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Merge pull request #297 from luxonis/edge_detector
Add EdgeDetector node
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‎depthai-core‎

‎docs/source/samples/edge_detector.rst‎

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Edge detector
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=============
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This example performs edge detection on 3 different inputs: left, right and RGB camera.
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HW accelerated sobel filter 3x3 is used.
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Sobel filter parameters can be changed by keys 1 and 2.
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Demo
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####
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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/edge_detector.py>`__
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.. literalinclude:: ../../../examples/edge_detector.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/edge_detector.cpp>`__
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.. literalinclude:: ../../../depthai-core/examples/src/edge_detector.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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@@ -29,6 +29,7 @@ Code samples are used for automated testing. They are also a great starting poin
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- :ref:`Video & MobilenetSSD` - Runs MobileNetSSD on the video from the host
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- :ref:`IMU Accelerometer & Gyroscope` - Accelerometer and gyroscope at 500hz rate
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- :ref:`IMU Rotation Vector` - Rotation vector at 400 hz rate
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- :ref:`Edge detector` - Edge detection on input frame
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.. rubric:: Complex
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‎docs/source/tutorials/simple_samples.rst‎

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@@ -21,7 +21,7 @@ Simple
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../samples/video_mobilenet.rst
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../samples/imu_accelerometer_gyroscope.rst
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../samples/imu_rotation_vector.rst
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../samples/edge_detector.rst
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These samples are great starting point for the gen2 API.
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@@ -38,3 +38,4 @@ These samples are great starting point for the gen2 API.
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- :ref:`RGB & MobileNetSSD @ 4K` - Runs MobileNetSSD on RGB frames and displays detections on both preview and 4k frames
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- :ref:`Mono & MobilenetSSD` - Runs MobileNetSSD on mono frames and displays detections on the frame
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- :ref:`Video & MobilenetSSD` - Runs MobileNetSSD on the video from the host
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- :ref:`Edge detector` - Edge detection on input frame

‎examples/CMakeLists.txt‎

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@@ -123,4 +123,5 @@ 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)
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add_python_example(imu_gyroscope_accelerometer imu_gyroscope_accelerometer.py)
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add_python_example(imu_rotation_vector imu_rotation_vector.py)
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add_python_example(imu_rotation_vector imu_rotation_vector.py)
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add_python_example(edge_detector edge_detector.py)

‎examples/edge_detector.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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# Create pipeline
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pipeline = dai.Pipeline()
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# Define sources and outputs
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camRgb = pipeline.createColorCamera()
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monoLeft = pipeline.createMonoCamera()
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monoRight = pipeline.createMonoCamera()
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edgeDetectorLeft = pipeline.createEdgeDetector()
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edgeDetectorRight = pipeline.createEdgeDetector()
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edgeDetectorRgb = pipeline.createEdgeDetector()
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xoutEdgeLeft = pipeline.createXLinkOut()
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xoutEdgeRight = pipeline.createXLinkOut()
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xoutEdgeRgb = pipeline.createXLinkOut()
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xinEdgeCfg = pipeline.createXLinkIn()
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edgeLeftStr = "edge left"
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edgeRightStr = "edge right"
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edgeRgbStr = "edge rgb"
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edgeCfgStr = "edge cfg"
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xoutEdgeLeft.setStreamName(edgeLeftStr)
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xoutEdgeRight.setStreamName(edgeRightStr)
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xoutEdgeRgb.setStreamName(edgeRgbStr)
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xinEdgeCfg.setStreamName(edgeCfgStr)
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# Properties
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camRgb.setBoardSocket(dai.CameraBoardSocket.RGB)
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camRgb.setResolution(dai.ColorCameraProperties.SensorResolution.THE_1080_P)
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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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edgeDetectorRgb.setMaxOutputFrameSize(camRgb.getVideoWidth() * camRgb.getVideoHeight())
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# Linking
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monoLeft.out.link(edgeDetectorLeft.inputImage)
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monoRight.out.link(edgeDetectorRight.inputImage)
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camRgb.video.link(edgeDetectorRgb.inputImage)
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edgeDetectorLeft.outputImage.link(xoutEdgeLeft.input)
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edgeDetectorRight.outputImage.link(xoutEdgeRight.input)
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edgeDetectorRgb.outputImage.link(xoutEdgeRgb.input)
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xinEdgeCfg.out.link(edgeDetectorLeft.inputConfig)
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xinEdgeCfg.out.link(edgeDetectorRight.inputConfig)
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xinEdgeCfg.out.link(edgeDetectorRgb.inputConfig)
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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/input queues
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edgeLeftQueue = device.getOutputQueue(edgeLeftStr, 8, False)
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edgeRightQueue = device.getOutputQueue(edgeRightStr, 8, False)
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edgeRgbQueue = device.getOutputQueue(edgeRgbStr, 8, False)
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edgeCfgQueue = device.getInputQueue(edgeCfgStr)
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print("Switch between sobel filter kernels using keys '1' and '2'")
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while(True):
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edgeLeft = edgeLeftQueue.get()
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edgeRight = edgeRightQueue.get()
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edgeRgb = edgeRgbQueue.get()
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edgeLeftFrame = edgeLeft.getFrame()
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edgeRightFrame = edgeRight.getFrame()
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edgeRgbFrame = edgeRgb.getFrame()
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# Show the frame
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cv2.imshow(edgeLeftStr, edgeLeftFrame)
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cv2.imshow(edgeRightStr, edgeRightFrame)
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cv2.imshow(edgeRgbStr, edgeRgbFrame)
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key = cv2.waitKey(1)
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if key == ord('q'):
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break
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if key == ord('1'):
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print("Switching sobel filter kernel.")
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cfg = dai.EdgeDetectorConfig()
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sobelHorizontalKernel = [[1, 0, -1], [2, 0, -2], [1, 0, -1]]
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sobelVerticalKernel = [[1, 2, 1], [0, 0, 0], [-1, -2, -1]]
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cfg.setSobelFilterKernels(sobelHorizontalKernel, sobelVerticalKernel)
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edgeCfgQueue.send(cfg)
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if key == ord('2'):
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print("Switching sobel filter kernel.")
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cfg = dai.EdgeDetectorConfig()
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sobelHorizontalKernel = [[3, 0, -3], [10, 0, -10], [3, 0, -3]]
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sobelVerticalKernel = [[3, 10, 3], [0, 0, 0], [-3, -10, -3]]
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cfg.setSobelFilterKernels(sobelHorizontalKernel, sobelVerticalKernel)
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edgeCfgQueue.send(cfg)
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‎src/DatatypeBindings.cpp‎

