.costMatching.confidenceThreshold = value StereoConfigHandler.newConfig = True for tr in StereoConfigHandler.trConfidence: tr.set(value) def trackbarLrCheckThreshold(value): StereoConfigHandler.config.algorithmControl.leftRightCheckThreshold = value StereoConfigHandler.newConfig = True for tr in StereoConfigHandler.trLrCheck: tr.set(value) def trackbarFractionalBits(value): StereoConfigHandler.config.algorithmControl.subpixelFractionalBits = value StereoConfigHandler.newConfig = True for tr in StereoConfigHandler.trFractionalBits: tr.set(value) def trackbarLineqAlpha(value): StereoConfigHandler.config.costMatching.linearEquationParameters.alpha = value StereoConfigHandler.newConfig = True for tr in StereoConfigHandler.trLineqAlpha: tr.set(value) def trackbarLineqBeta(value): StereoConfigHandler.config.costMatching.linearEquationParameters.beta = value StereoConfigHandler.newConfig = True for tr in StereoConfigHandler.trLineqBeta: tr.set(value) def trackbarLineqThreshold(value): StereoConfigHandler.config.costMatching.linearEquationParameters.threshold = value StereoConfigHandler.newConfig = True for tr in StereoConfigHandler.trLineqThreshold: tr.set(value) def trackbarCostAggregationP1(value): StereoConfigHandler.config.costAggregation.horizontalPenaltyCostP1 = value StereoConfigHandler.config.costAggregation.verticalPenaltyCostP1 = value StereoConfigHandler.newConfig = True for tr in StereoConfigHandler.trCostAggregationP1: tr.set(value) def trackbarCostAggregationP2(value): StereoConfigHandler.config.costAggregation.horizontalPenaltyCostP2 = value StereoConfigHandler.config.costAggregation.verticalPenaltyCostP2 = value StereoConfigHandler.newConfig = True for tr in StereoConfigHandler.trCostAggregationP2: tr.set(value) def trackbarTemporalFilterAlpha(value): StereoConfigHandler.config.postProcessing.temporalFilter.alpha = value / 100. StereoConfigHandler.newConfig = True for tr in StereoConfigHandler.trTemporalAlpha: tr.set(value) def trackbarTemporalFilterDelta(value): StereoConfigHandler.config.postProcessing.temporalFilter.delta = value StereoConfigHandler.newConfig = True for tr in StereoConfigHandler.trTemporalDelta: tr.set(value) def trackbarSpatialFilterAlpha(value): StereoConfigHandler.config.postProcessing.spatialFilter.alpha = value / 100. StereoConfigHandler.newConfig = True for tr in StereoConfigHandler.trSpatialAlpha: tr.set(value) def trackbarSpatialFilterDelta(value): StereoConfigHandler.config.postProcessing.spatialFilter.delta = value StereoConfigHandler.newConfig = True for tr in StereoConfigHandler.trSpatialDelta: tr.set(value) def trackbarSpatialFilterHoleFillingRadius(value): StereoConfigHandler.config.postProcessing.spatialFilter.holeFillingRadius = value StereoConfigHandler.newConfig = True for tr in StereoConfigHandler.trSpatialHoleFilling: tr.set(value) def trackbarSpatialFilterNumIterations(value): StereoConfigHandler.config.postProcessing.spatialFilter.numIterations = value StereoConfigHandler.newConfig = True for tr in StereoConfigHandler.trSpatialNumIterations: tr.set(value) def trackbarThresholdMinRange(value): StereoConfigHandler.config.postProcessing.thresholdFilter.minRange = value * 1000 StereoConfigHandler.newConfig = True for tr in StereoConfigHandler.trThresholdMinRange: tr.set(value) def trackbarThresholdMaxRange(value): StereoConfigHandler.config.postProcessing.thresholdFilter.maxRange = value * 1000 StereoConfigHandler.newConfig = True for tr in StereoConfigHandler.trThresholdMaxRange: tr.set(value) def trackbarSpeckleRange(value): StereoConfigHandler.config.postProcessing.speckleFilter.speckleRange = value StereoConfigHandler.newConfig = True for tr in StereoConfigHandler.trSpeckleRange: tr.set(value) def trackbarDecimationFactor(value): StereoConfigHandler.config.postProcessing.decimationFilter.decimationFactor = value StereoConfigHandler.newConfig = True for tr in StereoConfigHandler.trDecimationFactor: tr.set(value) def trackbarDisparityShift(value): StereoConfigHandler.config.algorithmControl.disparityShift = value StereoConfigHandler.newConfig = True for tr in StereoConfigHandler.trDisparityShift: tr.set(value) def trackbarCenterAlignmentShift(value): if StereoConfigHandler.config.algorithmControl.depthAlign != dai.StereoDepthConfig.AlgorithmControl.DepthAlign.CENTER: print("Center alignment shift factor requires CENTER alignment enabled!") return StereoConfigHandler.config.algorithmControl.centerAlignmentShiftFactor = value / 100. print(f"centerAlignmentShiftFactor: {StereoConfigHandler.config.algorithmControl.centerAlignmentShiftFactor:.2f}") 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"): StereoConfigHandler.newConfig = True medianSettings = [dai.MedianFilter.MEDIAN_OFF, dai.MedianFilter.KERNEL_3x3, dai.MedianFilter.KERNEL_5x5, dai.MedianFilter.KERNEL_7x7] currentMedian = StereoConfigHandler.config.postProcessing.median nextMedian = medianSettings[(medianSettings.index(currentMedian)+1) % len(medianSettings)] print(f"Changing median to {nextMedian.name} from {currentMedian.name}") StereoConfigHandler.config.postProcessing.median = nextMedian if key == ord("w"): StereoConfigHandler.newConfig = True