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themarpethemarpe
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Merge commit 'f90eed9a3af09a0c43c36e0383c095ef4786fe4e' into develop
2 parents 7ff599b + f90eed9 commit d5f9473

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‎.gitignore‎

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@@ -38,6 +38,7 @@ wheelhouse/
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.venv
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env/
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venv/
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venv_*/
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ENV/
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env.bak/
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venv.bak/

‎CMakeLists.txt‎

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@@ -107,6 +107,7 @@ pybind11_add_module(${TARGET_NAME}
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src/pipeline/node/XLinkInBindings.cpp
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src/pipeline/node/XLinkOutBindings.cpp
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src/pipeline/node/ColorCameraBindings.cpp
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src/pipeline/node/CameraBindings.cpp
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src/pipeline/node/MonoCameraBindings.cpp
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src/pipeline/node/StereoDepthBindings.cpp
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src/pipeline/node/NeuralNetworkBindings.cpp

‎depthai-core‎

‎examples/Camera/camera_isp.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 time
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# Connect to device and start pipeline
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with dai.Device() as device:
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# Device name
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print('Device name:', device.getDeviceName())
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# Bootloader version
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if device.getBootloaderVersion() is not None:
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print('Bootloader version:', device.getBootloaderVersion())
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# Print out usb speed
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print('Usb speed:', device.getUsbSpeed().name)
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# Connected cameras
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print('Connected cameras:', device.getConnectedCameraFeatures())
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# Create pipeline
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pipeline = dai.Pipeline()
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cams = device.getConnectedCameraFeatures()
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streams = []
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for cam in cams:
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print(str(cam), str(cam.socket), cam.socket)
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c = pipeline.create(dai.node.Camera)
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x = pipeline.create(dai.node.XLinkOut)
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c.isp.link(x.input)
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c.setBoardSocket(cam.socket)
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stream = str(cam.socket)
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if cam.name:
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stream = f'{cam.name} ({stream})'
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x.setStreamName(stream)
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streams.append(stream)
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# Start pipeline
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device.startPipeline(pipeline)
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fpsCounter = {}
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lastFpsCount = {}
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tfps = time.time()
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while not device.isClosed():
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queueNames = device.getQueueEvents(streams)
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for stream in queueNames:
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messages = device.getOutputQueue(stream).tryGetAll()
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fpsCounter[stream] = fpsCounter.get(stream, 0.0) + len(messages)
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for message in messages:
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# Display arrived frames
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if type(message) == dai.ImgFrame:
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# render fps
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fps = lastFpsCount.get(stream, 0)
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frame = message.getCvFrame()
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cv2.putText(frame, "Fps: {:.2f}".format(fps), (10, 10), cv2.FONT_HERSHEY_TRIPLEX, 0.4, (255,255,255))
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cv2.imshow(stream, frame)
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if time.time() - tfps >= 1.0:
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scale = time.time() - tfps
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for stream in fpsCounter.keys():
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lastFpsCount[stream] = fpsCounter[stream] / scale
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fpsCounter = {}
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tfps = time.time()
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if cv2.waitKey(1) == ord('q'):
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break

‎examples/Camera/camera_preview.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 time
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# Connect to device and start pipeline
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with dai.Device(dai.OpenVINO.DEFAULT_VERSION, dai.UsbSpeed.SUPER_PLUS) as device:
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# Device name
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print('Device name:', device.getDeviceName())
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# Bootloader version
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if device.getBootloaderVersion() is not None:
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print('Bootloader version:', device.getBootloaderVersion())
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# Print out usb speed
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print('Usb speed:', device.getUsbSpeed().name)
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# Connected cameras
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print('Connected cameras:', device.getConnectedCameraFeatures())
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# Create pipeline
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pipeline = dai.Pipeline()
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cams = device.getConnectedCameraFeatures()
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streams = []
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for cam in cams:
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print(str(cam), str(cam.socket), cam.socket)
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c = pipeline.create(dai.node.Camera)
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x = pipeline.create(dai.node.XLinkOut)
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c.preview.link(x.input)
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c.setBoardSocket(cam.socket)
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stream = str(cam.socket)
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if cam.name:
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stream = f'{cam.name} ({stream})'
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x.setStreamName(stream)
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streams.append(stream)
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# Start pipeline
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device.startPipeline(pipeline)
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fpsCounter = {}
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lastFpsCount = {}
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tfps = time.time()
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while not device.isClosed():
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queueNames = device.getQueueEvents(streams)
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for stream in queueNames:
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messages = device.getOutputQueue(stream).tryGetAll()
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fpsCounter[stream] = fpsCounter.get(stream, 0.0) + len(messages)
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for message in messages:
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# Display arrived frames
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if type(message) == dai.ImgFrame:
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# render fps
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fps = lastFpsCount.get(stream, 0)
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frame = message.getCvFrame()
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cv2.putText(frame, "Fps: {:.2f}".format(fps), (10, 10), cv2.FONT_HERSHEY_TRIPLEX, 0.4, (255,255,255))
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cv2.imshow(stream, frame)
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if time.time() - tfps >= 1.0:
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scale = time.time() - tfps
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for stream in fpsCounter.keys():
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lastFpsCount[stream] = fpsCounter[stream] / scale
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fpsCounter = {}
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tfps = time.time()
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if cv2.waitKey(1) == ord('q'):
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break