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#include "depthai/pipeline/datatype/Tracklets.hpp"
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#include "depthai/pipeline/datatype/IMUData.hpp"
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#include "depthai/pipeline/datatype/StereoDepthConfig.hpp"
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#include "depthai/pipeline/datatype/EdgeDetectorConfig.hpp"
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// depthai-shared
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#include "depthai-shared/datatype/RawBuffer.hpp"
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#include "depthai-shared/datatype/RawTracklets.hpp"
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#include "depthai-shared/datatype/RawIMUData.hpp"
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#include "depthai-shared/datatype/RawStereoDepthConfig.hpp"
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#include "depthai-shared/datatype/RawEdgeDetectorConfig.hpp"
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//pybind
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.def_property("packets", [](IMUData& imuDta) { return &imuDta.packets; }, [](IMUData& imuDta, std::vector<IMUPacket> val) { imuDta.packets = val; }, DOC(dai, IMUData, packets))
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;
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// Bind RawStereoDepthConfig
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py::class_<RawStereoDepthConfig, RawBuffer, std::shared_ptr<RawStereoDepthConfig>> rawStereoDepthConfig(m, "RawStereoDepthConfig", DOC(dai, RawStereoDepthConfig));
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rawStereoDepthConfig
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.def("getLeftRightCheckThreshold", &StereoDepthConfig::getLeftRightCheckThreshold, DOC(dai, StereoDepthConfig, getLeftRightCheckThreshold))
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;
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}
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py::class_<EdgeDetectorConfigData> (m, "EdgeDetectorConfigData", DOC(dai, EdgeDetectorConfigData))
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.def(py::init<>())
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.def_readwrite("sobelFilterHorizontalKernel", &EdgeDetectorConfigData::sobelFilterHorizontalKernel, DOC(dai, EdgeDetectorConfigData, sobelFilterHorizontalKernel))
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.def_readwrite("sobelFilterVerticalKernel", &EdgeDetectorConfigData::sobelFilterVerticalKernel, DOC(dai, EdgeDetectorConfigData, sobelFilterVerticalKernel))
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;
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// Bind RawEdgeDetectorConfig
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py::class_<RawEdgeDetectorConfig, RawBuffer, std::shared_ptr<RawEdgeDetectorConfig>> rawEdgeDetectorConfig(m, "RawEdgeDetectorConfig", DOC(dai, RawEdgeDetectorConfig));
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rawEdgeDetectorConfig
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.def(py::init<>())
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.def_readwrite("config", &RawEdgeDetectorConfig::config)
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;
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// EdgeDetectorConfig (after ConfigData)
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py::class_<EdgeDetectorConfig, Buffer, std::shared_ptr<EdgeDetectorConfig>>(m, "EdgeDetectorConfig", DOC(dai, EdgeDetectorConfig))
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.def(py::init<>())
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.def("setSobelFilterKernels", &EdgeDetectorConfig::setSobelFilterKernels, py::arg("horizontalKernel"), py::arg("verticalKernel"), DOC(dai, EdgeDetectorConfig, setSobelFilterKernels))
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.def("getConfigData", &EdgeDetectorConfig::getConfigData, DOC(dai, EdgeDetectorConfig, getConfigData))
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;
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}

