Setting the order of post-processing filters in StereoDepthConfig

rohan

Hello @jakaskerl,
I'm migrating my code to DepthAI v3. I have enabled post-processing filters from the StereoDepthConfig class, and I want to set an order using the filteringOrder.setter (link to documentation) method of StereoDepthConfig.PostProcessing class. However, I could not find the method in the Python stub file. The method takes a list argument, but I'm unsure what type of list it expects.

In DepthAI v2, it was expecting List[RawStereoDepthConfig.PostProcessing.Filter]. But the Filter class is also not available in DepthAI v3. Could you please provide information on setting the filtering order in DepthAI V3?

jakaskerl

rohan
Try using this example https://docs.luxonis.com/software-v3/depthai/examples/stereo_depth/stereo_depth_filters/

Thanks
Jaka

rohan

jakaskerl I didn't know about the new ImageFilters node in the DepthAI v3. The example was helpful. Thank you.

jakaskerl

rohan
Also, I realized these filter only work on-host for the RVC2, so the way to do it on-device should still be the same. Like this:

stereo.initialConfig.postProcessing.temporalFilter.enable = False
stereo.initialConfig.postProcessing.temporalFilter.delta = 100
stereo.initialConfig.postProcessing.filteringOrder = [
    dai.StereoDepthConfig.PostProcessing.TemporalFilter 
]

Apologies for the confusion.

Thanks,
Jaka

rohan

jakaskerl

Hi Jaka,

This is not working in DepthAI v3. I'm getting the following error-

TypeError: (): incompatible function arguments. The following argument types are supported:
    1. (self: depthai.StereoDepthConfig.PostProcessing, arg0: Annotated[list[dai::StereoDepthConfig::PostProcessing::Filter], FixedSize(5)]) -> None

Invoked with: <depthai.StereoDepthConfig.PostProcessing object at 0x7692a5123db0>, [<class 'depthai.filters.params.TemporalFilter'>, <class 'depthai.filters.params.SpatialFilter'>, <class 'depthai.filters.params.SpeckleFilter'>, <class 'depthai.filters.params.MedianFilter'>, <class 'depthai.StereoDepthConfig.PostProcessing.DecimationFilter'>]

Here's the minimal code to test-

import depthai as dai

pipeline = dai.Pipeline()
stereoNode = pipeline.create(dai.node.StereoDepth)
stereoNode.initialConfig.postProcessing.filteringOrder = [
    dai.StereoDepthConfig.PostProcessing.TemporalFilter,
    dai.StereoDepthConfig.PostProcessing.SpatialFilter,
    dai.StereoDepthConfig.PostProcessing.SpeckleFilter,
    dai.StereoDepthConfig.MedianFilter,
    dai.StereoDepthConfig.PostProcessing.DecimationFilter,
]

jakaskerl

rohan
Oh, the bindings seem to be missing on the python side. We'll fix this in the next depthai release...

Thanks,
Jaka