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nickjrz

  • Apr 5, 2022
  • Joined Jul 7, 2021
  • 0 best answers
  • In Depth from Subpixel disparity

    I am collecting disparity frames using the gen2-collecting-training-data and using subpixel modeand median filter. Any idea how I can calculate depth from this? The results I am getting for depth do not correlate to the data being collected

    This is how I am collecting the disparity frames:

    "disparity": lambda item: cv2.applyColorMap((item.getFrame() / 11.921568627 ).astype(np.uint8), cv2.COLORMAP_JET)

    This is how I am calculating the depth from the disparity frames

    disparity_map = disparity_dai
    focal = disparity_map.shape[1] / (2. * math.tan(math.radians(fov / 2)))
    depthScaleFactor = baseline * focal
    depthFrame_dai = (depthScaleFactor / disparity_map).astype(np.uint8)
    depth_map = disparity_map

  • In Subpixel doesn't work when running gen2-collecting-training-data
  • In Subpixel doesn't work when running gen2-collecting-training-data

    erik Thanks for your prompt reply, I will give that a try. The subpixel disparity would still hold depth information, right?

    Also any idea why I keep getting this error when subpixel is activated? I disabled all imageManip commands on script and still running into issues.

    device.startPipeline(create_pipeline(depth_enabled))
    RuntimeError: , LRT: 'Stereo subpixel/extended mode is not stable when one of the following nodes are enabled: 'ImageManip''

      • In Subpixel doesn't work when running gen2-collecting-training-data

        I want to collect stereo data using subpixel mode for long depth measurements but the script crashes when trying to apply a color map with this error message:
        cv2.error: OpenCV(4.5.1) /tmp/pip-req-build-jr1ur_cf/opencv/modules/imgproc/src/colormap.cpp:736: error: (-5:Bad argument) cv::ColorMap only supports source images of type CV_8UC1 or CV_8UC3 in function 'operator()'

        I was also running the gen2-camera-demo to test the subpixel mode but my disparity looks strange.

        any insight on this issue?

        • erik replied to this.