wls-filter

Host-Side WLS Filtering

This gives an example of doing host-side WLS filtering using the rectified_right and depth stream from DepthAI Gen3 API.

Demo

Usage

Running this example requires a Luxonis device connected to your computer. Refer to the documentation to setup your device if you haven't done it already.

You can run the example fully on device (STANDALONE mode) or using your computer as host (PERIPHERAL mode).

Here is a list of all available parameters:

-d DEVICE, --device DEVICE
                      Optional name, DeviceID or IP of the camera to connect to. (default: None)

Use the following keyboard controls in the visualizer to adjust WLS filtering parameters:

Key	Action
l	Decrease lambda
L	Increase lambda
s	Decrease sigma
S	Increase sigma
q	Quit the pipeline

• Lambda controls the amount of smoothing (higher = smoother).
• Sigma controls the edge sensitivity (higher = more edge-aware).

Peripheral Mode

Installation

You need to first prepare a Python >= 3.10 environment with the following packages installed:

• DepthAI,
• DepthAI Nodes.

You can simply install them by running:

pip install -r requirements.txt

Running in peripheral mode requires a host computer and there will be communication between device and host which could affect the overall speed of the app. Below are some examples of how to run the example.

Examples

python3 main.py

This will run the example with default arguments.

Standalone Mode (RVC4 only)

Running the example in the standalone mode, app runs entirely on the device. To run the example in this mode, first install the oakctl tool using the installation instructions here.

The app can then be run with:

oakctl connect <DEVICE_IP>
oakctl app run .

This will run the example with default argument values. If you want to change these values you need to edit the oakapp.toml file (refer here for more information about this configuration file).