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Advanced parameter tuning for depth quality optimization

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This commit is contained in:
Borong Yuan
2023-05-22 20:29:44 +08:00
parent 9ecf71e5ed
commit 937e9fbb3b
1 changed files with 7 additions and 1 deletions
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8
corelib/src/camera/CameraDepthAI.cpp
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@@ -202,12 +202,18 @@ bool CameraDepthAI::init(const std::string & calibrationFolder, const std::strin
// StereoDepth // StereoDepth
stereo->setDepthAlign(dai::StereoDepthProperties::DepthAlign::RECTIFIED_LEFT); stereo->setDepthAlign(dai::StereoDepthProperties::DepthAlign::RECTIFIED_LEFT);
stereo->setSubpixel(false); stereo->setSubpixel(true);
stereo->setSubpixelFractionalBits(4);
stereo->setExtendedDisparity(false); stereo->setExtendedDisparity(false);
stereo->setRectifyEdgeFillColor(0); // black, to better see the cutout stereo->setRectifyEdgeFillColor(0); // black, to better see the cutout
stereo->initialConfig.setConfidenceThreshold(depthConfidence_); stereo->initialConfig.setConfidenceThreshold(depthConfidence_);
stereo->initialConfig.setLeftRightCheck(true); stereo->initialConfig.setLeftRightCheck(true);
stereo->initialConfig.setLeftRightCheckThreshold(5); stereo->initialConfig.setLeftRightCheckThreshold(5);
stereo->initialConfig.setMedianFilter(dai::MedianFilter::KERNEL_5x5);
auto config = stereo->initialConfig.get();
config.costMatching.disparityWidth = dai::StereoDepthConfig::CostMatching::DisparityWidth::DISPARITY_64;
config.costMatching.enableCompanding = true;
stereo->initialConfig.set(config);
// Link plugins CAM -> STEREO -> XLINK // Link plugins CAM -> STEREO -> XLINK
monoLeft->out.link(stereo->left); monoLeft->out.link(stereo->left);