Merge remote-tracking branch 'origin/main' into HEAD

SzabolcsGergely · SzabolcsGergely · commit eb5688d9899f · 2021-06-08T04:36:16.000+03:00
diff --git a/docs/source/samples/depth_preview.rst b/docs/source/samples/depth_preview.rst
@@ -5,11 +5,17 @@ This example shows how to set the SGBM (semi-global-matching) disparity-depth no
 over XLink to transfer the results to the host real-time, and displays the depth map in OpenCV.
 Note that disparity is used in this case, as it colorizes in a more intuitive way.
 Below is also a preview of using different median filters side-by-side on a depth image.
+There are 3 depth modes which you can select inside the code:
+
+#. `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>`__
+#. `extended_disparity`: suitable for short range objects. For more information `click here <https://docs.luxonis.com/en/latest/pages/faq/#extended-disparity-depth-mode>`__
+#. `subpixel`: suitable for long range. For more information `click here <https://docs.luxonis.com/en/latest/pages/faq/#subpixel-disparity-depth-mode>`__
 
 .. rubric:: Similiar samples:
 
 - :ref:`RGB Preview`
 - :ref:`Mono Preview`
+- :ref:`Stereo Depth Video`
 
 Demo
 ####
diff --git a/docs/source/samples/object_tracker_video.rst b/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
diff --git a/docs/source/samples/queue_add_callback.rst b/docs/source/samples/queue_add_callback.rst
@@ -0,0 +1,39 @@
+Queue add callback
+==================
+
+This example shows how to use queue callbacks. It sends both mono frames and color frames from the device to the
+host via one :code:`XLinkOut` node. In the callback function :code:`newFrame()` we decode from which camera did
+the frame come from so we can later show the frame with correct title to the user.
+
+Demo
+####
+
+.. image:: https://user-images.githubusercontent.com/18037362/120119546-309d5200-c190-11eb-932a-8235be7a4aa1.gif
+
+Setup
+#####
+
+.. include::  /includes/install_from_pypi.rst
+
+Source code
+###########
+
+.. tabs::
+
+    .. tab:: Python
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-python/blob/main/examples/queue_add_callback.py>`__
+
+        .. literalinclude:: ../../../examples/queue_add_callback.py
+           :language: python
+           :linenos:
+
+    .. tab:: C++
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-core/blob/main/examples/src/queue_add_callback.cpp>`__
+
+        .. literalinclude:: ../../../depthai-core/examples/src/queue_add_callback.cpp
+           :language: cpp
+           :linenos:
+
+.. include::  /includes/footer-short.rst
diff --git a/docs/source/samples/stereo_depth_from_host.rst b/docs/source/samples/stereo_depth_from_host.rst
@@ -1,10 +1,18 @@
 Stereo Depth from host
 ======================
 
-This example shows depth map from host using stereo images. There are 3 depth modes which you can select
-inside the code: left-right check, extended (for closer distance), subpixel (for longer distance).
+This example shows depth map from host using stereo images. There are 3 depth modes which you can select inside the code:
+
+#. `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>`__
+#. `extended_disparity`: suitable for short range objects. For more information `click here <https://docs.luxonis.com/en/latest/pages/faq/#extended-disparity-depth-mode>`__
+#. `subpixel`: suitable for long range. For more information `click here <https://docs.luxonis.com/en/latest/pages/faq/#subpixel-disparity-depth-mode>`__
+
 Otherwise a median with kernel_7x7 is activated.
 