‎src/pipeline/NodeBindings.cpp‎

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#include "depthai/pipeline/node/SpatialDetectionNetwork.hpp"
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#include "depthai/pipeline/node/ObjectTracker.hpp"
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#include "depthai/pipeline/node/IMU.hpp"
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#include "depthai/pipeline/node/EdgeDetector.hpp"
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// Libraries
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#include "hedley/hedley.h"
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.def("getMaxBatchReports", &IMU::getMaxBatchReports, DOC(dai, node, IMU, getMaxBatchReports))
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;
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// EdgeDetector node
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py::class_<EdgeDetector, Node, std::shared_ptr<EdgeDetector>>(m, "EdgeDetector", DOC(dai, node, EdgeDetector))
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.def_readonly("initialConfig", &EdgeDetector::initialConfig, DOC(dai, node, EdgeDetector, initialConfig))
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.def_readonly("inputConfig", &EdgeDetector::inputConfig, DOC(dai, node, EdgeDetector, inputConfig))
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.def_readonly("inputImage", &EdgeDetector::inputImage, DOC(dai, node, EdgeDetector, inputImage))
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.def_readonly("outputImage", &EdgeDetector::outputImage, DOC(dai, node, EdgeDetector, outputImage))
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.def("setWaitForConfigInput", &EdgeDetector::setWaitForConfigInput, DOC(dai, node, EdgeDetector, setWaitForConfigInput))
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.def("setNumFramesPool", &EdgeDetector::setNumFramesPool, DOC(dai, node, EdgeDetector, setNumFramesPool))
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.def("setMaxOutputFrameSize", &EdgeDetector::setMaxOutputFrameSize, DOC(dai, node, EdgeDetector, setMaxOutputFrameSize))
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;
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////////////////////////////////////
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// Node properties bindings
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////////////////////////////////////
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m.attr("IMU").attr("Properties") = imuProperties;
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py::class_<EdgeDetectorProperties> edgeDetectorProperties(m, "EdgeDetectorProperties", DOC(dai, EdgeDetectorProperties));
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edgeDetectorProperties
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.def_readwrite("initialConfig", &EdgeDetectorProperties::initialConfig, DOC(dai, EdgeDetectorProperties, initialConfig))
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.def_readwrite("inputConfigSync", &EdgeDetectorProperties::inputConfigSync, DOC(dai, EdgeDetectorProperties, inputConfigSync))
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.def_readwrite("outputFrameSize", &EdgeDetectorProperties::outputFrameSize, DOC(dai, EdgeDetectorProperties, outputFrameSize))
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.def_readwrite("numFramesPool", &EdgeDetectorProperties::numFramesPool, DOC(dai, EdgeDetectorProperties, numFramesPool))
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;
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m.attr("EdgeDetector").attr("Properties") = edgeDetectorProperties;
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}

‎src/pipeline/PipelineBindings.cpp‎

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#include "depthai/pipeline/node/SpatialDetectionNetwork.hpp"
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#include "depthai/pipeline/node/ObjectTracker.hpp"
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#include "depthai/pipeline/node/IMU.hpp"
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#include "depthai/pipeline/node/EdgeDetector.hpp"
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// depthai-shared
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#include "depthai-shared/properties/GlobalProperties.hpp"
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.def("createYoloSpatialDetectionNetwork", &Pipeline::create<node::YoloSpatialDetectionNetwork>)
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.def("createObjectTracker", &Pipeline::create<node::ObjectTracker>)
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.def("createIMU", &Pipeline::create<node::IMU>)
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.def("createEdgeDetector", &Pipeline::create<node::EdgeDetector>)
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;
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