Add example stereo_depth_video and object_tracker_video

Author: csaba-luxonis

docs/source/samples/object_tracker_video.rst

@@ -33,4 +33,12 @@ Source code
            :language: python
            :linenos:
 
+    .. tab:: C++
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-core/blob/main/examples/src/object_tracker_video.cpp>`__
+
+        .. literalinclude:: ../../../depthai-core/examples/src/object_tracker_video.cpp
+           :language: cpp
+           :linenos:
+
 .. include::  /includes/footer-short.rst

examples/object_tracker_video.py

@@ -76,11 +76,11 @@
 # Connect and start the pipeline
 with dai.Device(pipeline) as device:
 
-    qIn = device.getInputQueue(name="inFrame")
-    trackerFrameQ = device.getOutputQueue("trackerFrame", 4)
-    tracklets = device.getOutputQueue("tracklets", 4)
-    qManip = device.getOutputQueue("manip", maxSize=4)
-    qDet = device.getOutputQueue("nn", maxSize=4)
+    qIn = device.getInputQueue(name="inFrame",)
+    trackerFrameQ = device.getOutputQueue(name="trackerFrame", maxSize=4)
+    tracklets = device.getOutputQueue(name="tracklets", maxSize=4)
+    qManip = device.getOutputQueue(name="manip", maxSize=4)
+    qDet = device.getOutputQueue(name="nn", maxSize=4)
 
     startTime = time.monotonic()
     counter = 0

examples/stereo_depth_video.py

@@ -0,0 +1,116 @@
+#!/usr/bin/env python3
+
+import cv2
+import depthai as dai
+import numpy as np
+
+withDepth = True
+
+outputDepth = False
+outputRectified = True
+lrcheck = True
+extended = False
+subpixel = False
+
+# Create pipeline
+pipeline = dai.Pipeline()
+
+# Define sources and outputs
+monoLeft = pipeline.createMonoCamera()
+monoRight = pipeline.createMonoCamera()
+if withDepth:
+    stereo = pipeline.createStereoDepth()
+
+xoutLeft = pipeline.createXLinkOut()
+xoutRight = pipeline.createXLinkOut()
+xoutDisp = pipeline.createXLinkOut()
+xoutDepth = pipeline.createXLinkOut()
+xoutRectifL = pipeline.createXLinkOut()
+xoutRectifR = pipeline.createXLinkOut()
+
+# XLinkOut
+xoutLeft.setStreamName("left")
+xoutRight.setStreamName("right")
+if withDepth:
+    xoutDisp.setStreamName("disparity")
+    xoutDepth.setStreamName("depth")
+    xoutRectifL.setStreamName("rectified_left")
+    xoutRectifR.setStreamName("rectified_right")
+
+# Properties
+monoLeft.setResolution(dai.MonoCameraProperties.SensorResolution.THE_720_P)
+monoLeft.setBoardSocket(dai.CameraBoardSocket.LEFT)
+monoRight.setResolution(dai.MonoCameraProperties.SensorResolution.THE_720_P)
+monoRight.setBoardSocket(dai.CameraBoardSocket.RIGHT)
+
+if withDepth:
+    # StereoDepth
+    stereo.setConfidenceThreshold(200)
+    stereo.setRectifyEdgeFillColor(0)  # black, to better see the cutout
+    # stereo.setInputResolution(1280, 720)
+    stereo.setMedianFilter(dai.StereoDepthProperties.MedianFilter.MEDIAN_OFF)
+    stereo.setLeftRightCheck(lrcheck)
+    stereo.setExtendedDisparity(extended)
+    stereo.setSubpixel(subpixel)
+
+    # Linking
+    monoLeft.out.link(stereo.left)
+    monoRight.out.link(stereo.right)
+
+    stereo.syncedLeft.link(xoutLeft.input)
+    stereo.syncedRight.link(xoutRight.input)
+    stereo.disparity.link(xoutDisp.input)
+
+    if outputRectified:
+        stereo.rectifiedLeft.link(xoutRectifL.input)
+        stereo.rectifiedRight.link(xoutRectifR.input)
+
+    if outputDepth:
+        stereo.depth.link(xoutDepth.input)
+
+else:
+    # Link plugins CAM . XLINK
+    monoLeft.out.link(xoutLeft.input)
+    monoRight.out.link(xoutRight.input)
+
+# Connect to device and start pipeline
+with dai.Device(pipeline) as device:
+
+    leftQueue = device.getOutputQueue(name="left", maxSize=8, blocking=False)
+    rightQueue = device.getOutputQueue(name="right", maxSize=8, blocking=False)
+    if (withDepth):
+        dispQueue = device.getOutputQueue(name="disparity", maxSize=8, blocking=False)
+        depthQueue = device.getOutputQueue(name="depth", maxSize=8, blocking=False)
+        rectifLeftQueue = device.getOutputQueue(name="rectified_left", maxSize=8, blocking=False)
+        rectifRightQueue = device.getOutputQueue(name="rectified_right", maxSize=8, blocking=False)
+
+    # Disparity range is used for normalization
+    disparityMultiplier = 255 / stereo.getMaxDisparity()
+
+    while True:
+        left = leftQueue.get()
+        cv2.imshow("left", left.getFrame())
+        right = rightQueue.get()
+        cv2.imshow("right", right.getFrame())
+
+        if withDepth:
+            disparity = dispQueue.get()
+            disp = disparity.getCvFrame()
+            disp = (disp*disparityMultiplier).astype(np.uint8) # Extended disparity range
+            cv2.imshow("disparity", disp)
+            disp = cv2.applyColorMap(disp, cv2.COLORMAP_JET)
+            cv2.imshow("disparity_color", disp)
+
+            if outputDepth:
+                depth = depthQueue.get()
+                cv2.imshow("depth", depth.getCvFrame().astype(np.uint16))
+
+            if outputRectified:
+                rectifL = rectifLeftQueue.get()
+                cv2.imshow("rectified_left", rectifL.getFrame())
+
+                rectifR = rectifRightQueue.get()
+                cv2.imshow("rectified_right", rectifR.getFrame())
+
+        if cv2.waitKey(1) == ord('q'):
+            break