+.. rubric:: Similiar samples:
+
+- :ref:`Stereo Depth Video`
+
 Setup
 #####
 
diff --git a/docs/source/samples/stereo_depth_video.rst b/docs/source/samples/stereo_depth_video.rst
@@ -0,0 +1,45 @@
+Stereo Depth Video
+==================
+
+This example is an upgraded :ref:`Depth Preview`. It has higher resolution (720p), each frame can be shown
+(mono left-right, rectified left-right, disparity and depth). There are 6 modes which you can select
+inside the code:
+
+#. `withDepth`: if you turn it off it will became :ref:`Mono Preview`, so it will show only the 2 mono cameras
+#. `outputDepth`: if you turn it on it will show the depth
+#. `lrcheck`: used for better occlusion handling. For more information `click here <https://docs.luxonis.com/en/latest/pages/faq/#left-right-check-depth-mode>`__
+#. `extended`: suitable for short range objects. For more information `click here <https://docs.luxonis.com/en/latest/pages/faq/#extended-disparity-depth-mode>`__
+#. `subpixel`: suitable for long range. For more information `click here <https://docs.luxonis.com/en/latest/pages/faq/#subpixel-disparity-depth-mode>`__
+
+.. rubric:: Similiar samples:
+
+- :ref:`Depth Preview`
+- :ref:`Stereo Depth from host`
+
+Setup
+#####
+
+.. include::  /includes/install_from_pypi.rst
+
+Source code
+###########
+
+.. tabs::
+
+    .. tab:: Python
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-python/blob/main/examples/stereo_depth_video.py>`__
+
+        .. literalinclude:: ../../../examples/stereo_depth_video.py
+           :language: python
+           :linenos:
+
+    .. tab:: C++
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-core/blob/main/examples/src/stereo_depth_video.cpp>`__
+
+        .. literalinclude:: ../../../depthai-core/examples/src/stereo_depth_video.cpp
+           :language: cpp
+           :linenos:
+
+.. include::  /includes/footer-short.rst
diff --git a/docs/source/tutorials/code_samples.rst b/docs/source/tutorials/code_samples.rst
@@ -18,7 +18,6 @@ Code samples are used for automated testing. They are also a great starting poin
 - :ref:`RGB video` - Displays high resolution frames of the RGB camera
 - :ref:`Mono Preview` - Displays right/left mono cameras
 - :ref:`Depth Preview` - Displays colorized stereo disparity
-- :ref:`Device Queue Event` - Demonstrates how to use device queue events
 - :ref:`RGB Encoding` - Encodes RGB (1080P, 30FPS) into :code:`.h265` and saves it on the host
 - :ref:`RGB & Mono Encoding`- Encodes RGB (1080P, 30FPS) and both mono streams (720P, 30FPS) into :code:`.h265`/:code:`.h264` and saves them on the host
 - :ref:`Encoding Max Limit` - Encodes RGB (4k 25FPS) and both mono streams (720P, 25FPS) into :code:`.h265`/:code:`.h264` and saves them on the host
@@ -37,6 +36,7 @@ Code samples are used for automated testing. They are also a great starting poin
 - :ref:`Mono Camera Control` - Demonstrates how to control the mono camera (crop, exposure, sensitivity) from the host
 - :ref:`Depth Crop Control` - Demonstrates how to control cropping of depth frames from the host
 - :ref:`Stereo Depth from host` - Generates stereo depth frame from a set of mono images from the host
+- :ref:`Stereo Depth Video` - An extended version of **Depth Preview**
 - :ref:`RGB Rotate Warp` - Demonstrates how to rotate, mirror, flip or perform perspective transform on a frame
 - :ref:`RGB Depth` - Displays RGB depth frames
 - :ref:`Auto Exposure on ROI` - Demonstrates how to use auto exposure based on the selected ROI
@@ -57,4 +57,6 @@ Code samples are used for automated testing. They are also a great starting poin
 .. rubric:: Mixed
 
 - :ref:`System information` - Displays device system information (memory/cpu usage, temperature)
-- :ref:`OpenCV support` - Demonstrates how to retrieve an image frame as an OpenCV frame
+- :ref:`OpenCV support` - Demonstrates how to retrieve an image frame as an OpenCV frame
+- :ref:`Device Queue Event` - Demonstrates how to use device queue events
+- :ref:`Queue add callback` - Demonstrates how to use queue callbacks
diff --git a/docs/source/tutorials/complex_samples.rst b/docs/source/tutorials/complex_samples.rst
@@ -10,6 +10,7 @@ Complex
    ../samples/mono_camera_control.rst
    ../samples/depth_crop_control.rst
    ../samples/stereo_depth_from_host.rst
+   ../samples/stereo_depth_video.rst
    ../samples/rgb_rotate_warp.rst
    ../samples/rgb_depth_aligned.rst
    ../samples/autoexposure_roi.rst
@@ -34,6 +35,7 @@ If you want to see more interesting examples you should check out our `Experimen
 - :ref:`Mono Camera Control` - Demonstrates how to control the mono camera (crop, exposure, sensitivity) from the host
 - :ref:`Depth Crop Control` - Demonstrates how to control cropping of depth frames from the host
 - :ref:`Stereo Depth from host` - Generates stereo depth frame from a set of mono images from the host
+- :ref:`Stereo Depth Video` - An extended version of **Depth Preview**
 - :ref:`RGB Rotate Warp` - Demonstrates how to rotate, mirror, flip or perform perspective transform on a frame
 - :ref:`RGB Depth` - Displays RGB depth frames
 - :ref:`Auto Exposure on ROI` - Demonstrates how to use auto exposure based on the selected ROI
diff --git a/docs/source/tutorials/mixed_samples.rst b/docs/source/tutorials/mixed_samples.rst
@@ -8,6 +8,10 @@ Mixed
 
    ../samples/system_information.rst
    ../samples/opencv_support.rst
+   ../samples/device_queue_event.rst
+   ../samples/queue_add_callback.rst
 
 - :ref:`System information` - Displays device system information (memory/cpu usage, temperature)
-- :ref:`OpenCV support` - Demonstrates how to retrieve an image frame as an OpenCV frame
+- :ref:`OpenCV support` - Demonstrates how to retrieve an image frame as an OpenCV frame
+- :ref:`Device Queue Event` - Demonstrates how to use device queue events
+- :ref:`Queue add callback` - Demonstrates how to use queue callbacks
diff --git a/docs/source/tutorials/overview.rst b/docs/source/tutorials/overview.rst
@@ -7,7 +7,7 @@ Overview
 
