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Update OAK stereo config and IMU rate #1116

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merged 2 commits into from
Aug 19, 2023
Merged

Update OAK stereo config and IMU rate #1116

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d6c9f7a
update OAK stereo config and imu rate
borongyuan Aug 19, 2023
f52ee80
enable brightness filter
borongyuan Aug 19, 2023
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13 changes: 9 additions & 4 deletions corelib/src/camera/CameraDepthAI.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -320,7 +320,12 @@ bool CameraDepthAI::init(const std::string & calibrationFolder, const std::strin
stereo->initialConfig.setConfidenceThreshold(depthConfidence_);
stereo->initialConfig.setLeftRightCheck(true);
stereo->initialConfig.setLeftRightCheckThreshold(5);
stereo->initialConfig.setMedianFilter(dai::MedianFilter::KERNEL_5x5);
stereo->initialConfig.setMedianFilter(dai::MedianFilter::KERNEL_7x7);
auto config = stereo->initialConfig.get();
config.censusTransform.kernelSize = dai::StereoDepthConfig::CensusTransform::KernelSize::KERNEL_7x9;
config.censusTransform.kernelMask = 0X2AA00AA805540155;
config.postProcessing.brightnessFilter.maxBrightness = 255;
stereo->initialConfig.set(config);

// Link plugins CAM -> STEREO -> XLINK
monoLeft->out.link(stereo->left);
Expand All @@ -345,7 +350,7 @@ bool CameraDepthAI::init(const std::string & calibrationFolder, const std::strin
{
stereo->setSubpixel(true);
stereo->setSubpixelFractionalBits(4);
auto config = stereo->initialConfig.get();
config = stereo->initialConfig.get();
config.costMatching.disparityWidth = dai::StereoDepthConfig::CostMatching::DisparityWidth::DISPARITY_64;
config.costMatching.enableCompanding = true;
stereo->initialConfig.set(config);
Expand All @@ -358,8 +363,8 @@ bool CameraDepthAI::init(const std::string & calibrationFolder, const std::strin

if(imuPublished_)
{
// enable ACCELEROMETER_RAW and GYROSCOPE_RAW at 200 hz rate
imu->enableIMUSensor({dai::IMUSensor::ACCELEROMETER_RAW, dai::IMUSensor::GYROSCOPE_RAW}, 200);
// enable ACCELEROMETER_RAW and GYROSCOPE_RAW at 100 hz rate
imu->enableIMUSensor({dai::IMUSensor::ACCELEROMETER_RAW, dai::IMUSensor::GYROSCOPE_RAW}, 100);
// above this threshold packets will be sent in batch of X, if the host is not blocked and USB bandwidth is available
imu->setBatchReportThreshold(1);
// maximum number of IMU packets in a batch, if it's reached device will block sending until host can receive it
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