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MaticToninMaticTonin
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Merge pull request #1808 from luxonis/fix/mt_gpu-stereo
Feature; GPUStereo
2 parents e7d6f1f + 57b8118 commit b83a86e

33 files changed

Lines changed: 542 additions & 6 deletions

‎CMakeLists.txt‎

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@@ -340,6 +340,7 @@ set(TARGET_CORE_SOURCES
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src/pipeline/datatype/ADataType.cpp
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src/pipeline/node/PointCloud.cpp
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src/pipeline/node/NeuralDepth.cpp
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src/pipeline/node/GPUStereo.cpp
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src/pipeline/node/NeuralAssistedStereo.cpp
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src/pipeline/node/Rectification.cpp
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src/pipeline/datatype/Buffer.cpp
@@ -369,6 +370,7 @@ set(TARGET_CORE_SOURCES
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src/pipeline/datatype/IMUData.cpp
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src/pipeline/datatype/StereoDepthConfig.cpp
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src/pipeline/datatype/NeuralDepthConfig.cpp
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src/pipeline/datatype/GPUStereoConfig.cpp
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src/pipeline/datatype/EdgeDetectorConfig.cpp
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src/pipeline/datatype/TrackedFeatures.cpp
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src/pipeline/datatype/FeatureTrackerConfig.cpp

‎bindings/python/CMakeLists.txt‎

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@@ -111,6 +111,7 @@ set(SOURCE_LIST
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src/pipeline/node/ImageFiltersBindings.cpp
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src/pipeline/node/RectificationBindings.cpp
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src/pipeline/node/NeuralDepthBindings.cpp
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src/pipeline/node/GPUStereoBindings.cpp
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src/pipeline/node/NeuralAssistedStereoBindings.cpp
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src/pipeline/FilterParamsBindings.cpp
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src/pipeline/node/VppBindings.cpp
@@ -135,6 +136,7 @@ set(SOURCE_LIST
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src/pipeline/datatype/MessageGroupBindings.cpp
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src/pipeline/datatype/NNDataBindings.cpp
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src/pipeline/datatype/NeuralDepthConfigBindings.cpp
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src/pipeline/datatype/GPUStereoConfigBindings.cpp
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src/pipeline/datatype/RGBDDataBindings.cpp
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src/pipeline/datatype/SpatialImgDetectionsBindings.cpp
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src/pipeline/datatype/SpatialLocationCalculatorConfigBindings.cpp

‎bindings/python/src/DatatypeBindings.cpp‎

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@@ -20,6 +20,7 @@ void bind_imudata(pybind11::module& m, void* pCallstack);
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void bind_message_group(pybind11::module& m, void* pCallstack);
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void bind_nndata(pybind11::module& m, void* pCallstack);
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void bind_neuraldepthconfig(pybind11::module& m, void* pCallstack);
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void bind_gpustereoconfig(pybind11::module& m, void* pCallstack);
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void bind_spatialimgdetections(pybind11::module& m, void* pCallstack);
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void bind_segmentationparserconfig(pybind11::module& m, void* pCallstack);
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void bind_segmentationmask(pybind11::module& m, void* pCallstack);
@@ -71,6 +72,7 @@ void DatatypeBindings::addToCallstack(std::deque<StackFunction>& callstack) {
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callstack.push_front(bind_message_group);
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callstack.push_front(bind_nndata);
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callstack.push_front(bind_neuraldepthconfig);
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callstack.push_front(bind_gpustereoconfig);
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callstack.push_front(bind_spatialimgdetections);
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callstack.push_front(bind_segmentationparserconfig);
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callstack.push_front(bind_segmentationmask);
@@ -142,6 +144,7 @@ void DatatypeBindings::bind(pybind11::module& m, void* pCallstack) {
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.value("Tracklets", DatatypeEnum::Tracklets)
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.value("IMUData", DatatypeEnum::IMUData)
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.value("StereoDepthConfig", DatatypeEnum::StereoDepthConfig)
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.value("GPUStereoConfig", DatatypeEnum::GPUStereoConfig)
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.value("FeatureTrackerConfig", DatatypeEnum::FeatureTrackerConfig)
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.value("ThermalConfig", DatatypeEnum::ThermalConfig)
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.value("ToFConfig", DatatypeEnum::ToFConfig)

‎bindings/python/src/DeviceBindings.cpp‎

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@@ -1027,6 +1027,13 @@ void DeviceBindings::bind(pybind11::module& m, void* pCallstack) {
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return d.hasGPU();
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},
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DOC(dai, DeviceBase, hasGPU))
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.def(
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"isGpuStereoSupported",
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[](DeviceBase& d) {
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py::gil_scoped_release release;
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return d.isGpuStereoSupported();
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},
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DOC(dai, DeviceBase, isGpuStereoSupported))
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.def(
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"getSupportedDeviceModels",
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[](DeviceBase& d) {