StereoConfigHandler.config.postProcessing.spatialFilter.enable = not StereoConfigHandler.config.postProcessing.spatialFilter.enable state = "on" if StereoConfigHandler.config.postProcessing.spatialFilter.enable else "off" print(f"Spatial filter {state}") if key == ord("t"): StereoConfigHandler.newConfig = True StereoConfigHandler.config.postProcessing.temporalFilter.enable = not StereoConfigHandler.config.postProcessing.temporalFilter.enable state = "on" if StereoConfigHandler.config.postProcessing.temporalFilter.enable else "off" print(f"Temporal filter {state}") if key == ord("s"): StereoConfigHandler.newConfig = True StereoConfigHandler.config.postProcessing.speckleFilter.enable = not StereoConfigHandler.config.postProcessing.speckleFilter.enable state = "on" if StereoConfigHandler.config.postProcessing.speckleFilter.enable else "off" print(f"Speckle filter {state}") if key == ord("r"): StereoConfigHandler.newConfig = True temporalSettings = [dai.StereoDepthConfig.PostProcessing.TemporalFilter.PersistencyMode.PERSISTENCY_OFF, dai.StereoDepthConfig.PostProcessing.TemporalFilter.PersistencyMode.VALID_8_OUT_OF_8, dai.StereoDepthConfig.PostProcessing.TemporalFilter.PersistencyMode.VALID_2_IN_LAST_3, dai.StereoDepthConfig.PostProcessing.TemporalFilter.PersistencyMode.VALID_2_IN_LAST_4, dai.StereoDepthConfig.PostProcessing.TemporalFilter.PersistencyMode.VALID_2_OUT_OF_8, dai.StereoDepthConfig.PostProcessing.TemporalFilter.PersistencyMode.VALID_1_IN_LAST_2, dai.StereoDepthConfig.PostProcessing.TemporalFilter.PersistencyMode.VALID_1_IN_LAST_5, dai.StereoDepthConfig.PostProcessing.TemporalFilter.PersistencyMode.VALID_1_IN_LAST_8, dai.StereoDepthConfig.PostProcessing.TemporalFilter.PersistencyMode.PERSISTENCY_INDEFINITELY, ] currentTemporal = StereoConfigHandler.config.postProcessing.temporalFilter.persistencyMode nextTemporal = temporalSettings[(temporalSettings.index(currentTemporal)+1) % len(temporalSettings)] print(f"Changing temporal persistency to {nextTemporal.name} from {currentTemporal.name}") StereoConfigHandler.config.postProcessing.temporalFilter.persistencyMode = nextTemporal if key == ord("n"): StereoConfigHandler.newConfig = True decimationSettings = [dai.StereoDepthConfig.PostProcessing.DecimationFilter.DecimationMode.PIXEL_SKIPPING, dai.StereoDepthConfig.PostProcessing.DecimationFilter.DecimationMode.NON_ZERO_MEDIAN, dai.StereoDepthConfig.PostProcessing.DecimationFilter.DecimationMode.NON_ZERO_MEAN, ] currentDecimation = StereoConfigHandler.config.postProcessing.decimationFilter.decimationMode nextDecimation = decimationSettings[(decimationSettings.index(currentDecimation)+1) % len(decimationSettings)] print(f"Changing decimation mode to {nextDecimation.name} from {currentDecimation.name}") StereoConfigHandler.config.postProcessing.decimationFilter.decimationMode = nextDecimation if key == ord("a"): StereoConfigHandler.newConfig = True alignmentSettings = [dai.StereoDepthConfig.AlgorithmControl.DepthAlign.RECTIFIED_RIGHT, dai.StereoDepthConfig.AlgorithmControl.DepthAlign.RECTIFIED_LEFT, dai.StereoDepthConfig.AlgorithmControl.DepthAlign.CENTER, ] currentAlignment = StereoConfigHandler.config.algorithmControl.depthAlign nextAlignment = alignmentSettings[(alignmentSettings.index(currentAlignment)+1) % len(alignmentSettings)] print(f"Changing alignment mode to {nextAlignment.name} from {currentAlignment.name}") StereoConfigHandler.config.algorithmControl.depthAlign = nextAlignment elif key == ord("c"): StereoConfigHandler.newConfig = True censusSettings = [dai.StereoDepthConfig.CensusTransform.KernelSize.AUTO, dai.StereoDepthConfig.CensusTransform.KernelSize.KERNEL_5x5, dai.StereoDepthConfig.CensusTransform.KernelSize.KERNEL_7x7, dai.StereoDepthConfig.CensusTransform.KernelSize.KERNEL_7x9] currentCensus = StereoConfigHandler.config.censusTransform.kernelSize nextCensus = censusSettings[(censusSettings.index(currentCensus)+1) % len(censusSettings)] if nextCensus != dai.StereoDepthConfig.CensusTransform.KernelSize.AUTO: censusGridSize = [(5,5), (7,7), (7,9)] censusDefaultMask = [np.uint64(0XA82415), np.uint64(0XAA02A8154055), np.uint64(0X2AA00AA805540155)] censusGrid = censusGridSize[nextCensus] censusMask = censusDefaultMask[nextCensus] StereoConfigHandler.censusMaskHandler = StereoConfigHandler.CensusMaskHandler("Census mask", censusGrid) StereoConfigHandler.censusMaskHandler.setMask(censusMask) else: print("Census mask config is not available in AUTO census kernel mode. Change using the 'c' key") StereoConfigHandler.config.censusTransform.kernelMask = 0 StereoConfigHandler.censusMaskHandler.destroyWindow() print(f"Changing census transform to {nextCensus.name} from {currentCensus.name}") StereoConfigHandler.config.censusTransform.kernelSize = nextCensus elif key == ord("d"): StereoConfigHandler.newConfig = True dispRangeSettings = [dai.StereoDepthConfig.CostMatching.DisparityWidth.DISPARITY_64, dai.StereoDepthConfig.CostMatching.DisparityWidth.DISPARITY_96] currentDispRange = StereoConfigHandler.config.costMatching.disparityWidth nextDispRange = dispRangeSettings[(dispRangeSettings.index(currentDispRange)+1) % len(dispRangeSettings)] print(f"Changing disparity range to {nextDispRange.name} from {currentDispRange.name}") StereoConfigHandler.config.costMatching.disparityWidth = nextDispRange elif key == ord("f"): StereoConfigHandler.newConfig = True StereoConfigHandler.config.costMatching.enableCompanding = not StereoConfigHandler.config.costMatching.enableCompanding state = "on" if StereoConfigHandler.config.costMatching.enableCompanding else "off" print(f"Companding {state}") elif key == ord("v"): StereoConfigHandler.newConfig = True StereoConfigHandler.config.censusTransform.enableMeanMode = not StereoConfigHandler.config.censusTransform.enableMeanMode state = "on" if StereoConfigHandler.config.censusTransform.enableMeanMode else "off" print(f"Census transform mean mode {state}") elif key == ord("1"): StereoConfigHandler.newConfig = True StereoConfigHandler.config.algorithmControl.enableLeftRightCheck = not StereoConfigHandler.config.algorithmControl.enableLeftRightCheck state = "on" if StereoConfigHandler.config.algorithmControl.enableLeftRightCheck else "off" print(f"LR-check {state}") elif key == ord("2"): StereoConfigHandler.newConfig = True StereoConfigHandler.config.algorithmControl.enableSubpixel = not StereoConfigHandler.config.algorithmControl.enableSubpixel state = "on" if StereoConfigHandler.config.algorithmControl.enableSubpixel else "off" print(f"Subpixel {state}") elif key == ord("3"): StereoConfigHandler.newConfig = True StereoConfigHandler.config.algorithmControl.enableExtended = not StereoConfigHandler.config.algorithmControl.enableExtended state = "on" if StereoConfigHandler.config.algorithmControl.enableExtended else "off" print(f"Extended {state}") censusMaskChanged = False if StereoConfigHandler.censusMaskHandler is not None: censusMaskChanged = StereoConfigHandler.censusMaskHandler.isChanged() if censusMaskChanged: StereoConfigHandler.config.censusTransform.kernelMask = StereoConfigHandler.censusMaskHandler.getMask() StereoConfigHandler.newConfig = True StereoConfigHandler.sendConfig(stereoDepthConfigInQueue) def sendConfig(stereoDepthConfigInQueue): if StereoConfigHandler.newConfig: StereoConfigHandler.newConfig = False configMessage = dai.StereoDepthConfig() configMessage.set(StereoConfigHandler.config) stereoDepthConfigInQueue.send(configMessage) def updateDefaultConfig(config): StereoConfigHandler.config = config def registerWindow(stream): cv2.namedWindow(stream, cv2.WINDOW_NORMAL) StereoConfigHandler.trConfidence.append(StereoConfigHandler.Trackbar("Disparity confidence", stream, 0, 255, StereoConfigHandler.config.costMatching.confidenceThreshold, StereoConfigHandler.trackbarConfidence)) StereoConfigHandler.trSigma.append(StereoConfigHandler.Trackbar("Bilateral sigma", stream, 0, 100, StereoConfigHandler.config.postProcessing.bilateralSigmaValue, StereoConfigHandler.trackbarSigma)) StereoConfigHandler.trLrCheck.append(StereoConfigHandler.Trackbar("LR-check threshold", stream, 0, 16, StereoConfigHandler.config.algorithmControl.leftRightCheckThreshold, StereoConfigHandler.trackbarLrCheckThreshold)) 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)) StereoConfigHandler.trCostAggregationP1.append(StereoConfigHandler.Trackbar("Cost aggregation P1", stream, 0, 500, StereoConfigHandler.config.costAggregation.horizontalPenaltyCostP1, StereoConfigHandler.trackbarCostAggregationP1)) StereoConfigHandler.trCostAggregationP2.append(StereoConfigHandler.Trackbar("Cost aggregation P2", stream, 0, 500, StereoConfigHandler.config.costAggregation.horizontalPenaltyCostP2, StereoConfigHandler.trackbarCostAggregationP2)) StereoConfigHandler.trTemporalAlpha.append(StereoConfigHandler.Trackbar("Temporal filter alpha", stream, 0, 100, int(StereoConfigHandler.config.postProcessing.temporalFilter.alpha*100), StereoConfigHandler.trackbarTemporalFilterAlpha)) StereoConfigHandler.trTemporalDelta.append(StereoConfigHandler.Trackbar("Temporal filter delta", stream, 0, 100, StereoConfigHandler.config.postProcessing.temporalFilter.delta, StereoConfigHandler.trackbarTemporalFilterDelta)) StereoConfigHandler.trSpatialAlpha.append(StereoConfigHandler.Trackbar("Spatial filter alpha", stream, 0, 100, int(StereoConfigHandler.config.postProcessing.spatialFilter.alpha*100), StereoConfigHandler.trackbarSpatialFilterAlpha)) StereoConfigHandler.trSpatialDelta.append(StereoConfigHandler.Trackbar("Spatial filter delta", stream, 0, 100, StereoConfigHandler.config.postProcessing.spatialFilter.delta, StereoConfigHandler.trackbarSpatialFilterDelta)) StereoConfigHandler.trSpatialHoleFilling.append(StereoConfigHandler.Trackbar("Spatial filter hole filling radius", stream, 0, 16, StereoConfigHandler.config.postProcessing.spatialFilter.holeFillingRadius, StereoConfigHandler.trackbarSpatialFilterHoleFillingRadius)) StereoConfigHandler.trSpatialNumIterations.append(StereoConfigHandler.Trackbar("Spatial filter number of iterations", stream, 0, 4, StereoConfigHandler.config.postProcessing.spatialFilter.numIterations, StereoConfigHandler.trackbarSpatialFilterNumIterations)) StereoConfigHandler.trThresholdMinRange.append(StereoConfigHandler.Trackbar("Threshold filter min range", stream, 0, 