‎examples/ImageManip/image_manip_warp_mesh.py‎

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maxFrameSize = camRgb.getPreviewWidth() * camRgb.getPreviewHeight() * 3
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# Warp preview frame 1
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manip1 = pipeline.create(dai.node.Warp)
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manip1 = pipeline.create(dai.node.ImageManip)
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# Create a custom warp mesh
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tl = dai.Point2f(20, 20)
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tr = dai.Point2f(460, 20)

‎examples/StereoDepth/depth_colormap.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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# Closer-in minimum depth, disparity range is doubled (from 95 to 190):
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extended_disparity = False
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# Better accuracy for longer distance, fractional disparity 32-levels:
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subpixel = False
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# Better handling for occlusions:
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lr_check = True
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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.create(dai.node.MonoCamera)
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monoRight = pipeline.create(dai.node.MonoCamera)
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depth = pipeline.create(dai.node.StereoDepth)
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xout = pipeline.create(dai.node.XLinkOut)
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xout.setStreamName("disparity")
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# Properties
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monoLeft.setResolution(dai.MonoCameraProperties.SensorResolution.THE_400_P)
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monoLeft.setBoardSocket(dai.CameraBoardSocket.LEFT)
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monoRight.setResolution(dai.MonoCameraProperties.SensorResolution.THE_400_P)
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monoRight.setBoardSocket(dai.CameraBoardSocket.RIGHT)
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# Create a node that will produce the depth map (using disparity output as it's easier to visualize depth this way)
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depth.setDefaultProfilePreset(dai.node.StereoDepth.PresetMode.HIGH_DENSITY)
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# Options: MEDIAN_OFF, KERNEL_3x3, KERNEL_5x5, KERNEL_7x7 (default)
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depth.initialConfig.setMedianFilter(dai.MedianFilter.KERNEL_7x7)
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depth.setLeftRightCheck(lr_check)
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depth.setExtendedDisparity(extended_disparity)
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depth.setSubpixel(subpixel)
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# Create a colormap
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colormap = pipeline.create(dai.node.ImageManip)
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colormap.initialConfig.setColormap(dai.Colormap.STEREO_TURBO, depth.initialConfig.getMaxDisparity())
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colormap.initialConfig.setFrameType(dai.ImgFrame.Type.NV12)
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# Linking
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monoLeft.out.link(depth.left)
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monoRight.out.link(depth.right)
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depth.disparity.link(colormap.inputImage)
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colormap.out.link(xout.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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# Output queue will be used to get the disparity frames from the outputs defined above
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q = device.getOutputQueue(name="disparity", maxSize=4, blocking=False)
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while True:
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inDisparity = q.get() # blocking call, will wait until a new data has arrived
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frame = inDisparity.getCvFrame()
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cv2.imshow("disparity", frame)
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if cv2.waitKey(1) == ord('q'):
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break

‎examples/VideoEncoder/disparity_colormap_encoding.py‎

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#!/usr/bin/env python3
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import depthai as dai
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# Create pipeline
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pipeline = dai.Pipeline()
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# Create left/right mono cameras for Stereo depth
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monoLeft = pipeline.create(dai.node.MonoCamera)
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monoLeft.setResolution(dai.MonoCameraProperties.SensorResolution.THE_400_P)
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monoLeft.setBoardSocket(dai.CameraBoardSocket.LEFT)
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monoRight = pipeline.create(dai.node.MonoCamera)
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monoRight.setResolution(dai.MonoCameraProperties.SensorResolution.THE_400_P)
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monoRight.setBoardSocket(dai.CameraBoardSocket.RIGHT)
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# Create a node that will produce the depth map
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depth = pipeline.create(dai.node.StereoDepth)
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depth.setDefaultProfilePreset(dai.node.StereoDepth.PresetMode.HIGH_DENSITY)
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depth.initialConfig.setMedianFilter(dai.MedianFilter.KERNEL_7x7)
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depth.setLeftRightCheck(False)
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depth.setExtendedDisparity(False)
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# Subpixel disparity is of UINT16 format, which is unsupported by VideoEncoder
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depth.setSubpixel(False)
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monoLeft.out.link(depth.left)
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monoRight.out.link(depth.right)
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# Colormap
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colormap = pipeline.create(dai.node.ImageManip)
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colormap.initialConfig.setColormap(dai.Colormap.TURBO, depth.initialConfig.getMaxDisparity())
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colormap.initialConfig.setFrameType(dai.ImgFrame.Type.NV12)
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videoEnc = pipeline.create(dai.node.VideoEncoder)
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# Depth resolution/FPS will be the same as mono resolution/FPS
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videoEnc.setDefaultProfilePreset(monoLeft.getFps(), dai.VideoEncoderProperties.Profile.H264_HIGH)
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# Link
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depth.disparity.link(colormap.inputImage)
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colormap.out.link(videoEnc.input)
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xout = pipeline.create(dai.node.XLinkOut)
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xout.setStreamName("enc")
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videoEnc.bitstream.link(xout.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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# Output queue will be used to get the encoded data from the output defined above
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q = device.getOutputQueue(name="enc")
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# The .h265 file is a raw stream file (not playable yet)
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with open('disparity.h264', 'wb') as videoFile:
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print("Press Ctrl+C to stop encoding...")
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try:
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while True:
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videoFile.write(q.get().getData())
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except KeyboardInterrupt:
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# Keyboard interrupt (Ctrl + C) detected
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pass
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print("To view the encoded data, convert the stream file (.mjpeg) into a video file (.mp4) using a command below:")
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print("ffmpeg -framerate 30 -i disparity.mjpeg -c copy video.mp4")