‎bindings/python/src/pipeline/datatype/GPUStereoConfigBindings.cpp‎

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#include <memory>
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#include "DatatypeBindings.hpp"
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#include "depthai/pipeline/datatype/GPUStereoConfig.hpp"
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#include "pipeline/CommonBindings.hpp"
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void bind_gpustereoconfig(pybind11::module& m, void* pCallstack) {
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using namespace dai;
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py::class_<GPUStereoConfig, Py<GPUStereoConfig>, Buffer, std::shared_ptr<GPUStereoConfig>> gpuStereoConfig(m, "GPUStereoConfig", DOC(dai, GPUStereoConfig));
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Callstack* callstack = (Callstack*)pCallstack;
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auto cb = callstack->top();
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callstack->pop();
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cb(m, pCallstack);
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gpuStereoConfig.def(py::init<>())
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.def("__repr__", &GPUStereoConfig::str)
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.def("setConfidenceThreshold", &GPUStereoConfig::setConfidenceThreshold, py::arg("threshold"), DOC(dai, GPUStereoConfig, setConfidenceThreshold))
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.def("getConfidenceThreshold", &GPUStereoConfig::getConfidenceThreshold, DOC(dai, GPUStereoConfig, getConfidenceThreshold))
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.def_readwrite("confidenceThreshold", &GPUStereoConfig::confidenceThreshold, DOC(dai, GPUStereoConfig, confidenceThreshold));
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}

‎bindings/python/src/pipeline/node/GPUStereoBindings.cpp‎

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#include "Common.hpp"
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#include "NodeBindings.hpp"
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#include "depthai/pipeline/Node.hpp"
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#include "depthai/pipeline/Pipeline.hpp"
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#include "depthai/pipeline/node/GPUStereo.hpp"
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void bind_gpustereo(pybind11::module& m, void* pCallstack) {
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using namespace dai;
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using namespace dai::node;
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py::class_<GPUStereoProperties> properties(m, "GPUStereoProperties", DOC(dai, GPUStereoProperties));
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auto node = ADD_NODE(GPUStereo);
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Callstack* callstack = (Callstack*)pCallstack;
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auto cb = callstack->top();
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callstack->pop();
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cb(m, pCallstack);
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properties.def_readwrite("initialConfig", &GPUStereoProperties::initialConfig, DOC(dai, GPUStereoProperties, initialConfig));
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node.def_property_readonly(
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"left", [](const GPUStereo& n) { return &n.sync->inputs["left"]; }, py::return_value_policy::reference_internal, DOC(dai, node, GPUStereo, left))
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.def_property_readonly(
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"right", [](const GPUStereo& n) { return &n.sync->inputs["right"]; }, py::return_value_policy::reference_internal, DOC(dai, node, GPUStereo, right))
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.def_readonly("initialConfig", &GPUStereo::initialConfig, DOC(dai, node, GPUStereo, initialConfig))
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.def("setRectification", &GPUStereo::setRectification, py::arg("enable"), DOC(dai, node, GPUStereo, setRectification))
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.def_readonly("disparity", &GPUStereo::disparity, DOC(dai, node, GPUStereo, disparity))
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.def_readonly("depth", &GPUStereo::depth, DOC(dai, node, GPUStereo, depth))
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.def_readonly("confidenceMap", &GPUStereo::confidenceMap, DOC(dai, node, GPUStereo, confidenceMap))
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.def("build", &GPUStereo::build, py::arg("leftInput"), py::arg("rightInput"), DOC(dai, node, GPUStereo, build));
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daiNodeModule.attr("GPUStereo").attr("Properties") = properties;
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}

‎bindings/python/src/pipeline/node/NodeBindings.cpp‎

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@@ -186,6 +186,7 @@ void bind_imagealign(pybind11::module& m, void* pCallstack);
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void bind_rgbd(pybind11::module& m, void* pCallstack);
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void bind_rectification(pybind11::module& m, void* pCallstack);
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void bind_neuraldepth(pybind11::module& m, void* pCallstack);
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void bind_gpustereo(pybind11::module& m, void* pCallstack);
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void bind_neuralassistedstereo(pybind11::module& m, void* pCallstack);
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void bind_vpp(pybind11::module& m, void* pCallstack);
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void bind_gate(pybind11::module& m, void* pCallstack);
@@ -242,6 +243,7 @@ void NodeBindings::addToCallstack(std::deque<StackFunction>& callstack) {
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callstack.push_front(bind_rgbd);
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callstack.push_front(bind_rectification);
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callstack.push_front(bind_neuraldepth);
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callstack.push_front(bind_gpustereo);
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callstack.push_front(bind_neuralassistedstereo);
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callstack.push_front(bind_vpp);
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callstack.push_front(bind_gate);

‎cmake/Depthai/DepthaiDeviceRVC4Config.cmake‎

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@@ -3,4 +3,4 @@
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set(DEPTHAI_DEVICE_RVC4_MATURITY "snapshot")
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# "version if applicable"
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set(DEPTHAI_DEVICE_RVC4_VERSION "0.0.1+71eee6ebec2f8f10100f3b1a97e12742cdc1691b")
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set(DEPTHAI_DEVICE_RVC4_VERSION "0.0.1+886132476df4489402cd994c995af71a4c6a4d8a")

‎examples/cpp/CMakeLists.txt‎

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@@ -165,6 +165,7 @@ add_subdirectory(NeuralDepth)
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add_subdirectory(Segmentation)
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add_subdirectory(Vpp)
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add_subdirectory(NeuralAssistedStereo)
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add_subdirectory(GPUStereo)
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add_subdirectory(Gate)
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add_subdirectory(PointCloud)
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if(DEPTHAI_DYNAMIC_CALIBRATION_SUPPORT)

‎examples/cpp/GPUStereo/CMakeLists.txt‎

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project(gpu_stereo_examples)
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cmake_minimum_required(VERSION 3.10)
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dai_add_example(gpu_stereo gpu_stereo.cpp ON OFF)
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dai_set_example_test_labels(gpu_stereo ondevice rvc4 ci)

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