65, StereoConfigHandler.config.postProcessing.thresholdFilter.minRange, StereoConfigHandler.trackbarThresholdMinRange)) StereoConfigHandler.trThresholdMaxRange.append(StereoConfigHandler.Trackbar("Threshold filter max range", stream, 0, 65, StereoConfigHandler.config.postProcessing.thresholdFilter.maxRange, StereoConfigHandler.trackbarThresholdMaxRange)) StereoConfigHandler.trSpeckleRange.append(StereoConfigHandler.Trackbar("Speckle filter range", stream, 0, 240, StereoConfigHandler.config.postProcessing.speckleFilter.speckleRange, StereoConfigHandler.trackbarSpeckleRange)) StereoConfigHandler.trDecimationFactor.append(StereoConfigHandler.Trackbar("Decimation factor", stream, 1, 4, StereoConfigHandler.config.postProcessing.decimationFilter.decimationFactor, StereoConfigHandler.trackbarDecimationFactor)) def __init__(self, config): print("Control median filter using the 'm' key.") print("Control census transform kernel size using the 'c' key.") print("Control disparity search range using the 'd' key.") print("Control disparity companding using the 'f' key.") print("Control census transform mean mode using the 'v' key.") print("Control depth alignment using the 'a' key.") print("Control decimation algorithm using the 'a' key.") print("Control temporal persistency mode using the 'r' key.") print("Control spatial filter using the 'w' key.") print("Control temporal filter using the 't' key.") print("Control speckle filter using the 's' key.") print("Control left-right check mode using the '1' key.") print("Control subpixel mode using the '2' key.") print("Control extended mode using the '3' key.") if evaluation_mode: print("Switch between images using '[' and ']' keys.") StereoConfigHandler.config = config if StereoConfigHandler.config.censusTransform.kernelSize != dai.StereoDepthConfig.CensusTransform.KernelSize.AUTO: censusMask = StereoConfigHandler.config.censusTransform.kernelMask censusGridSize = [(5,5), (7,7), (7,9)] censusGrid = censusGridSize[StereoConfigHandler.config.censusTransform.kernelSize] if StereoConfigHandler.config.censusTransform.kernelMask == 0: censusDefaultMask = [np.uint64(0xA82415), np.uint64(0xAA02A8154055), np.uint64(0x2AA00AA805540155)] censusMask = censusDefaultMask[StereoConfigHandler.config.censusTransform.kernelSize] StereoConfigHandler.censusMaskHandler = StereoConfigHandler.CensusMaskHandler("Census mask", censusGrid) StereoConfigHandler.censusMaskHandler.setMask(censusMask) else: print("Census mask config is not available in AUTO Census kernel mode. Change using the 'c' key") # StereoDepth initial config options. outDepth = True # Disparity by default outConfidenceMap = True # Output disparity confidence map outRectified = True # Output and display rectified streams lrcheck = True # Better handling for occlusions extended = False # Closer-in minimum depth, disparity range is doubled. Unsupported for now. subpixel = True # Better accuracy for longer distance, fractional disparity 32-levels width = 1280 height = 800 xoutStereoCfg = None # Create pipeline pipeline = dai.Pipeline() # Define sources and outputs stereo = pipeline.create(dai.node.StereoDepth) monoLeft = pipeline.create(dai.node.XLinkIn) monoRight = pipeline.create(dai.node.XLinkIn) xinStereoDepthConfig = pipeline.create(dai.node.XLinkIn) xoutLeft = pipeline.create(dai.node.XLinkOut) xoutRight = pipeline.create(dai.node.XLinkOut) xoutDepth = pipeline.create(dai.node.XLinkOut) xoutConfMap = pipeline.create(dai.node.XLinkOut) xoutDisparity = pipeline.create(dai.node.XLinkOut) xoutRectifLeft = pipeline.create(dai.node.XLinkOut) xoutRectifRight = pipeline.create(dai.node.XLinkOut) xoutStereoCfg = pipeline.create(dai.node.XLinkOut) if args.debug: xoutDebugLrCheckIt1 = pipeline.create(dai.node.XLinkOut) xoutDebugLrCheckIt2 = pipeline.create(dai.node.XLinkOut) xoutDebugExtLrCheckIt1 = pipeline.create(dai.node.XLinkOut) xoutDebugExtLrCheckIt2 = pipeline.create(dai.node.XLinkOut) if args.dumpdisparitycostvalues: xoutDebugCostDump = pipeline.create(dai.node.XLinkOut) xinStereoDepthConfig.setStreamName("stereoDepthConfig") monoLeft.setStreamName("in_left") monoRight.setStreamName("in_right") xoutLeft.setStreamName("left") xoutRight.setStreamName("right") xoutDepth.setStreamName("depth") xoutConfMap.setStreamName("confidence_map") xoutDisparity.setStreamName("disparity") xoutRectifLeft.setStreamName("rectified_left") xoutRectifRight.setStreamName("rectified_right") xoutStereoCfg.setStreamName("stereo_cfg") if args.debug: xoutDebugLrCheckIt1.setStreamName("disparity_lr_check_iteration1") xoutDebugLrCheckIt2.setStreamName("disparity_lr_check_iteration2") xoutDebugExtLrCheckIt1.setStreamName("disparity_ext_lr_check_iteration1") xoutDebugExtLrCheckIt2.setStreamName("disparity_ext_lr_check_iteration2") if args.dumpdisparitycostvalues: xoutDebugCostDump.setStreamName("disparity_cost_dump") # Properties stereo.setDefaultProfilePreset(dai.node.StereoDepth.PresetMode.HIGH_DENSITY) stereo.setRectifyEdgeFillColor(0) # Black, to better see the cutout stereo.setLeftRightCheck(lrcheck) stereo.setExtendedDisparity(extended) stereo.setSubpixel(subpixel) # Switching depthAlign mode at runtime is not supported while aligning to a specific camera is enabled # stereo.setDepthAlign(dai.CameraBoardSocket.LEFT) # allocates resources for worst case scenario # allowing runtime switch of stereo modes stereo.setRuntimeModeSwitch(True) # Linking if(args.swapLR): monoLeft.out.link(stereo.right) monoRight.out.link(stereo.left) else: monoLeft.out.link(stereo.left) monoRight.out.link(stereo.right) xinStereoDepthConfig.out.link(stereo.inputConfig) stereo.syncedLeft.link(xoutLeft.input) stereo.syncedRight.link(xoutRight.input) if outDepth: stereo.depth.link(xoutDepth.input) if outConfidenceMap: stereo.confidenceMap.link(xoutConfMap.input) stereo.disparity.link(xoutDisparity.input) if outRectified: stereo.rectifiedLeft.link(xoutRectifLeft.input) stereo.rectifiedRight.link(xoutRectifRight.input) stereo.outConfig.link(xoutStereoCfg.input) if args.debug: stereo.debugDispLrCheckIt1.link(xoutDebugLrCheckIt1.input) stereo.debugDispLrCheckIt2.link(xoutDebugLrCheckIt2.input) stereo.debugExtDispLrCheckIt1.link(xoutDebugExtLrCheckIt1.input) stereo.debugExtDispLrCheckIt2.link(xoutDebugExtLrCheckIt2.input) if args.dumpdisparitycostvalues: stereo.debugDispCostDump.link(xoutDebugCostDump.input) StereoConfigHandler(stereo.initialConfig.get()) StereoConfigHandler.registerWindow("Stereo control panel") # stereo.setPostProcessingHardwareResources(3, 3) if(args.calibration): calibrationHandler = dai.CalibrationHandler(args.calibration) pipeline.setCalibrationData(calibrationHandler) stereo.setInputResolution(width, height) stereo.setRectification(args.rectify) baseline = 75 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"]) streams.append("disparity") if outDepth: streams.append("depth") if outConfidenceMap: streams.append("confidence_map") debugStreams = [] if args.debug: debugStreams.extend(["disparity_lr_check_iteration1", "disparity_lr_check_iteration2"]) debugStreams.extend(["disparity_ext_lr_check_iteration1", "disparity_ext_lr_check_iteration2"]) if args.dumpdisparitycostvalues: debugStreams.append("disparity_cost_dump") def convertToCv2Frame(name, image, config): maxDisp = config.getMaxDisparity() subpixelLevels = pow(2, config.get().algorithmControl.subpixelFractionalBits) subpixel = config.get().algorithmControl.enableSubpixel dispIntegerLevels = maxDisp if not subpixel else maxDisp / subpixelLevels frame = image.getFrame() # frame.tofile(name+".raw") if name == "depth": dispScaleFactor = baseline * focal with np.errstate(divide="ignore"): frame = dispScaleFactor / frame frame = (frame * 255. / dispIntegerLevels).astype(np.uint8) frame = cv2.applyColorMap(frame, cv2.COLORMAP_HOT) elif "confidence_map" in name: pass elif name == "disparity_cost_dump": # frame.tofile(name+".raw") pass elif "disparity" in name: if 1: # Optionally, extend disparity range to better visualize it frame = (frame * 255. / maxDisp).astype(np.uint8) return frame # if 1: # Optionally, apply a color map # frame = cv2.applyColorMap(frame, cv2.COLORMAP_HOT) return frame class DatasetManager: def __init__(self, path): self.path = path self.index = 0 self.names = [d for d in os.listdir(path) if os.path.isdir(os.path.join(path, d))] if len(self.names) == 0: raise RuntimeError("No dataset found at {}".format(path)) def get(self): return os.path.join(self.path, self.names[self.index]) def get_name(self): return self.names[self.index] def next(self): self.index = (self.index + 1) % len(self.names) return self.get() def prev(self): self.index = (self.index - 1) % len(self.names) return self.get() def read_pfm(file): file = open(file, "rb") color = None width = None height = None scale = None endian = None header = file.readline().rstrip() if header.decode("ascii") == "PF": color = True elif header.decode("ascii") == "Pf": color = False else: raise Exception("Not a PFM file.") dim_match = re.search(r"(\d+)\s(\d+)", file.readline().decode("ascii")) if dim_match: width, height = map(int, dim_match.groups()) else: raise Exception("Malformed PFM header.") scale = float(file.readline().rstrip()) if scale < 0: # little-endian endian = "<" scale = -scale else: endian = ">" # big-endian data = np.fromfile(file, endian + "f") shape = (height, width, 3) if color else (height, width) return np.flip(np.reshape(data, shape), axis=0), scale def calculate_err_measures(gt_img, oak_img): assert gt_img.shape == oak_img.shape gt_mask = gt_img != np.inf oak_mask = oak_img != np.inf mask = gt_mask & oak_mask gt_img[~gt_mask] = 0. oak_img[~mask] = 0. err = np.abs(gt_img - oak_img) n = np.sum(gt_mask) invalid = np.sum(gt_mask & ~oak_mask) bad05 = np.sum(mask & (err > 0.5)) bad1 = np.sum(mask & (err > 1.)) bad2 = np.sum(mask & (err > 2.)) bad4 = np.sum(mask & (err > 4.)) sum_err = np.sum(err[mask]) sum_sq_err = np.sum(err[mask] ** 2) errs = err[mask] bad05_p = 100. * bad05 / n total_bad05_p = 100. * (bad05 + invalid) / n bad1_p = 100. * bad1 / n total_bad1_p = 100. * (bad1 + invalid) / n bad2_p = 100. * bad2 / n total_bad2_p = 100. * (bad2 + invalid) / n bad4_p = 100. * bad4 / n total_bad4_p = 100. * (bad4 + invalid) / n invalid_p = 100. * invalid / n avg_err = sum_err / (n - invalid) mse = sum_sq_err / (n - invalid) a50 = np.percentile(errs, 50) a90 = np.percentile(errs, 90) a95 = np.percentile(errs, 95) a99 = np.percentile(errs, 