Stereo improvements, fixes for subpixel, LR-check #55

SzabolcsGergely · 2021-09-17T18:18:56Z

Stereo extended modes (LR-check, subpixel) were unstable, this PR introduces fixes for it.

Fixes crash issues
Added runtime configurability for stereo node, all stereo HW/SW settings can be changed at runtime, including census transform, cost matching, cost aggregation parameters, switching between standard->subpixel, LR-check, subpixel bits, median size etc..
Default subpixel bit reduced to 3 to support median filter.
Median filter supported for all modes.
Extended disparity is not yet implemented.

Reduced DDR usage by 10MB, CMX usage by 3 slices + 60 KB. Measured for subpixel mode.

…save space in message when not set

SzabolcsGergely added 4 commits September 15, 2021 18:08

Expose all stereo block settings

acccebe

Move cost aggregation penalty lookup tables as optional variables to …

ac42d0a

…save space in message when not set

Add documentation to stereo settings

d6ef812

Refactor stereo depth config structure

ba4cf26

SzabolcsGergely requested review from alex-luxonis and themarpe September 17, 2021 18:19

SzabolcsGergely mentioned this pull request Sep 17, 2021

MyriadX: Stereo improvements, fixes for subpixel, LR-check luxonis/depthai-core#200

Merged

SzabolcsGergely added 4 commits September 18, 2021 18:16

Set bytes per pixel for ImgFrame

405dce9

Fix for clang-tidy complaints

7b5db4f

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

b7ee4af

Add numFramePools to properties

16e236e

themarpe approved these changes Sep 20, 2021

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SzabolcsGergely merged commit d00ddff into develop Sep 22, 2021

SzabolcsGergely deleted the stereo_fixes branch September 22, 2021 14:49

Luxonis-Brandon added the Gen2 Feature for or issue with Gen2 label Sep 22, 2021

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