Merge pull request #89 from luxonis/custom_depth_unit

Add customizable depth unit
luxonis · Mar 22, 2022 · be5a9a4 · be5a9a4
2 parents 2e3dbf7 + 14eb244
commit be5a9a4
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Showing 3 changed files with 30 additions and 7 deletions.
diff --git a/include/depthai-shared/datatype/RawSpatialLocationCalculatorConfig.hpp b/include/depthai-shared/datatype/RawSpatialLocationCalculatorConfig.hpp
@@ -13,7 +13,7 @@ namespace dai {
 /**
  * SpatialLocation configuration thresholds structure
  *
- * Contains configuration data for lower and upper threshold in millimeters for ROI.
+ * Contains configuration data for lower and upper threshold in depth units (millimeter by default) for ROI.
  * Values outside of threshold range will be ignored when calculating spatial coordinates from depth map.
  */
 struct SpatialLocationCalculatorConfigThresholds {

diff --git a/include/depthai-shared/datatype/RawSpatialLocations.hpp b/include/depthai-shared/datatype/RawSpatialLocations.hpp
@@ -16,7 +16,7 @@ namespace dai {
  *
  * Contains configuration data, average depth for the calculated ROI on depth map.
  * Together with spatial coordinates: x,y,z relative to the center of depth map.
- * Units are in millimeters.
+ * Units are in depth units (millimeter by default).
  */
 struct SpatialLocations {
     /**

diff --git a/include/depthai-shared/datatype/RawStereoDepthConfig.hpp b/include/depthai-shared/datatype/RawStereoDepthConfig.hpp
@@ -24,11 +24,28 @@ struct RawStereoDepthConfig : public RawBuffer {
          */
         enum class DepthAlign : int32_t { RECTIFIED_RIGHT, RECTIFIED_LEFT, CENTER };
 
+        /**
+         * Measurement unit for depth data
+         */
+        enum class DepthUnit : int32_t { METER, CENTIMETER, MILLIMETER, INCH, FOOT, CUSTOM };
+
         /**
          * Set the disparity/depth alignment to the perspective of a rectified output, or center it
          */
         DepthAlign depthAlign = DepthAlign::RECTIFIED_RIGHT;
 
+        /**
+         * Measurement unit for depth data.
+         * Depth data is integer value, multiple of depth unit.
+         */
+        DepthUnit depthUnit = DepthUnit::MILLIMETER;
+
+        /**
+         * Custom depth unit multiplier, if custom depth unit is enabled, relative to 1 meter.
+         * A multiplier of 1000 effectively means depth unit in millimeter.
+         */
+        float customDepthUnitMultiplier = 1000.f;
+
         /**
          * Computes and combines disparities in both L-R and R-L directions, and combine them.
          * For better occlusion handling
@@ -64,7 +81,15 @@ struct RawStereoDepthConfig : public RawBuffer {
          */
         std::int32_t subpixelFractionalBits = 3;
 
-        DEPTHAI_SERIALIZE(AlgorithmControl, depthAlign, enableLeftRightCheck, enableExtended, enableSubpixel, leftRightCheckThreshold, subpixelFractionalBits);
+        DEPTHAI_SERIALIZE(AlgorithmControl,
+                          depthAlign,
+                          depthUnit,
+                          customDepthUnitMultiplier,
+                          enableLeftRightCheck,
+                          enableExtended,
+                          enableSubpixel,
+                          leftRightCheckThreshold,
+                          subpixelFractionalBits);
     };
 
     /**
@@ -135,7 +160,6 @@ struct RawStereoDepthConfig : public RawBuffer {
 
         /**
          * Temporal filtering with optional persistence.
-         * More details about the filter can be found here:
          */
         struct TemporalFilter {
             static constexpr const std::int32_t DEFAULT_DELTA_VALUE = 3;
@@ -186,7 +210,6 @@ struct RawStereoDepthConfig : public RawBuffer {
 
         /**
          * Temporal filtering with optional persistence.
-         * More details about the filter can be found here:
          */
         TemporalFilter temporalFilter;
 
@@ -196,12 +219,12 @@ struct RawStereoDepthConfig : public RawBuffer {
          */
         struct ThresholdFilter {
             /**
-             * Minimum range in millimeters.
+             * Minimum range in depth units.
              * Depth values under this value are invalidated.
              */
             std::int32_t minRange = 0;
             /**
-             * Maximum range in millimeters.
+             * Maximum range in depth units.
              * Depth values over this value are invalidated.
              */
             std::int32_t maxRange = 65535;