99) return { "bad0.5": bad05_p, "total_bad0.5": total_bad05_p, "bad1": bad1_p, "total_bad1": total_bad1_p, "bad2": bad2_p, "total_bad2": total_bad2_p, "bad4": bad4_p, "total_bad4": total_bad4_p, "invalid": invalid_p, "avg_err": avg_err, "mse": mse, "a50": a50, "a90": a90, "a95": a95, "a99": a99 } def show_evaluation(img_name, evals): cv2.namedWindow("Evaluation", cv2.WINDOW_NORMAL) font = cv2.FONT_HERSHEY_SIMPLEX font_scale = 2 thickness = 3 color = (0, 0, 0) lines = [ f"Name: {img_name}", f"Bad0.5: {evals['bad0.5']:.2f}%", f"Total Bad0.5: {evals['total_bad0.5']:.2f}%", f"Bad1: {evals['bad1']:.2f}%", f"Total Bad1: {evals['total_bad1']:.2f}%", f"Bad2: {evals['bad2']:.2f}%", f"Total Bad2: {evals['total_bad2']:.2f}%", f"Bad4: {evals['bad4']:.2f}%", f"Total Bad4: {evals['total_bad4']:.2f}%", f"Invalid: {evals['invalid']:.2f}%", f"Avg Err: {evals['avg_err']:.2f}", f"MSE: {evals['mse']:.2f}", f"A50: {evals['a50']:.2f}", f"A90: {evals['a90']:.2f}", f"A95: {evals['a95']:.2f}", f"A99: {evals['a99']:.2f}" ] sizes = [cv2.getTextSize(line, font, font_scale, thickness) for line in lines] sizes = [(size[0][0], size[0][1] + size[1], size[1]) for size in sizes] max_width = max([size[0] for size in sizes]) total_height = sum([size[1] for size in sizes]) + (len(lines) - 1) * thickness img = np.ones((total_height + thickness, max_width, 3), dtype=np.uint8) * 255 y = 0 for line, size in zip(lines, sizes): cv2.putText(img, line, (0, y + size[1] - size[2]), font, font_scale, color, thickness) y += size[1] + thickness cv2.imshow("Evaluation", img) def show_debug_disparity(gt_img, oak_img): def rescale_img(img): img[img == np.inf] = 0. img = cv2.resize(img, (1280, 800), interpolation=cv2.INTER_AREA) return img.astype(np.uint16) gt_img = rescale_img(gt_img) oak_img = rescale_img(oak_img) maxv = max(gt_img.max(), oak_img.max()) gt_img = (gt_img * 255. / maxv).astype(np.uint8) oak_img = (oak_img * 255. / maxv).astype(np.uint8) cv2.imshow("GT", gt_img) cv2.imshow("OAK", oak_img) if evaluation_mode: dataset = DatasetManager(args.evaluate) print("Connecting and starting the pipeline") # Connect to device and start pipeline with dai.Device(pipeline) as device: stereoDepthConfigInQueue = device.getInputQueue("stereoDepthConfig") inStreams = ["in_left", "in_right"] inStreamsCameraID = [dai.CameraBoardSocket.CAM_B, dai.CameraBoardSocket.CAM_C] in_q_list = [] for s in inStreams: q = device.getInputQueue(s) in_q_list.append(q) # Create a receive queue for each stream q_list = [] for s in streams: q = device.getOutputQueue(s, 8, blocking=False) q_list.append(q) inCfg = device.getOutputQueue("stereo_cfg", 8, blocking=False) # Need to set a timestamp for input frames, for the sync stage in Stereo node timestamp_ms = 0 index = 0 prevQueues = q_list.copy() while True: # Handle input streams, if any if in_q_list: dataset_size = 1 # Number of image pairs frame_interval_ms = 50 for i, q in enumerate(in_q_list): path = os.path.join(dataset.get(), f"im{i}.png") if evaluation_mode else args.dataset + "/" + str(index) + "/" + q.getName() + ".png" data = cv2.imread(path, cv2.IMREAD_GRAYSCALE) data = cv2.resize(data, (width, height), interpolation = cv2.INTER_AREA) data = data.reshape(height*width) tstamp = datetime.timedelta(seconds = timestamp_ms // 1000, milliseconds = timestamp_ms % 1000) img = dai.ImgFrame() img.setData(data) img.setTimestamp(tstamp) img.setInstanceNum(inStreamsCameraID[i]) img.setType(dai.ImgFrame.Type.RAW8) img.setWidth(width) img.setHeight(height) q.send(img) # print("Sent frame: {:25s}".format(path), "timestamp_ms:", timestamp_ms) timestamp_ms += frame_interval_ms index = (index + 1) % dataset_size sleep(frame_interval_ms / 1000) gt_disparity = None if evaluation_mode: # Load GT disparity gt_disparity = read_pfm(os.path.join(dataset.get(), f"disp1.pfm"))[0] # Handle output streams currentConfig = inCfg.get() lrCheckEnabled = currentConfig.get().algorithmControl.enableLeftRightCheck extendedEnabled = currentConfig.get().algorithmControl.enableExtended queues = q_list.copy() if args.dumpdisparitycostvalues: q = device.getOutputQueue("disparity_cost_dump", 8, blocking=False) queues.append(q) if args.debug: q_list_debug = [] activeDebugStreams = [] if lrCheckEnabled: activeDebugStreams.extend(["disparity_lr_check_iteration1", "disparity_lr_check_iteration2"]) if extendedEnabled: activeDebugStreams.extend(["disparity_ext_lr_check_iteration1"]) if lrCheckEnabled: activeDebugStreams.extend(["disparity_ext_lr_check_iteration2"]) for s in activeDebugStreams: q = device.getOutputQueue(s, 8, blocking=False) q_list_debug.append(q) queues.extend(q_list_debug) def ListDiff(li1, li2): return list(set(li1) - set(li2)) + list(set(li2) - set(li1)) diff = ListDiff(prevQueues, queues) for s in diff: name = s.getName() cv2.destroyWindow(name) prevQueues = queues.copy() disparity = None for q in queues: if q.getName() in ["left", "right"]: continue data = q.get() if q.getName() == "disparity": disparity = data.getFrame() frame = convertToCv2Frame(q.getName(), data, currentConfig) cv2.imshow(q.getName(), frame) if disparity is not None and gt_disparity is not None: subpixel_bits = 1 << currentConfig.get().algorithmControl.subpixelFractionalBits subpixel_enabled = currentConfig.get().algorithmControl.enableSubpixel width_scale = float(gt_disparity.shape[1]) / float(disparity.shape[1]) disparity = disparity.astype(np.float32) if subpixel_enabled: disparity = disparity / subpixel_bits disparity = disparity * width_scale disparity = cv2.resize(disparity, (gt_disparity.shape[1], gt_disparity.shape[0]), interpolation = cv2.INTER_LINEAR) disparity[disparity == 0.] = np.inf # show_debug_disparity(gt_disparity, disparity) err_vals = calculate_err_measures(gt_disparity, disparity) show_evaluation(dataset.get_name(), err_vals) key = cv2.waitKey(1) if key == ord("q"): break elif evaluation_mode and key == ord("["): dataset.next() elif evaluation_mode and key == ord("]"): dataset.prev() StereoConfigHandler.handleKeypress(key, stereoDepthConfigInQueue) ``` ### 相似示例 * [立体深度](https://docs.luxonis.com/software/depthai/examples/stereo_depth_video.md) - 来自立体摄像头的实时立体深度 ## 管道流程 ### examples/stereo_depth_from_host.pipeline.json ```json { "pipeline": { "connections": [ { "node1Id": 0, "node1Output": "disparity", "node1OutputGroup": "", "node2Id": 8, "node2Input": "in", "node2InputGroup": "" }, { "node1Id": 2, "node1Output": "out", "node1OutputGroup": "", "node2Id": 0, "node2Input": "right", "node2InputGroup": "" }, { "node1Id": 1, "node1Output": "out", "node1OutputGroup": "", "node2Id": 0, "node2Input": "left", "node2InputGroup": "" }, { "node1Id": 3, "node1Output": "out", "node1OutputGroup": "", "node2Id": 0, "node2Input": "inputConfig", "node2InputGroup": "" }, { "node1Id": 0, "node1Output": "syncedLeft", "node1OutputGroup": "", "node2Id": 4, "node2Input": "in", "node2InputGroup": "" }, { "node1Id": 0, "node1Output": "syncedRight", "node1OutputGroup": "", "node2Id": 5, "node2Input": "in", "node2InputGroup": "" }, { "node1Id": 0, "node1Output": "depth", "node1OutputGroup": "", "node2Id": 6, "node2Input": "in", "node2InputGroup": "" }, { "node1Id": 0, "node1Output": "confidenceMap", "node1OutputGroup": "", "node2Id": 7, "node2Input": "in", "node2InputGroup": "" }, { "node1Id": 0, "node1Output": "rectifiedLeft", "node1OutputGroup": "", "node2Id": 9, "node2Input": "in", "node2InputGroup": "" }, { "node1Id": 0, "node1Output": "rectifiedRight", "node1OutputGroup": "", "node2Id": 10, "node2Input": "in", "node2InputGroup": "" }, { "node1Id": 0, "node1Output": "outConfig", "node1OutputGroup": "", "node2Id": 11, "node2Input": "in", "node2InputGroup": "" } ], "globalProperties": { "calibData": null, "cameraTuningBlobSize": null, "cameraTuningBlobUri": "", "leonCssFrequencyHz": 700000000.0, "leonMssFrequencyHz": 700000000.0, "pipelineName": null, "pipelineVersion": null, "sippBufferSize": 18432, "sippDmaBufferSize": 16384, "xlinkChunkSize": -1 }, "nodes": [ [ 0, { "id": 0, "ioInfo": [ [ [ "", "inputConfig" ], { "blocking": false, "group": "", "id": 1, "name": "inputConfig", "queueSize": 4, "type": 3, "waitForMessage": false } ], [ [ "", "left" ], { "blocking": false, "group": "", "id": 2, "name": "left", "queueSize": 8, "type": 3, "waitForMessage": true } ], [ [ "", "debugExtDispLrCheckIt1" ], { "blocking": false, "group": "", "id": 14, "name": "debugExtDispLrCheckIt1", "queueSize": 8, "type": 0, "waitForMessage": false } ], [ [ "", "right" ], { "blocking": false, "group": "", "id": 3, "name": "right", "queueSize": 8, "type": 3, "waitForMessage": true } ], [ [ "", "syncedLeft" ], { "blocking": false, "group": "", "id": 4, "name": "syncedLeft", "queueSize": 8, "type": 0, "waitForMessage": false } ], [ [ "", "depth" ], { "blocking": false, "group": "", "id": 5, "name": "depth", "queueSize": 8, "type": 0, "waitForMessage": false } ], [ [ "", "disparity" ], { "blocking": false, "group": "", "id": 6, "name": "disparity", "queueSize": 8, "type": 0, "waitForMessage": false } ], [ [ "", "syncedRight" ], { "blocking": false, "group": "", "id": 7, "name": "syncedRight", "queueSize": 8, "type": 0, "waitForMessage": false } ], [ [ "", "debugDispCostDump" ], { "blocking": false, "group": "", "id": 12, "name": "debugDispCostDump", "queueSize": 8, "type": 0, "waitForMessage": false } ], [ [ "", "debugDispLrCheckIt2" ], { "blocking": false, "group": "", "id": 13, "name": "debugDispLrCheckIt2", "queueSize": 8, "type": 0, "waitForMessage": false } ], [ [ "", "rectifiedLeft" ], { "blocking": false, "group": "", "id": 8, "name": "rectifiedLeft", "queueSize": 8, "type": 0, "waitForMessage": false } ], [ [ "", "debugExtDispLrCheckIt2" ], { "blocking": false, "group": "", "id": 15, "name": "debugExtDispLrCheckIt2", "queueSize": 8, "type": 0, "waitForMessage": false } ], [ [ "", "rectifiedRight" ], { "blocking": false, "group": "", "id": 9, "name": "rectifiedRight", "queueSize": 8, "type": 0, "waitForMessage": false } ], [ [ "", "confidenceMap" ], { "blocking": false, "group": "", "id": 16, "name": "confidenceMap", "queueSize": 8, "type": 0, "waitForMessage": false } ], [ [ "", "outConfig" ], { "blocking": false, "group": "", "id": 10, "name": "outConfig", "queueSize": 8, "type": 0, "waitForMessage": false } ], [ [ "", "debugDispLrCheckIt1" ], { "blocking": false, "group": "", "id": 11, "name": "debugDispLrCheckIt1", "queueSize": 