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Merge pull request #273 from luxonis/sync_python_cpp_2
Sync python-cpp examples v2
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‎depthai-core‎

‎docs/source/samples/depth_preview.rst‎

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@@ -5,11 +5,17 @@ This example shows how to set the SGBM (semi-global-matching) disparity-depth no
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over XLink to transfer the results to the host real-time, and displays the depth map in OpenCV.
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Note that disparity is used in this case, as it colorizes in a more intuitive way.
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Below is also a preview of using different median filters side-by-side on a depth image.
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There are 3 depth modes which you can select inside the code:
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#. `lr_check`: used for better occlusion handling. For more information `click here <https://docs.luxonis.com/en/latest/pages/faq/#left-right-check-depth-mode>`__
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#. `extended_disparity`: suitable for short range objects. For more information `click here <https://docs.luxonis.com/en/latest/pages/faq/#extended-disparity-depth-mode>`__
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#. `subpixel`: suitable for long range. For more information `click here <https://docs.luxonis.com/en/latest/pages/faq/#subpixel-disparity-depth-mode>`__
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.. rubric:: Similiar samples:
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- :ref:`RGB Preview`
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- :ref:`Mono Preview`
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- :ref:`Stereo Depth Video`
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Demo
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####

‎docs/source/samples/object_tracker_video.rst‎

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

‎docs/source/samples/stereo_depth_from_host.rst‎

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Stereo Depth from host
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======================
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This example shows depth map from host using stereo images. There are 3 depth modes which you can select
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inside the code: left-right check, extended (for closer distance), subpixel (for longer distance).
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This example shows depth map from host using stereo images. There are 3 depth modes which you can select inside the code:
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#. `lr_check`: used for better occlusion handling. For more information `click here <https://docs.luxonis.com/en/latest/pages/faq/#left-right-check-depth-mode>`__
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#. `extended_disparity`: suitable for short range objects. For more information `click here <https://docs.luxonis.com/en/latest/pages/faq/#extended-disparity-depth-mode>`__
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#. `subpixel`: suitable for long range. For more information `click here <https://docs.luxonis.com/en/latest/pages/faq/#subpixel-disparity-depth-mode>`__
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Otherwise a median with kernel_7x7 is activated.
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.. rubric:: Similiar samples:
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- :ref:`Stereo Depth Video`
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Setup
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#####
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‎docs/source/samples/stereo_depth_video.rst‎

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Stereo Depth Video
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==================
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This example is an upgraded :ref:`Depth Preview`. It has higher resolution (720p), each frame can be shown
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(mono left-right, rectified left-right, disparity and depth). There are 6 modes which you can select
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inside the code:
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#. `withDepth`: if you turn it off it will became :ref:`Mono Preview`, so it will show only the 2 mono cameras
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#. `outputDepth`: if you turn it on it will show the depth
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#. `lrcheck`: used for better occlusion handling. For more information `click here <https://docs.luxonis.com/en/latest/pages/faq/#left-right-check-depth-mode>`__
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#. `extended`: suitable for short range objects. For more information `click here <https://docs.luxonis.com/en/latest/pages/faq/#extended-disparity-depth-mode>`__
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#. `subpixel`: suitable for long range. For more information `click here <https://docs.luxonis.com/en/latest/pages/faq/#subpixel-disparity-depth-mode>`__
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.. rubric:: Similiar samples:
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- :ref:`Depth Preview`
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- :ref:`Stereo Depth from host`
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Setup
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#####
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.. include:: /includes/install_from_pypi.rst
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Source code
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###########
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.. tabs::
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.. tab:: Python
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Also `available on GitHub <https://github.com/luxonis/depthai-python/blob/main/examples/stereo_depth_video.py>`__
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.. literalinclude:: ../../../examples/stereo_depth_video.py
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:language: python
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:linenos:
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.. tab:: C++
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Also `available on GitHub <https://github.com/luxonis/depthai-core/blob/main/examples/src/stereo_depth_video.cpp>`__
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.. literalinclude:: ../../../depthai-core/examples/src/stereo_depth_video.cpp
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:language: cpp
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:linenos:
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.. include:: /includes/footer-short.rst

‎docs/source/tutorials/code_samples.rst‎

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- :ref:`Mono Camera Control` - Demonstrates how to control the mono camera (crop, exposure, sensitivity) from the host
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- :ref:`Depth Crop Control` - Demonstrates how to control cropping of depth frames from the host
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- :ref:`Stereo Depth from host` - Generates stereo depth frame from a set of mono images from the host
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- :ref:`Stereo Depth Video` - An extended version of **Depth Preview**
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- :ref:`RGB Rotate Warp` - Demonstrates how to rotate, mirror, flip or perform perspective transform on a frame
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- :ref:`RGB Depth` - Displays RGB depth frames
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- :ref:`Auto Exposure on ROI` - Demonstrates how to use auto exposure based on the selected ROI

‎docs/source/tutorials/complex_samples.rst‎

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../samples/mono_camera_control.rst
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../samples/depth_crop_control.rst
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../samples/stereo_depth_from_host.rst
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../samples/stereo_depth_video.rst
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../samples/rgb_rotate_warp.rst
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../samples/rgb_depth_aligned.rst
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../samples/autoexposure_roi.rst
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- :ref:`Mono Camera Control` - Demonstrates how to control the mono camera (crop, exposure, sensitivity) from the host
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- :ref:`Depth Crop Control` - Demonstrates how to control cropping of depth frames from the host
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- :ref:`Stereo Depth from host` - Generates stereo depth frame from a set of mono images from the host
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- :ref:`Stereo Depth Video` - An extended version of **Depth Preview**
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- :ref:`RGB Rotate Warp` - Demonstrates how to rotate, mirror, flip or perform perspective transform on a frame
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- :ref:`RGB Depth` - Displays RGB depth frames
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- :ref:`Auto Exposure on ROI` - Demonstrates how to use auto exposure based on the selected ROI

‎examples/CMakeLists.txt‎

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add_python_example(spatial_object_tracker spatial_object_tracker.py)
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add_python_example(object_tracker_video object_tracker_video.py)
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add_python_example(stereo_depth_from_host stereo_depth_from_host.py)
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add_python_example(stereo_depth_video stereo_depth_video.py)

‎examples/object_tracker_video.py‎

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with dai.Device(pipeline) as device:
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qIn = device.getInputQueue(name="inFrame")
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trackerFrameQ = device.getOutputQueue("trackerFrame", 4)
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tracklets = device.getOutputQueue("tracklets", 4)
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qManip = device.getOutputQueue("manip", maxSize=4)
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qDet = device.getOutputQueue("nn", maxSize=4)
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trackerFrameQ = device.getOutputQueue(name="trackerFrame", maxSize=4)
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tracklets = device.getOutputQueue(name="tracklets", maxSize=4)
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qManip = device.getOutputQueue(name="manip", maxSize=4)
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qDet = device.getOutputQueue(name="nn", maxSize=4)
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startTime = time.monotonic()
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counter = 0

‎examples/stereo_depth_video.py‎

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

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