dai::RawStereoDepthConfig::PostProcessing Struct Reference

#include <RawStereoDepthConfig.hpp>

Classes
struct	BrightnessFilter
struct	DecimationFilter
struct	SpatialFilter
struct	SpeckleFilter
struct	TemporalFilter
struct	ThresholdFilter

Public Types
enum	Filter : int32_t {   Filter::NONE = 0, Filter::DECIMATION, Filter::SPECKLE, Filter::MEDIAN,   Filter::SPATIAL, Filter::TEMPORAL, Filter::FILTER_COUNT = TEMPORAL }

Public Member Functions
	DEPTHAI_SERIALIZE (PostProcessing, filteringOrder, median, bilateralSigmaValue, spatialFilter, temporalFilter, thresholdFilter, brightnessFilter, speckleFilter, decimationFilter)

Public Attributes
std::int16_t	bilateralSigmaValue = 0
BrightnessFilter	brightnessFilter
DecimationFilter	decimationFilter
std::array< Filter, 5 >	filteringOrder = {Filter::MEDIAN, Filter::DECIMATION, Filter::SPECKLE, Filter::SPATIAL, Filter::TEMPORAL}
MedianFilter	median = MedianFilter::KERNEL_5x5
SpatialFilter	spatialFilter
SpeckleFilter	speckleFilter
TemporalFilter	temporalFilter
ThresholdFilter	thresholdFilter

Detailed Description

Post-processing filters, all the filters are applied in disparity domain.

Definition at line 134 of file RawStereoDepthConfig.hpp.

Member Enumeration Documentation

Filter

enum dai::RawStereoDepthConfig::PostProcessing::Filter : int32_t

strong

Enumerator
NONE
DECIMATION
SPECKLE
MEDIAN
SPATIAL
TEMPORAL
FILTER_COUNT

Definition at line 135 of file RawStereoDepthConfig.hpp.

Member Function Documentation

DEPTHAI_SERIALIZE()

dai::RawStereoDepthConfig::PostProcessing::DEPTHAI_SERIALIZE	(	PostProcessing	,
		filteringOrder	,
		median	,
		bilateralSigmaValue	,
		spatialFilter	,
		temporalFilter	,
		thresholdFilter	,
		brightnessFilter	,
		speckleFilter	,
		decimationFilter
	)

Member Data Documentation

bilateralSigmaValue

std::int16_t dai::RawStereoDepthConfig::PostProcessing::bilateralSigmaValue = 0

Sigma value for bilateral filter. 0 means disabled. A larger value of the parameter means that farther colors within the pixel neighborhood will be mixed together.

Definition at line 151 of file RawStereoDepthConfig.hpp.

brightnessFilter

BrightnessFilter dai::RawStereoDepthConfig::PostProcessing::brightnessFilter

Brightness filtering. If input frame pixel is too dark or too bright, disparity will be invalidated. The idea is that for too dark/too bright pixels we have low confidence, since that area was under/over exposed and details were lost.

Definition at line 306 of file RawStereoDepthConfig.hpp.

decimationFilter

DecimationFilter dai::RawStereoDepthConfig::PostProcessing::decimationFilter

Decimation filter. Reduces disparity/depth map x/y complexity, reducing runtime complexity for other filters.

Definition at line 368 of file RawStereoDepthConfig.hpp.

filteringOrder

std::array<Filter, 5> dai::RawStereoDepthConfig::PostProcessing::filteringOrder = {Filter::MEDIAN, Filter::DECIMATION, Filter::SPECKLE, Filter::SPATIAL, Filter::TEMPORAL}

Order of filters to be applied if filtering is enabled.

Definition at line 140 of file RawStereoDepthConfig.hpp.

median

MedianFilter dai::RawStereoDepthConfig::PostProcessing::median = MedianFilter::KERNEL_5x5

Set kernel size for disparity/depth median filtering, or disable

Definition at line 145 of file RawStereoDepthConfig.hpp.

spatialFilter

SpatialFilter dai::RawStereoDepthConfig::PostProcessing::spatialFilter

Edge-preserving filtering: This type of filter will smooth the depth noise while attempting to preserve edges.

Definition at line 197 of file RawStereoDepthConfig.hpp.

speckleFilter

SpeckleFilter dai::RawStereoDepthConfig::PostProcessing::speckleFilter

Speckle filtering. Removes speckle noise.

Definition at line 335 of file RawStereoDepthConfig.hpp.

temporalFilter

TemporalFilter dai::RawStereoDepthConfig::PostProcessing::temporalFilter

Temporal filtering with optional persistence.

Definition at line 252 of file RawStereoDepthConfig.hpp.

thresholdFilter

ThresholdFilter dai::RawStereoDepthConfig::PostProcessing::thresholdFilter

Threshold filtering. Filters out distances outside of a given interval.

Definition at line 277 of file RawStereoDepthConfig.hpp.

---

The documentation for this struct was generated from the following file:

• RawStereoDepthConfig.hpp