Tof undistortion - #1955
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📝 WalkthroughWalkthroughThe PR adds ToF output undistortion configuration for C++ and Python APIs. The setting is serialized, stored by ToF nodes, and checked on RVC2. The RVC4 snapshot identifier and device-side commit are also updated. ChangesToF undistortion configuration
Device build pins
Estimated code review effort: 3 (Moderate) | ~20 minutes Merge Risk: 🟡 Moderate · up to The change adds ToF undistortion configuration, but older readers or persisted pipelines may misinterpret the updated ToFProperties layout, and some RVC2 users may not receive the intended warning. These compatibility and behavior risks should be resolved or explicitly accepted before merge. Sequence Diagram(s)sequenceDiagram
participant PythonApplication
participant ToFBindings
participant ToF
participant ToFProperties
participant RVC2PostBuild
PythonApplication->>ToFBindings: setOutputUndistortion(enable)
ToFBindings->>ToF: call setter
ToF->>ToFProperties: store enableUndistortion
ToF->>RVC2PostBuild: validate configuration
RVC2PostBuild-->>ToF: log warning when enabled
Possibly related PRs
Suggested reviewers: Poem
🚥 Pre-merge checks | ✅ 5✅ Passed checks (5 passed)
✨ Finishing Touches🧪 Generate unit tests (beta)
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Actionable comments posted: 2
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Inline comments:
In `@include/depthai/properties/ToFProperties.hpp`:
- Around line 67-68: Preserve the existing LIBNOP positional serialization order
in DEPTHAI_SERIALIZE_EXT for ToFProperties; do not insert enableUndistortion
before existing fields. Use a versioned extension or coordinate reader updates
to support the new field without breaking old binary payloads, and add
compatibility tests covering both layouts.
In `@src/pipeline/node/ToF.cpp`:
- Around line 111-113: Ensure the RVC2 undistortion warning also runs when users
invoke ToFBase::build directly, not only through ToF::postBuildStage. Move the
validation to a shared path or add it to ToFBase::build, while preventing
duplicate warnings for grouped ToF nodes.
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Configuration used: Repository UI
Review profile: ASSERTIVE
Plan: Pro Plus
Run ID: 51b5f2e6-ee50-4425-a555-47a28406cb46
📒 Files selected for processing (5)
bindings/python/src/pipeline/node/ToFBindings.cppcmake/Depthai/DepthaiDeviceRVC4Config.cmakeinclude/depthai/pipeline/node/ToF.hppinclude/depthai/properties/ToFProperties.hppsrc/pipeline/node/ToF.cpp
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📜 Review details
🔇 Additional comments (5)
cmake/Depthai/DepthaiDeviceRVC4Config.cmake (1)
6-6: LGTM!include/depthai/properties/ToFProperties.hpp (1)
34-38: LGTM!include/depthai/pipeline/node/ToF.hpp (1)
75-83: LGTM!Also applies to: 126-134
src/pipeline/node/ToF.cpp (1)
257-266: LGTM!bindings/python/src/pipeline/node/ToFBindings.cpp (1)
33-34: LGTM!Also applies to: 50-50, 69-69
aljazkonec1
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aljazkonec1
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Thanks, you need to udpate RVC2 FW aswell and test it. Other than that it looks OK.
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| DEPTHAI_SERIALIZE_EXT(ToFProperties, initialConfig, numFramesPool, numShaves, warpHwIds, boardSocket, cameraName, imageOrientation, fps, numFramesPoolRaw); | ||
| DEPTHAI_SERIALIZE_EXT( | ||
| ToFProperties, initialConfig, numFramesPool, numShaves, warpHwIds, enableUndistortion, boardSocket, cameraName, imageOrientation, fps, numFramesPoolRaw); |
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You need to update RVC2 for this change as they both share the ToF properties. In the current state it breaks all ToF pipelines
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I tested RVC2 tof and it behaves as intended
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