‎src/DeviceBindings.cpp‎

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@@ -555,7 +555,7 @@ void DeviceBindings::bind(pybind11::module& m, void* pCallstack){
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.def("flashFactoryEepromClear", [](DeviceBase& d) { py::gil_scoped_release release; d.flashFactoryEepromClear(); }, DOC(dai, DeviceBase, flashFactoryEepromClear))
556556
.def("setTimesync", [](DeviceBase& d, std::chrono::milliseconds p, int s, bool r) { py::gil_scoped_release release; return d.setTimesync(p,s,r); }, DOC(dai, DeviceBase, setTimesync))
557557
.def("setTimesync", [](DeviceBase& d, bool e) { py::gil_scoped_release release; return d.setTimesync(e); }, py::arg("enable"), DOC(dai, DeviceBase, setTimesync, 2))
558-
.def("getDeviceName", [](DeviceBase& d) { py::gil_scoped_release release; return d.getDeviceName(); }, DOC(dai, DeviceBase, getDeviceName))
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.def("getDeviceName", [](DeviceBase& d) { std::string name; { py::gil_scoped_release release; name = d.getDeviceName(); } return py::bytes(name).attr("decode")("utf-8", "replace"); }, DOC(dai, DeviceBase, getDeviceName))
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;
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‎src/pipeline/CommonBindings.cpp‎

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#include "depthai-shared/common/DetectionParserOptions.hpp"
2020
#include "depthai-shared/common/RotatedRect.hpp"
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#include "depthai-shared/common/Rect.hpp"
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#include "depthai-shared/common/Colormap.hpp"
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// depthai
2425
#include "depthai/common/CameraFeatures.hpp"
@@ -52,6 +53,7 @@ void CommonBindings::bind(pybind11::module& m, void* pCallstack){
5253
py::class_<RotatedRect> rotatedRect(m, "RotatedRect", DOC(dai, RotatedRect));
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py::class_<Rect> rect(m, "Rect", DOC(dai, Rect));
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py::enum_<CameraExposureOffset> cameraExposureOffset(m, "CameraExposureOffset");
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py::enum_<Colormap> colormap(m, "Colormap", DOC(dai, Colormap));
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///////////////////////////////////////////////////////////////////////
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///////////////////////////////////////////////////////////////////////
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.value("MIDDLE", CameraExposureOffset::MIDDLE)
298300
.value("END", CameraExposureOffset::END)
299301
;
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colormap
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.value("NONE", Colormap::NONE)
305+
.value("JET", Colormap::JET)
306+
.value("TURBO", Colormap::TURBO)
307+
.value("STEREO_JET", Colormap::STEREO_JET)
308+
.value("STEREO_TURBO", Colormap::STEREO_TURBO)
309+
// .value("AUTUMN", Colormap::AUTUMN)
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// .value("BONE", Colormap::BONE)
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// .value("WINTER", Colormap::WINTER)
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// .value("RAINBOW", Colormap::RAINBOW)
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// .value("OCEAN", Colormap::OCEAN)
314+
// .value("SUMMER", Colormap::SUMMER)
315+
// .value("SPRING", Colormap::SPRING)
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// .value("COOL", Colormap::COOL)
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// .value("HSV", Colormap::HSV)
318+
// .value("PINK", Colormap::PINK)
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// .value("HOT", Colormap::HOT)
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// .value("PARULA", Colormap::PARULA)
321+
// .value("MAGMA", Colormap::MAGMA)
322+
// .value("INFERNO", Colormap::INFERNO)
323+
// .value("PLASMA", Colormap::PLASMA)
324+
// .value("VIRIDIS", Colormap::VIRIDIS)
325+
// .value("CIVIDIS", Colormap::CIVIDIS)
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// .value("TWILIGHT", Colormap::TWILIGHT)
327+
// .value("TWILIGHT_SHIFTED", Colormap::TWILIGHT_SHIFTED)
328+
// .value("DEEPGREEN", Colormap::DEEPGREEN)
329+
;
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}

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