StereoDepthConfig.hpp

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#pragma once
 
#include <unordered_map>
#include <vector>
 
#include "depthai-shared/datatype/RawStereoDepthConfig.hpp"
#include "depthai/pipeline/datatype/Buffer.hpp"
 
namespace dai {
 
class StereoDepthConfig : public Buffer {
    std::shared_ptr<RawBuffer> serialize() const override;
    RawStereoDepthConfig& cfg;
 
   public:
    using MedianFilter = dai::MedianFilter;
    using AlgorithmControl = RawStereoDepthConfig::AlgorithmControl;
    using PostProcessing = RawStereoDepthConfig::PostProcessing;
    using CensusTransform = RawStereoDepthConfig::CensusTransform;
    using CostMatching = RawStereoDepthConfig::CostMatching;
    using CostAggregation = RawStereoDepthConfig::CostAggregation;
 
    StereoDepthConfig();
    explicit StereoDepthConfig(std::shared_ptr<RawStereoDepthConfig> ptr);
    virtual ~StereoDepthConfig() = default;
 
    StereoDepthConfig& setDepthAlign(AlgorithmControl::DepthAlign align);
 
    StereoDepthConfig& setConfidenceThreshold(int confThr);
    int getConfidenceThreshold() const;
 
    StereoDepthConfig& setMedianFilter(MedianFilter median);
    MedianFilter getMedianFilter() const;
 
    StereoDepthConfig& setBilateralFilterSigma(uint16_t sigma);
    uint16_t getBilateralFilterSigma() const;
 
    StereoDepthConfig& setLeftRightCheckThreshold(int threshold);
    int getLeftRightCheckThreshold() const;
 
    StereoDepthConfig& setLeftRightCheck(bool enable);
 
    StereoDepthConfig& setExtendedDisparity(bool enable);
 
    StereoDepthConfig& setSubpixel(bool enable);
 
    StereoDepthConfig& setSubpixelFractionalBits(int subpixelFractionalBits);
 
    StereoDepthConfig& setDepthUnit(AlgorithmControl::DepthUnit depthUnit);
 
    StereoDepthConfig& setDisparityShift(int disparityShift);
 
    StereoDepthConfig& setNumInvalidateEdgePixels(int32_t numInvalidateEdgePixels);
 
    AlgorithmControl::DepthUnit getDepthUnit();
 
    float getMaxDisparity() const;
 
    StereoDepthConfig& set(dai::RawStereoDepthConfig config);
 
    dai::RawStereoDepthConfig get() const;
};
 
}  // namespace dai