The depth image that I get is very noisy. Anyway to improve it or am I doing something wrong. I use the simplest script with metaout depth as commands

    Hi Anand ,

    Thanks for the report. So you could try our host-side WLS-filtering example:

    https://github.com/luxonis/depthai-experiments/blob/master/wls-filter/README.md

    image

    In Gen1 (and soon in Gen2) you can also change the median kernel size, and the disparity confidence. https://docs.luxonis.com/en/latest/pages/api/#Device.create_pipeline

    Valid median kernels are 0 (no median), 3, 5, and 7. Where square kernels are used. And the disparity confidence has a slider on the Gen1 example. Running python3 depthai_demo.py -s depth will pull up a window with a slider for disparity confidence.

    Later we will also support onboard bilateral filtering (see here), which will further help depth quality. And neural-assisted disparity depth will come after that (see here).

    Thoughts?

    Thanks,
    Brandon

        Brandon Thanks for your help. However when I run your WLS-filter I get the error which you mention about opencv-contrib-python not being installed. I did install this but still seem to get the error.
        Just another quick query. How do I get jet color map in depth mode.

          Hi Anand,

          Back in the depthai directory, make sure the requirements are installed for it (python3 install_requirements.py) and then run:
          python3 depthai_demo.py -s disparity_color

          Here is running it on my OAK-D:

          So on the opencv-contrib-python, sometimes the issue could be the install location, and which Python you are using.

          I suspect a system Python is being used instead of a user Python, and opencv-contrib-python was installed along the Python that is not being used.

          Which OS are you using?

          Thanks,
          Brandon

            Brandon I am using a Mac and have not installed anything extra apart from the installation mentioned in your docs.
            Yes the color map is on disparity_color only, I presume.
            Thanks again

              Yes, that is correct. It is strange that the opencv-contrib-python bit did not work than for WLS. As I too am on effectively the same mac install.

              It still gives the same error?

              Hi,
              If that can help, on my Mac system (10.15.7) I was having this following problem when running the depthai-experiments/wls-filter:
              Traceback (most recent call last):
              File "/Volumes/Misc/DepthAI/depthai-experiments/wls-filter/./main.py", line 52, in <module>
              wls_filter = cv2.ximgproc.createDisparityWLSFilterGeneric(lr_check)
              AttributeError: module 'cv2.cv2' has no attribute 'ximgproc'

              I fixed it by uninstalling opencv with: pip uninstall opencv-contrib-python opencv-python
              and re-installing the dependencies with: ./install_dependencies.sh

              Then depthai-experiments/wls-filter ran just fine 😉