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Merge pull request #1325 from luxonis/lnotspotl/cpp_examples
Add C++ examples
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‎bindings/python/docs/source/components/nodes/image_manip.rst‎

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@@ -64,8 +64,8 @@ Usage
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dai::Pipeline pipeline;
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auto manip = pipeline.create<dai::node::ImageManip>();
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manip->initialConfig.setResize(300, 300);
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manip->initialConfig.setFrameType(dai::ImgFrame::Type::BGR888p);
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manip->initialConfig->setResize(300, 300);
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manip->initialConfig->setFrameType(dai::ImgFrame::Type::BGR888p);
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Image formats supported
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#######################

‎bindings/python/docs/source/components/nodes/spatial_location_calculator.rst‎

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@@ -87,7 +87,7 @@ Usage
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dai::Point2f bottomRight(0.6f, 0.6f);
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config.roi = dai::Rect(topLeft, bottomRight);
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90-
spatialCalc->initialConfig.addROI(config);
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spatialCalc->initialConfig->addROI(config);
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// You can later send configs from the host (XLinkIn) / scripting node to the InputConfig
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‎bindings/python/docs/source/components/nodes/stereo_depth.rst‎

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@@ -286,7 +286,7 @@ as:
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(this confidence score is kind-of inverted, if say comparing with NN)
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For the final disparity map, a filtering is applied based on the confidence threshold value: the pixels that have their confidence score larger than
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the threshold get invalidated, i.e. their disparity value is set to zero. You can set the confidence threshold with :code:`stereo.initialConfig.setConfidenceThreshold()`.
289+
the threshold get invalidated, i.e. their disparity value is set to zero. You can set the confidence threshold with :code:`stereo.initialConfig->setConfidenceThreshold()`.
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Calculate depth using disparity map
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===================================

‎bindings/python/docs/source/tutorials/configuring-stereo-depth.rst‎

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@@ -133,7 +133,7 @@ This means that with the confidence threshold, users can prioritize **fill-rate
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// Create the StereoDepth node
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auto stereo_depth = pipeline.create<dai::node::StereoDepth>();
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stereo_depth->initialConfig.setConfidenceThreshold(threshold);
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stereo_depth->initialConfig->setConfidenceThreshold(threshold);
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// Or, alternatively, set the Stereo Preset Mode:
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// Prioritize fill-rate, sets Confidence threshold to 245

‎examples/cpp/AprilTags/CMakeLists.txt‎

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project(april_tags_examples)
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cmake_minimum_required(VERSION 3.10)
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## function: dai_add_example(example_name example_src enable_test use_pcl)
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## function: dai_set_example_test_labels(example_name ...)
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# Download lenna :0
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private_data(
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URL "https://artifacts.luxonis.com/artifactory/luxonis-depthai-data-local/images/april_tags.jpg"
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FILE "april_tags.jpg"
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SHA1 "6818a531e71948bd28e1f0ab3e76b18aff6150fb"
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LOCATION april_tags
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)
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dai_add_example(april_tags april_tags.cpp OFF OFF)
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dai_add_example(april_tags_12mp april_tags_12mp.cpp OFF OFF)
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dai_add_example(april_tags_replay april_tags_replay.cpp OFF OFF)
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target_compile_definitions(april_tags_replay PRIVATE APRIL_TAGS_PATH="${april_tags}")

