Enhance stereo depth develop merge #190

SzabolcsGergely · 2020-09-10T16:34:33Z

Pull request #178 merged into develop.
Run:
python3 -m pip install -r requirements.txt

- use a mesh instead of homography - disable mirroring the rectified frame (mirroring is normally a requirement for the Stereo Engine) - set the color of the pixels at the Warp edges (may ease debugging)

changed l-r dist to 4cm, and l-rgb dist to 1cm

changed file name to call caps to match other files

Create bw1092.json to allow calibration and eeprom settings

…vice side. Also move the inversion step before fp32 conversion (just in case).

Updated USB3 FW and Linux64 lib

- allow running rectified_left/_right streams without disparity/depth

depthai_helpers/config_manager.py

depthai_demo.py

(to easily distinguish in future from a valid calib)

Note: currently when mirroring is disabled, rectified_left/_right are swapped.

saching13

Looks great. Tested. depth_raw, disparity, pcl on different resolution. mirror_frame too along with default AI model. on both version 4 and 5 of eeprom.

Enhance stereo depth develop merge

alex-luxonis and others added 30 commits August 14, 2020 22:23

Add depth options: median_kernel_size and lr_check

79db9fe

Update FW and Linux x64 lib

d1a6e11

Add frame metadata for disparity, disparity_color, depth_raw

a57ae71

Merge branch 'metadata_disparity_depth' into enhance_stereo_depth

7b24161

Update firmware and Linux_x64 python lib

683094f

Add -vv / --verbose option, will print some metadata fields

c400a6d

added mesh files

ab32271

Add rectified_left and rectified_right stream choices

8bf72d2

Add config options for Stereo Rectification / Warp:

0a50da4

- use a mesh instead of homography - disable mirroring the rectified frame (mirroring is normally a requirement for the Stereo Engine) - set the color of the pixels at the Warp edges (may ease debugging)

updated with pcl

35ad5bc

Update FW and Linux64 lib

68bbcf7

calibration_utils: save new format to out_filepath var (not string)

aa7bf7d

Save new format (H1,H2,M1,M2,R,T) as fp32 (was double)

9721111

Allow using the new calib with two homographies

17634ab

Update FW and Linux64 lib

ac10502

Create bw1092.json

8f307a4

changed l-r dist to 4cm, and l-rgb dist to 1cm

added mesh and point cloud argument

36205df

order of calibration binary updated

1de7911

saving right camera intrinsics on the host

e4c9837

Rename bw1092.json to BW1092.json

ac48b4d

changed file name to call caps to match other files

Merge pull request #188 from luxonis/add-1092-brd-file

aaa06c4

Create bw1092.json to allow calibration and eeprom settings

Store the homography in 'H1,H2' order, and remove the swap done on de…

b1f5274

…vice side. Also move the inversion step before fp32 conversion (just in case).

updated pcl with rectified image

2874e5c

New calib data stored in EEPROM and reported back to host.

bf1f78e

Updated USB3 FW and Linux64 lib

updated pcl to get intrinisc from api

ac4b0e7

updated submodule

85d055f

Rebuild Linux64 lib

ed66f7f

removing local file

952bc80

removing local file

1622d8e

Update FW: -fix a crash when both RGB and Mono are enabled,

cbff62f

- allow running rectified_left/_right streams without disparity/depth

jonngai reviewed Sep 11, 2020

View reviewed changes

depthai_helpers/config_manager.py Show resolved Hide resolved

jonngai reviewed Sep 11, 2020

View reviewed changes

depthai_demo.py Outdated Show resolved Hide resolved

updated calibration storage in EEPROM

86d1c11

This was referenced Sep 11, 2020

Save the distortion coefficients, camera intrinsic and extrinsic parameters in to EEPROM #182

Closed

OpenCV Spatial AI Competition Feature Discovery and Requests #183

Closed

Two homography to attain stereo normal case #187

Closed

SzabolcsGergely and others added 19 commits September 13, 2020 19:37

Update requirements.txt with updated backend

6aee211

Fix runtime error of get_translation

7e58cc4

recreated cv map creation.

2e8271c

modified calibration_utils

9f66aa6

Change mono cam resolution for calibration to 1280x800

009c371

Save R1/R2 in calib file (instead of inv H1/H2)

6d04536

RGB calib is just a placeholder for now, store M3 intrinsic as zero

66efb9d

(to easily distinguish in future from a valid calib)

Store RGB distortion too in calib file

b3b5eb6

calibration_utils: debug code, disabled for now

4e63648

Update depthai wheel in requirements.txt

7b63aa4

some extra modifications in calibrate_utils and local mesh creation

ea96b20

fixed merge conflicts

1199486

Fix paths to depthai_demo.py in integration_test/repeat_test

87334ad

Fix also the depthai_demo.py file name in depthai_supervisor

fd26e51

added new whl built commit to requirements

95b1285

Fix more references to the now renamed depthai.py

6c9ec15

Fix the mirrored_rectified command line option.

a43b3ba

Note: currently when mirroring is disabled, rectified_left/_right are swapped.

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

79a010d

Update depthai wheel: rectified L/R swapping corrected

ee88aff

saching13 approved these changes Sep 15, 2020

View reviewed changes

Remove no longer needed file

f608901

SzabolcsGergely merged commit 0bd1ff9 into develop Sep 15, 2020

SzabolcsGergely deleted the enhance_stereo_depth_develop branch September 15, 2020 22:43

SzabolcsGergely added a commit that referenced this pull request Oct 30, 2020

Merge pull request #190 from luxonis/enhance_stereo_depth_develop

b2cd6b9

Enhance stereo depth develop merge

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Enhance stereo depth develop merge #190

Enhance stereo depth develop merge #190

SzabolcsGergely commented Sep 10, 2020

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Enhance stereo depth develop merge #190

Enhance stereo depth develop merge #190

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