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Removed references to tof's depthParams #1009

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Apr 23, 2024
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Removed references to tof's depthParams #1009

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7 changes: 0 additions & 7 deletions examples/ToF/tof_depth.py
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Original file line number Diff line number Diff line change
Expand Up @@ -12,13 +12,6 @@

tof = pipeline.create(dai.node.ToF)

# Configure the ToF node
tofConfig = tof.initialConfig.get()
# tofConfig.depthParams.freqModUsed = dai.RawToFConfig.DepthParams.TypeFMod.MIN
tofConfig.depthParams.freqModUsed = dai.RawToFConfig.DepthParams.TypeFMod.MAX
tofConfig.depthParams.avgPhaseShuffle = False
tofConfig.depthParams.minimumAmplitude = 3.0
tof.initialConfig.set(tofConfig)
# Link the ToF sensor to the ToF node
cam_a.raw.link(tof.input)

Expand Down
32 changes: 4 additions & 28 deletions utilities/cam_test.py
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Expand Up @@ -286,7 +286,6 @@ def socket_to_socket_opt(socket: dai.CameraBoardSocket) -> str:
xout_raw = {}
xout_tof_amp = {}
streams = []
tofConfig = {}
yolo_passthrough_q_name = None
for c in cam_list:
print("CAM: ", c)
Expand All @@ -303,21 +302,14 @@ def socket_to_socket_opt(socket: dai.CameraBoardSocket) -> str:
cam[c].raw.link(tof[c].input)
tof[c].depth.link(xout[c].input)
xinTofConfig.out.link(tof[c].inputConfig)
tofConfig = tof[c].initialConfig.get()
tofConfig.depthParams.freqModUsed = dai.RawToFConfig.DepthParams.TypeFMod.MIN
tofConfig.depthParams.avgPhaseShuffle = False
tofConfig.depthParams.minimumAmplitude = 3.0
tof[c].initialConfig.set(tofConfig)

if args.tof_median == 0:
tofConfig.depthParams.median = dai.MedianFilter.MEDIAN_OFF
tof[c].initialConfig.setMedianFilter(dai.MedianFilter.MEDIAN_OFF)
elif args.tof_median == 3:
tofConfig.depthParams.median = dai.MedianFilter.KERNEL_3x3
tof[c].initialConfig.setMedianFilter(dai.MedianFilter.KERNEL_3x3)
elif args.tof_median == 5:
tofConfig.depthParams.median = dai.MedianFilter.KERNEL_5x5
tof[c].initialConfig.setMedianFilter(dai.MedianFilter.KERNEL_5x5)
elif args.tof_median == 7:
tofConfig.depthParams.median = dai.MedianFilter.KERNEL_7x7
tof[c].initialConfig.set(tofConfig)
tof[c].initialConfig.setMedianFilter(dai.MedianFilter.KERNEL_7x7)
if args.tof_amplitude:
amp_name = 'tof_amplitude_' + c
xout_tof_amp[c] = pipeline.create(dai.node.XLinkOut)
Expand Down Expand Up @@ -661,16 +653,6 @@ def socket_to_socket_opt(socket: dai.CameraBoardSocket) -> str:
elif key == ord('c'):
capture_list = streams.copy()
capture_time = time.strftime('%Y%m%d_%H%M%S')
elif key == ord('g') and tof:
f_mod = dai.RawToFConfig.DepthParams.TypeFMod.MAX if tofConfig.depthParams.freqModUsed == dai.RawToFConfig.DepthParams.TypeFMod.MIN else dai.RawToFConfig.DepthParams.TypeFMod.MIN
print("ToF toggling f_mod value to:", f_mod)
tofConfig.depthParams.freqModUsed = f_mod
tofCfgQueue.send(tofConfig)
elif key == ord('h') and tof:
tofConfig.depthParams.avgPhaseShuffle = not tofConfig.depthParams.avgPhaseShuffle
print("ToF toggling avgPhaseShuffle value to:",
tofConfig.depthParams.avgPhaseShuffle)
tofCfgQueue.send(tofConfig)
elif key == ord('t'):
print("Autofocus trigger (and disable continuous)")
ctrl = dai.CameraControl()
Expand Down Expand Up @@ -840,12 +822,6 @@ def socket_to_socket_opt(socket: dai.CameraBoardSocket) -> str:
chroma_denoise = clamp(chroma_denoise + change, 0, 4)
print("Chroma denoise:", chroma_denoise)
ctrl.setChromaDenoise(chroma_denoise)
elif control == 'tof_amplitude_min' and tof:
amp_min = clamp(
tofConfig.depthParams.minimumAmplitude + change, 0, 50)
print("Setting min amplitude(confidence) to:", amp_min)
tofConfig.depthParams.minimumAmplitude = amp_min
tofCfgQueue.send(tofConfig)
controlQueue.send(ctrl)

print()
5 changes: 0 additions & 5 deletions utilities/stress_test.py
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Original file line number Diff line number Diff line change
Expand Up @@ -390,11 +390,6 @@ def build_pipeline(device: dai.Device, args) -> Tuple[dai.Pipeline, List[Tuple[s
tof_xout = pipeline.createXLinkOut()
tof_xout.setStreamName("tof")
tof.depth.link(tof_xout.input)
tofConfig = tof.initialConfig.get()
tofConfig.depthParams.freqModUsed = dai.RawToFConfig.DepthParams.TypeFMod.MIN
tofConfig.depthParams.avgPhaseShuffle = False
tofConfig.depthParams.minimumAmplitude = 3.0
tof.initialConfig.set(tofConfig)
xlink_outs.append(("tof", 4))
continue # No video encoder and edge detector for TOF
else:
Expand Down