‎examples/cpp/AprilTags/april_tags.cpp‎

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#include <chrono>
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#include <iostream>
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#include <memory>
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#include <opencv2/opencv.hpp>
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#include "depthai/depthai.hpp"
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int main() {
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// Create device
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std::shared_ptr<dai::Device> device = std::make_shared<dai::Device>();
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// Create pipeline
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dai::Pipeline pipeline(device);
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// Create nodes
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auto cameraNode = pipeline.create<dai::node::Camera>()->build();
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auto aprilTagNode = pipeline.create<dai::node::AprilTag>();
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// Configure nodes
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auto outputCam = cameraNode->requestOutput(std::make_pair(1280, 720));
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outputCam->link(aprilTagNode->inputImage);
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// Create output queues
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auto passthroughOutputQueue = aprilTagNode->passthroughInputImage.createOutputQueue();
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auto outQueue = aprilTagNode->out.createOutputQueue();
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// Start pipeline
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pipeline.start();
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// Variables for FPS calculation
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auto startTime = std::chrono::steady_clock::now();
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int counter = 0;
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float fps = 0.0f;
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const cv::Scalar color(0, 255, 0);
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while(true) {
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auto aprilTagMessage = outQueue->get<dai::AprilTags>();
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if(aprilTagMessage == nullptr) continue;
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// FPS calculation
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counter++;
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auto currentTime = std::chrono::steady_clock::now();
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auto elapsed = std::chrono::duration_cast<std::chrono::milliseconds>(currentTime - startTime).count();
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if(elapsed > 1000) {
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fps = counter * 1000.0f / elapsed;
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counter = 0;
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startTime = currentTime;
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}
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auto frame = passthroughOutputQueue->get<dai::ImgFrame>();
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if(frame == nullptr) continue;
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cv::Mat cvFrame = frame->getCvFrame();
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// Helper function to convert points to integers
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auto to_int = [](const dai::Point2f& p) { return cv::Point(static_cast<int>(p.x), static_cast<int>(p.y)); };
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for(const auto& tag : aprilTagMessage->aprilTags) {
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auto topLeft = to_int(tag.topLeft);
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auto topRight = to_int(tag.topRight);
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auto bottomRight = to_int(tag.bottomRight);
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auto bottomLeft = to_int(tag.bottomLeft);
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cv::Point center((topLeft.x + bottomRight.x) / 2, (topLeft.y + bottomRight.y) / 2);
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// Draw tag boundaries
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cv::line(cvFrame, topLeft, topRight, color, 2, cv::LINE_AA, 0);
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cv::line(cvFrame, topRight, bottomRight, color, 2, cv::LINE_AA, 0);
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cv::line(cvFrame, bottomRight, bottomLeft, color, 2, cv::LINE_AA, 0);
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cv::line(cvFrame, bottomLeft, topLeft, color, 2, cv::LINE_AA, 0);
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// Draw tag ID
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std::string idStr = "ID: " + std::to_string(tag.id);
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cv::putText(cvFrame, idStr, center, cv::FONT_HERSHEY_TRIPLEX, 0.5, color);
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// Draw FPS
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cv::putText(cvFrame, "fps: " + std::to_string(fps).substr(0, 4), cv::Point(200, 20), cv::FONT_HERSHEY_TRIPLEX, 0.5, color);
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}
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80+
cv::imshow("detections", cvFrame);
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if(cv::waitKey(1) == 'q') {
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break;
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}
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}
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return 0;
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}

