Configure the Threshold Filter (Min/Max Depth Range) in NEURAL DEPTH

SamiUddin231996

# Configure the Threshold Filter (Min/Max Depth Range)

stereo.initialConfig.postProcessing.thresholdFilter.enable = True stereo.initialConfig.postProcessing.thresholdFilter.minRange = 30 # Minimum distance in cm stereo.initialConfig.postProcessing.thresholdFilter.maxRange = 300 # Maximum distance in cm

I tried with neural depth but it always says, no attribute, how to enable these filters in neural depth!?

Oskar-Luxonis

Hey SamiUddin231996 - thresholdFilter is part of StereoDepthConfig, not NeuralDepthConfig, so the attribute error is expected.

For NeuralDepth, the currently supported post-processing config is confidence threshold, edge threshold, and temporal filtering:

neuralDepth.initialConfig.setConfidenceThreshold(125)
neuralDepth.initialConfig.setEdgeThreshold(10)

For min/max depth range, filter neuralDepth.depth output yourself, e.g. on host:

depth[(depth < 300) | (depth > 3000)] = 0  # mm

Docs, that can help you more:
NeuralDepthConfig
NeuralDepth node

Best,
Oskar

SamiUddin231996

Oskar-Luxonis YES I know it not part of NeuralStereo, But, I mean I'm requesting luxonis team to include these min/max filters in DepthAIv3 API. Please!

Oskar-Luxonis

SamiUddin231996 - thanks for clarifying. I’ll pass it to the team as a DepthAI v3 feature request, and let you know what they say.

Edit: They answered that it shouldn't be hard to implement and put it into tracking.... Don't have any dates tho

Thanks,
Oskar

SamiUddin231996

Oskar-Luxonis Can you ask team if we can have stereo.initialConfig.postProcessing.thresholdFilter.enable = True stereo.initialConfig.postProcessing.thresholdFilter.minRange = 30 # Minimum distance in cm stereo.initialConfig.postProcessing.thresholdFilter.maxRange = 300 # Maximum distance in cm, these in neural depth asap. this is not working: depth[(depth < 300) | (depth > 3000)] = 0 # mm … I have disparity from get()….

Oskar-Luxonis

SamiUddin231996 - I understand. The workaround I mentioned applies to neuralDepth.depth, not neuralDepth.disparity. If you are reading disparity from get(), then the values are disparity units, not millimeters, so 300 / 3000 mm thresholds won’t work directly there.

For now, please use the neuralDepth.depth output if you want to filter by real distance in mm:

depth = depthFrame.getCvFrame()
depth[(depth < 300) | (depth > 3000)] = 0

That said, I agree the proper solution is to have this inside NeuralDepthConfig, similar to StereoDepthConfig.thresholdFilter. I already passed this to the team and they said it should be doable and it is tracked, but I don’t have an ETA yet.
Best,
Oskar

SamiUddin231996

Oskar-Luxonis Thank You, I will try neuralDepth.depth now, and update you thanks!

aljaz

Hi @SamiUddin231996 , DepthAI 3.8.0 added support for min / max filtering of neural depth. Thanks for the report and you can try it out in the example here.

Aljaz

SamiUddin231996

aljaz Great I will check it out and confirm. Best,