8, "type": 0, "waitForMessage": false } ] ], "name": "StereoDepth", "properties": { "alphaScaling": null, "baseline": 7.5, "depthAlignCamera": -1, "depthAlignmentUseSpecTranslation": null, "disparityToDepthUseSpecTranslation": null, "enableRectification": false, "enableRuntimeStereoModeSwitch": true, "focalLength": 883.1514282226562, "focalLengthFromCalibration": true, "height": 800, "initialConfig": { "algorithmControl": { "centerAlignmentShiftFactor": null, "customDepthUnitMultiplier": 1000.0, "depthAlign": 0, "depthUnit": 2, "disparityShift": 0, "enableExtended": false, "enableLeftRightCheck": true, "enableSubpixel": true, "leftRightCheckThreshold": 10, "numInvalidateEdgePixels": 0, "subpixelFractionalBits": 3 }, "censusTransform": { "enableMeanMode": true, "kernelMask": 0, "kernelSize": -1, "threshold": 0 }, "costAggregation": { "divisionFactor": 1, "horizontalPenaltyCostP1": 250, "horizontalPenaltyCostP2": 500, "verticalPenaltyCostP1": 250, "verticalPenaltyCostP2": 500 }, "costMatching": { "confidenceThreshold": 245, "disparityWidth": 1, "enableCompanding": false, "invalidDisparityValue": 0, "linearEquationParameters": { "alpha": 0, "beta": 2, "threshold": 127 } }, "postProcessing": { "bilateralSigmaValue": 0, "brightnessFilter": { "maxBrightness": 256, "minBrightness": 0 }, "decimationFilter": { "decimationFactor": 1, "decimationMode": 0 }, "median": 5, "spatialFilter": { "alpha": 0.5, "delta": 0, "enable": false, "holeFillingRadius": 2, "numIterations": 1 }, "speckleFilter": { "enable": false, "speckleRange": 50 }, "temporalFilter": { "alpha": 0.4000000059604645, "delta": 0, "enable": false, "persistencyMode": 3 }, "thresholdFilter": { "maxRange": 65535, "minRange": 0 } } }, "mesh": { "meshLeftUri": "", "meshRightUri": "", "meshSize": null, "stepHeight": 16, "stepWidth": 16 }, "numFramesPool": 3, "numPostProcessingMemorySlices": -1, "numPostProcessingShaves": -1, "outHeight": null, "outKeepAspectRatio": true, "outWidth": null, "rectificationUseSpecTranslation": null, "rectifyEdgeFillColor": 0, "useHomographyRectification": null, "width": 1280 } } ], [ 1, { "id": 1, "ioInfo": [ [ [ "", "out" ], { "blocking": false, "group": "", "id": 17, "name": "out", "queueSize": 8, "type": 0, "waitForMessage": false } ] ], "name": "XLinkIn", "properties": { "maxDataSize": 5242880, "numFrames": 8, "streamName": "in_left" } } ], [ 2, { "id": 2, "ioInfo": [ [ [ "", "out" ], { "blocking": false, "group": "", "id": 18, "name": "out", "queueSize": 8, "type": 0, "waitForMessage": false } ] ], "name": "XLinkIn", "properties": { "maxDataSize": 5242880, "numFrames": 8, "streamName": "in_right" } } ], [ 3, { "id": 3, "ioInfo": [ [ [ "", "out" ], { "blocking": false, "group": "", "id": 19, "name": "out", "queueSize": 8, "type": 0, "waitForMessage": false } ] ], "name": "XLinkIn", "properties": { "maxDataSize": 5242880, "numFrames": 8, "streamName": "stereoDepthConfig" } } ], [ 4, { "id": 4, "ioInfo": [ [ [ "", "in" ], { "blocking": true, "group": "", "id": 20, "name": "in", "queueSize": 8, "type": 3, "waitForMessage": true } ] ], "name": "XLinkOut", "properties": { "maxFpsLimit": -1.0, "metadataOnly": false, "streamName": "left" } } ], [ 5, { "id": 5, "ioInfo": [ [ [ "", "in" ], { "blocking": true, "group": "", "id": 21, "name": "in", "queueSize": 8, "type": 3, "waitForMessage": true } ] ], "name": "XLinkOut", "properties": { "maxFpsLimit": -1.0, "metadataOnly": false, "streamName": "right" } } ], [ 6, { "id": 6, "ioInfo": [ [ [ "", "in" ], { "blocking": true, "group": "", "id": 22, "name": "in", "queueSize": 8, "type": 3, "waitForMessage": true } ] ], "name": "XLinkOut", "properties": { "maxFpsLimit": -1.0, "metadataOnly": false, "streamName": "depth" } } ], [ 7, { "id": 7, "ioInfo": [ [ [ "", "in" ], { "blocking": true, "group": "", "id": 23, "name": "in", "queueSize": 8, "type": 3, "waitForMessage": true } ] ], "name": "XLinkOut", "properties": { "maxFpsLimit": -1.0, "metadataOnly": false, "streamName": "confidence_map" } } ], [ 8, { "id": 8, "ioInfo": [ [ [ "", "in" ], { "blocking": true, "group": "", "id": 24, "name": "in", "queueSize": 8, "type": 3, "waitForMessage": true } ] ], "name": "XLinkOut", "properties": { "maxFpsLimit": -1.0, "metadataOnly": false, "streamName": "disparity" } } ], [ 9, { "id": 9, "ioInfo": [ [ [ "", "in" ], { "blocking": true, "group": "", "id": 25, "name": "in", "queueSize": 8, "type": 3, "waitForMessage": true } ] ], "name": "XLinkOut", "properties": { "maxFpsLimit": -1.0, "metadataOnly": false, "streamName": "rectified_left" } } ], [ 10, { "id": 10, "ioInfo": [ [ [ "", "in" ], { "blocking": true, "group": "", "id": 26, "name": "in", "queueSize": 8, "type": 3, "waitForMessage": true } ] ], "name": "XLinkOut", "properties": { "maxFpsLimit": -1.0, "metadataOnly": false, "streamName": "rectified_right" } } ], [ 11, { "id": 11, "ioInfo": [ [ [ "", "in" ], { "blocking": true, "group": "", "id": 27, "name": "in", "queueSize": 8, "type": 3, "waitForMessage": true } ] ], "name": "XLinkOut", "properties": { "maxFpsLimit": -1.0, "metadataOnly": false, "streamName": "stereo_cfg" } } ] ] } } ``` ### 需要帮助？ 请前往 [OAKChina 官网](https://www.oakchina.cn/) 获取技术支持或解答您的任何疑问。