‎examples/cpp/AprilTags/april_tags_12mp.cpp‎

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#include <chrono>
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#include <iostream>
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#include <memory>
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#include <opencv2/opencv.hpp>
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#include "depthai/depthai.hpp"
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int main() {
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// Create device
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std::shared_ptr<dai::Device> device = std::make_shared<dai::Device>();
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12+
// Create pipeline
13+
dai::Pipeline pipeline(device);
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// Constants
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const cv::Size FULL_RES(4000, 3000); // 12MP
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const cv::Size PREVIEW_SIZE(1332, 1000); // 1/3 of 12MP
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// Create nodes
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auto hostCamera = pipeline.create<dai::node::Camera>()->build();
21+
auto aprilTagNode = pipeline.create<dai::node::AprilTag>();
22+
auto manip = pipeline.create<dai::node::ImageManip>();
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// Configure nodes
25+
auto outputCam = hostCamera->requestOutput(std::make_pair(FULL_RES.width, FULL_RES.height));
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outputCam->link(aprilTagNode->inputImage);
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28+
// Configure ImageManip
29+
manip->initialConfig->setOutputSize(PREVIEW_SIZE.width, PREVIEW_SIZE.height, dai::ImageManipConfig::ResizeMode::STRETCH);
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manip->setMaxOutputFrameSize(2162688);
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outputCam->link(manip->inputImage);
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33+
// Create output queues
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auto outQueue = aprilTagNode->out.createOutputQueue();
35+
auto frameQ = manip->out.createOutputQueue();
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// Start pipeline
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pipeline.start();
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// Variables for FPS calculation
41+
auto startTime = std::chrono::steady_clock::now();
42+
int counter = 0;
43+
float fps = 0.0f;
44+
const cv::Scalar color(0, 255, 0);
45+
46+
while(true) {
47+
auto aprilTagMessage = outQueue->get<dai::AprilTags>();
48+
if(aprilTagMessage == nullptr) continue;
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50+
// FPS calculation
51+
counter++;
52+
auto currentTime = std::chrono::steady_clock::now();
53+
auto elapsed = std::chrono::duration_cast<std::chrono::milliseconds>(currentTime - startTime).count();
54+
if(elapsed > 1000) {
55+
fps = counter * 1000.0f / elapsed;
56+
counter = 0;
57+
startTime = currentTime;
58+
}
59+
60+
// Helper function to rescale points
61+
auto rescale = [&FULL_RES, &PREVIEW_SIZE](const dai::Point2f& p) {
62+
return cv::Point(static_cast<int>(p.x / FULL_RES.width * PREVIEW_SIZE.width), static_cast<int>(p.y / FULL_RES.height * PREVIEW_SIZE.height));
63+
};
64+
65+
auto frame = frameQ->get<dai::ImgFrame>();
66+
if(frame == nullptr) continue;
67+
68+
cv::Mat cvFrame = frame->getCvFrame();
69+
for(const auto& tag : aprilTagMessage->aprilTags) {
70+
auto topLeft = rescale(tag.topLeft);
71+
auto topRight = rescale(tag.topRight);
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auto bottomRight = rescale(tag.bottomRight);
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auto bottomLeft = rescale(tag.bottomLeft);
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cv::Point center((topLeft.x + bottomRight.x) / 2, (topLeft.y + bottomRight.y) / 2);
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// Draw tag boundaries
78+
cv::line(cvFrame, topLeft, topRight, color, 2, cv::LINE_AA, 0);
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cv::line(cvFrame, topRight, bottomRight, color, 2, cv::LINE_AA, 0);
80+
cv::line(cvFrame, bottomRight, bottomLeft, color, 2, cv::LINE_AA, 0);
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cv::line(cvFrame, bottomLeft, topLeft, color, 2, cv::LINE_AA, 0);
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// Draw tag ID
84+
std::string idStr = "ID: " + std::to_string(tag.id);
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cv::putText(cvFrame, idStr, center, cv::FONT_HERSHEY_TRIPLEX, 0.5, color);
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// Draw FPS
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cv::putText(cvFrame, "fps: " + std::to_string(fps).substr(0, 4), cv::Point(200, 20), cv::FONT_HERSHEY_TRIPLEX, 1, color);
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}
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91+
cv::imshow("detections", cvFrame);
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if(cv::waitKey(1) == 'q') {
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break;
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}
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}
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return 0;
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}

