StereoDepthProperties.hpp

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#pragma once
 
#include "depthai-shared/common/CameraBoardSocket.hpp"
#include "depthai-shared/common/EepromData.hpp"
#include "depthai-shared/common/optional.hpp"
#include "depthai-shared/datatype/RawStereoDepthConfig.hpp"
#include "depthai-shared/properties/Properties.hpp"
 
namespace dai {
 
struct StereoDepthProperties : PropertiesSerializable<Properties, StereoDepthProperties> {
    static constexpr const std::int32_t AUTO = -1;
 
    struct RectificationMesh {
        std::string meshLeftUri;
        std::string meshRightUri;
        tl::optional<std::uint32_t> meshSize;
        uint16_t stepWidth = 16;
        uint16_t stepHeight = 16;
 
        DEPTHAI_SERIALIZE(RectificationMesh, meshLeftUri, meshRightUri, meshSize, stepWidth, stepHeight);
    };
 
    RawStereoDepthConfig initialConfig;
 
    using MedianFilter = dai::MedianFilter;
 
    using DepthAlign = dai::RawStereoDepthConfig::AlgorithmControl::DepthAlign;
 
    CameraBoardSocket depthAlignCamera = CameraBoardSocket::AUTO;
 
    bool enableRectification = true;
 
    std::int32_t rectifyEdgeFillColor = 0;
    tl::optional<std::int32_t> width;
    tl::optional<std::int32_t> height;
    tl::optional<std::int32_t> outWidth;
    tl::optional<std::int32_t> outHeight;
    bool outKeepAspectRatio = true;
 
    RectificationMesh mesh;
 
    bool enableRuntimeStereoModeSwitch = false;
 
    int numFramesPool = 3;
 
    std::int32_t numPostProcessingShaves = AUTO;
 
    std::int32_t numPostProcessingMemorySlices = AUTO;
 
    bool focalLengthFromCalibration = true;
 
    tl::optional<bool> useHomographyRectification;
 
    tl::optional<float> baseline;
 
    tl::optional<float> focalLength;
 
    tl::optional<bool> disparityToDepthUseSpecTranslation = tl::nullopt;
 
    tl::optional<bool> rectificationUseSpecTranslation = tl::nullopt;
 
    tl::optional<bool> depthAlignmentUseSpecTranslation = tl::nullopt;
 
    tl::optional<float> alphaScaling;
};
 
DEPTHAI_SERIALIZE_EXT(StereoDepthProperties,
                      initialConfig,
                      depthAlignCamera,
                      enableRectification,
                      rectifyEdgeFillColor,
                      width,
                      height,
                      outWidth,
                      outHeight,
                      outKeepAspectRatio,
                      mesh,
                      enableRuntimeStereoModeSwitch,
                      numFramesPool,
                      numPostProcessingShaves,
                      numPostProcessingMemorySlices,
                      focalLengthFromCalibration,
                      useHomographyRectification,
                      baseline,
                      focalLength,
                      disparityToDepthUseSpecTranslation,
                      rectificationUseSpecTranslation,
                      depthAlignmentUseSpecTranslation,
                      alphaScaling);
 
}  // namespace dai