Started updating depth colorization logic

Author: Erol444

examples/SpatialDetection/spatial_calculator_multi_roi.py

@@ -3,6 +3,7 @@
 import cv2
 import depthai as dai
 import math
+import numpy as np
 
 # Create pipeline
 pipeline = dai.Pipeline()
@@ -29,7 +30,7 @@
 
 stereo.setDefaultProfilePreset(dai.node.StereoDepth.PresetMode.HIGH_DENSITY)
 stereo.setLeftRightCheck(True)
-stereo.setExtendedDisparity(True)
+stereo.setSubpixel(True)
 spatialLocationCalculator.inputConfig.setWaitForMessage(False)
 
 # Create 10 ROIs
@@ -65,8 +66,10 @@
 
         depthFrame = inDepth.getFrame() # depthFrame values are in millimeters
 
-        depthFrameColor = cv2.normalize(depthFrame, None, 255, 0, cv2.NORM_INF, cv2.CV_8UC1)
-        depthFrameColor = cv2.equalizeHist(depthFrameColor)
+        depth_downscaled = depthFrame[::4]
+        min_depth = np.percentile(depth_downscaled[depth_downscaled != 0], 1)
+        max_depth = np.percentile(depth_downscaled, 99)
+        depthFrameColor = np.interp(depthFrame, (min_depth, max_depth), (0, 255)).astype(np.uint8)
         depthFrameColor = cv2.applyColorMap(depthFrameColor, cv2.COLORMAP_HOT)
 
         spatialData = spatialCalcQueue.get().getSpatialLocations()

examples/mixed/rotated_spatial_detections.py

@@ -4,7 +4,7 @@
 import sys
 import cv2
 import depthai as dai
-
+import numpy as np
 '''
 Spatial object detections demo for 180° rotated OAK camera.
 '''
@@ -58,6 +58,7 @@
 stereo.setDefaultProfilePreset(dai.node.StereoDepth.PresetMode.HIGH_DENSITY)
 # Align depth map to the perspective of RGB camera, on which inference is done
 stereo.setDepthAlign(dai.CameraBoardSocket.RGB)
+stereo.setSubpixel(True)
 stereo.setOutputSize(monoLeft.getResolutionWidth(), monoLeft.getResolutionHeight())
 
 rotate_stereo_manip = pipeline.createImageManip()
@@ -104,8 +105,10 @@
         frame = inPreview.getCvFrame()
         depthFrame = depth.getFrame() # depthFrame values are in millimeters
 
-        depthFrameColor = cv2.normalize(depthFrame, None, 255, 0, cv2.NORM_INF, cv2.CV_8UC1)
-        depthFrameColor = cv2.equalizeHist(depthFrameColor)
+        depth_downscaled = depthFrame[::4]
+        min_depth = np.percentile(depth_downscaled[depth_downscaled != 0], 1)
+        max_depth = np.percentile(depth_downscaled, 99)
+        depthFrameColor = np.interp(depthFrame, (min_depth, max_depth), (0, 255)).astype(np.uint8)
         depthFrameColor = cv2.applyColorMap(depthFrameColor, cv2.COLORMAP_HOT)
 
         detections = inDet.detections