‎examples/cpp/AprilTags/april_tags_replay.cpp‎

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#include <chrono>
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#include <iostream>
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#include <opencv2/opencv.hpp>
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#include <thread>
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#include "depthai/depthai.hpp"
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class ImageReplay : public dai::NodeCRTP<dai::node::ThreadedHostNode, ImageReplay> {
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public:
10+
constexpr static const char* NAME = "ImageReplay";
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Output output{*this, {"out", DEFAULT_GROUP, {{{dai::DatatypeEnum::ImgFrame, true}}}}};
13+
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ImageReplay() {
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// Load and prepare the image
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cv::Mat frame = cv::imread(APRIL_TAGS_PATH);
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cv::cvtColor(frame, frame, cv::COLOR_BGR2GRAY);
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// Create ImgFrame
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auto imgFrame = std::make_shared<dai::ImgFrame>();
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std::vector<uint8_t> data(frame.data, frame.data + frame.total() * frame.elemSize());
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imgFrame->setData(data);
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imgFrame->setWidth(frame.cols);
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imgFrame->setHeight(frame.rows);
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imgFrame->setType(dai::ImgFrame::Type::GRAY8);
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_imgFrame = imgFrame;
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}
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void run() override {
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while(isRunning()) {
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output.send(_imgFrame);
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std::this_thread::sleep_for(std::chrono::milliseconds(30));
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}
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}
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private:
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std::shared_ptr<dai::ImgFrame> _imgFrame;
38+
};
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int main() {
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// Create pipeline
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dai::Pipeline pipeline;
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// Create nodes
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auto imageReplay = pipeline.create<ImageReplay>();
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auto aprilTagNode = pipeline.create<dai::node::AprilTag>();
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// Link nodes
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imageReplay->output.link(aprilTagNode->inputImage);
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aprilTagNode->initialConfig->setFamily(dai::AprilTagConfig::Family::TAG_16H5);
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// Create output queues
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auto passthroughOutputQueue = aprilTagNode->passthroughInputImage.createOutputQueue();
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auto outQueue = aprilTagNode->out.createOutputQueue();
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// Start pipeline
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pipeline.start();
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// FPS calculation variables
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cv::Scalar color(0, 255, 0);
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auto startTime = std::chrono::steady_clock::now();
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int counter = 0;
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float fps = 0.0f;
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// Main loop
66+
while(pipeline.isRunning()) {
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auto aprilTagMessage = outQueue->get<dai::AprilTags>();
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auto aprilTags = aprilTagMessage->aprilTags;
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// Calculate FPS
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counter++;
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auto currentTime = std::chrono::steady_clock::now();
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auto elapsed = std::chrono::duration_cast<std::chrono::seconds>(currentTime - startTime).count();
74+
if(elapsed >= 1) {
75+
fps = counter / static_cast<float>(elapsed);
76+
counter = 0;
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startTime = currentTime;
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}
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// Get passthrough image
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auto passthroughImage = passthroughOutputQueue->get<dai::ImgFrame>();
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cv::Mat frame = passthroughImage->getCvFrame();
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cv::cvtColor(frame, frame, cv::COLOR_GRAY2BGR);
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// Helper function to convert points to integers
86+
auto to_int = [](const dai::Point2f& p) { return cv::Point(static_cast<int>(p.x), static_cast<int>(p.y)); };
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// Draw detections
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for(const auto& tag : aprilTags) {
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auto topLeft = to_int(tag.topLeft);
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auto topRight = to_int(tag.topRight);
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auto bottomRight = to_int(tag.bottomRight);
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auto bottomLeft = to_int(tag.bottomLeft);
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auto center = cv::Point((topLeft.x + bottomRight.x) / 2, (topLeft.y + bottomRight.y) / 2);
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// Draw rectangle
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cv::line(frame, topLeft, topRight, color, 2, cv::LINE_AA, 0);
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cv::line(frame, topRight, bottomRight, color, 2, cv::LINE_AA, 0);
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cv::line(frame, bottomRight, bottomLeft, color, 2, cv::LINE_AA, 0);
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cv::line(frame, bottomLeft, topLeft, color, 2, cv::LINE_AA, 0);
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// Draw ID
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std::string idStr = "ID: " + std::to_string(tag.id);
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cv::putText(frame, idStr, center, cv::FONT_HERSHEY_TRIPLEX, 0.5, color);
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// Draw FPS
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cv::putText(frame, "fps: " + std::to_string(fps).substr(0, 4), cv::Point(200, 20), cv::FONT_HERSHEY_TRIPLEX, 0.5, color);
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}
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cv::imshow("detections", frame);
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if(cv::waitKey(1) == 'q') {
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break;
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}
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}
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return 0;
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}

‎examples/cpp/Benchmark/CMakeLists.txt‎

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project(benchmark_examples)
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cmake_minimum_required(VERSION 3.10)
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## function: dai_add_example(example_name example_src enable_test use_pcl)
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## function: dai_set_example_test_labels(example_name ...)
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dai_add_example(benchmark_camera "benchmark_camera.cpp" FALSE FALSE)
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dai_add_example(benchmark_nn "benchmark_nn.cpp" FALSE FALSE)
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dai_add_example(benchmark_simple "benchmark_simple.cpp" FALSE FALSE)

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