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Rvc2 vertical stereo #151

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Rvc2 vertical stereo #151

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39d4b6a
Add optional vertical stereo and stereo rectification interpolation type
SzabolcsGergely Oct 20, 2023
9d6c046
Rename to rectificationInterpolation
SzabolcsGergely Oct 20, 2023
439625e
Merge remote-tracking branch 'origin/develop' into rvc2_vertical_stereo
SzabolcsGergely Oct 25, 2023
f85cb62
Merge remote-tracking branch 'origin/develop' into rvc2_vertical_stereo
Dec 6, 2023
800f3c9
Fix windows build
Dec 7, 2023
f5848b1
Merge remote-tracking branch 'origin/develop' into HEAD
SzabolcsGergely Oct 11, 2024
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3 changes: 2 additions & 1 deletion include/depthai-shared/common/Interpolation.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -15,7 +15,8 @@ enum class Interpolation : std::int32_t {
NEAREST_NEIGHBOR = 2,
BYPASS = NEAREST_NEIGHBOR,
DEFAULT = BICUBIC,
DEFAULT_DISPARITY_DEPTH = NEAREST_NEIGHBOR
DEFAULT_DISPARITY_DEPTH = NEAREST_NEIGHBOR,
DEFAULT_STEREO_RECTIFICATION = BICUBIC,

};

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17 changes: 16 additions & 1 deletion include/depthai-shared/properties/StereoDepthProperties.hpp
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Expand Up @@ -2,6 +2,7 @@

#include "depthai-shared/common/CameraBoardSocket.hpp"
#include "depthai-shared/common/EepromData.hpp"
#include "depthai-shared/common/Interpolation.hpp"
#include "depthai-shared/common/optional.hpp"
#include "depthai-shared/datatype/RawStereoDepthConfig.hpp"
#include "depthai-shared/properties/Properties.hpp"
Expand Down Expand Up @@ -182,6 +183,18 @@ struct StereoDepthProperties : PropertiesSerializable<Properties, StereoDepthPro
* See getOptimalNewCameraMatrix from opencv for more details.
*/
tl::optional<float> alphaScaling;

/**
* Whether to use vertical stereo mode or not.
* Default value: auto, extrinsic calibration data will determine whether it's vertical or horizontal stereo.
*/
tl::optional<bool> verticalStereo;

/**
* Interpolation type used for stereo rectification.
* Default value: DEFAULT_STEREO_RECTIFICATION.
*/
Interpolation rectificationInterpolation = Interpolation::DEFAULT_STEREO_RECTIFICATION;
};

DEPTHAI_SERIALIZE_EXT(StereoDepthProperties,
Expand All @@ -206,6 +219,8 @@ DEPTHAI_SERIALIZE_EXT(StereoDepthProperties,
disparityToDepthUseSpecTranslation,
rectificationUseSpecTranslation,
depthAlignmentUseSpecTranslation,
alphaScaling);
alphaScaling,
verticalStereo,
rectificationInterpolation);

} // namespace dai