 .. code-block::
 
-              DepthAI device (eg. LUX-D)                                  Host (eg. RaspberryPi)
+              DepthAI device (eg. OAK-D)                                  Host (eg. RaspberryPi)
   ┌───────────────────────────────────────────────┐                   ┌─────────────────────────┐
   │                                               │                   │                         │
   │       Node                            Node    │                   │ # Your python code that │
diff --git a/docs/source/tutorials/simple_samples.rst b/docs/source/tutorials/simple_samples.rst
@@ -10,7 +10,6 @@ Simple
    ../samples/rgb_video.rst
    ../samples/mono_preview.rst
    ../samples/depth_preview.rst
-   ../samples/device_queue_event.rst
    ../samples/rgb_encoding.rst
    ../samples/rgb_mono_encoding.rst
    ../samples/encoding_max_limit.rst
@@ -30,7 +29,6 @@ These samples are great starting point for the gen2 API.
 - :ref:`RGB video` - Displays high resolution frames of the RGB camera
 - :ref:`Mono Preview` - Displays right/left mono cameras
 - :ref:`Depth Preview` - Displays colorized stereo disparity
-- :ref:`Device Queue Event` - Demonstrates how to use device queue events
 - :ref:`RGB Encoding` - Encodes RGB (1080P, 30FPS) into :code:`.h265` and saves it on the host
 - :ref:`RGB & Mono Encoding`- Encodes RGB (1080P, 30FPS) and both mono streams (720P, 30FPS) into :code:`.h265`/:code:`.h264` and saves them on the host
 - :ref:`Encoding Max Limit` - Encodes RGB (4k 25FPS) and both mono streams (720P, 25FPS) into :code:`.h265`/:code:`.h264` and saves them on the host
diff --git a/examples/CMakeLists.txt b/examples/CMakeLists.txt
@@ -121,5 +121,6 @@ add_python_example(object_tracker object_tracker.py)
 add_python_example(spatial_object_tracker spatial_object_tracker.py)
 add_python_example(object_tracker_video object_tracker_video.py)
 add_python_example(stereo_depth_from_host stereo_depth_from_host.py)
+add_python_example(stereo_depth_video stereo_depth_video.py)
 add_python_example(imu_gyroscope_accelerometer imu_gyroscope_accelerometer.py)
 add_python_example(imu_rotation_vector imu_rotation_vector.py)
diff --git a/examples/object_tracker_video.py b/examples/object_tracker_video.py
@@ -77,10 +77,10 @@
 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)
+    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
diff --git a/examples/queue_add_callback.py b/examples/queue_add_callback.py
@@ -0,0 +1,54 @@
+#!/usr/bin/env python3
+import cv2
+import depthai as dai
+import queue
+
+# Create pipeline
+pipeline = dai.Pipeline()
+
+# Add all three cameras
+camRgb = pipeline.createColorCamera()
+left = pipeline.createMonoCamera()
+right = pipeline.createMonoCamera()
+
+# Create XLink output
+xout = pipeline.createXLinkOut()
+xout.setStreamName("frames")
+
+# Properties
+camRgb.setPreviewSize(300, 300)
+left.setBoardSocket(dai.CameraBoardSocket.LEFT)
+left.setResolution(dai.MonoCameraProperties.SensorResolution.THE_400_P)
+right.setBoardSocket(dai.CameraBoardSocket.RIGHT)
+right.setResolution(dai.MonoCameraProperties.SensorResolution.THE_400_P)
+
+# Stream all the camera streams through the same XLink node
+camRgb.preview.link(xout.input)
+left.out.link(xout.input)
+right.out.link(xout.input)
+
+q = queue.Queue()
+
+def newFrame(inFrame):
+    global q
+    # Get "stream name" from the instance number
+    num = inFrame.getInstanceNum()
+    name = "color" if num == 0 else "left" if num == 1 else "right"
+    frame = inFrame.getCvFrame()
+    # This is a different thread and you could use it to
+    # run image processing algorithms here
+    q.put({"name": name, "frame": frame})
+
+# Connect to device and start pipeline
+with dai.Device(pipeline) as device:
+
+    # Add callback to the output queue "frames" for all newly arrived frames (color, left, right)
+    device.getOutputQueue(name="frames", maxSize=4, blocking=False).addCallback(newFrame)
+
+    while True:
+        # You could also get the data as non-blocking (block=False)
+        data = q.get(block=True)
+        cv2.imshow(data["name"], data["frame"])
+
+        if cv2.waitKey(1) == ord('q'):
+            break
diff --git a/examples/stereo_depth_video.py b/examples/stereo_depth_video.py
