Skip to content

Commit 78920cf

Browse files
themarpethemarpe
committed
Merge branch 'release_2.15.1.0' into main
2 parents 44ac5e4 + eab15be commit 78920cf

File tree

4 files changed

+178
-2
lines changed

4 files changed

+178
-2
lines changed

‎.github/workflows/main.yml

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -369,7 +369,7 @@ jobs:
369369
body: |
370370
## Features
371371
372-
## Bugs
372+
## Bug fixes
373373
374374
## Misc
375375

‎depthai-core

‎examples/CMakeLists.txt

Lines changed: 1 addition & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -168,6 +168,7 @@ add_python_example(depth_crop_control StereoDepth/depth_crop_control.py)
168168
add_python_example(depth_preview StereoDepth/depth_preview.py)
169169
add_python_example(depth_post_processing StereoDepth/depth_post_processing.py)
170170
add_python_example(rgb_depth_aligned StereoDepth/rgb_depth_aligned.py)
171+
add_python_example(rgb_depth_confidence_aligned StereoDepth/rgb_depth_confidence_aligned.py)
171172
add_python_example(stereo_depth_from_host StereoDepth/stereo_depth_from_host.py)
172173
add_python_example(stereo_depth_video StereoDepth/stereo_depth_video.py)
173174

‎examples/StereoDepth/rgb_depth_confidence_aligned.py

Lines changed: 175 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,175 @@
1+
#!/usr/bin/env python3
2+
3+
import cv2
4+
import numpy as np
5+
import depthai as dai
6+
7+
# Weights to use when blending rgb/depth/confidence image
8+
rgbWeight = 0.3
9+
depthWeight = 0.3
10+
confWeight = 0.3
11+
# Normalized weights to use when blending rgb/depth/confidence image (should equal 1.0)
12+
rgbWeightNorm = 0.3
13+
depthWeightNorm = 0.3
14+
confWeightNorm = 0.3
15+
16+
17+
def updateRgbBlendWeights(percent):
18+
"""
19+
Update the rgb weight used to blend rgb/depth/confidence image
20+
21+
@param[in] percent The rgb weight expressed as a percentage (0..100)
22+
"""
23+
global rgbWeight
24+
rgbWeight = float(percent)/100.0
25+
26+
def updateDepthBlendWeights(percent):
27+
"""
28+
Update the depth weight used to blend rgb/depth/confidence image
29+
30+
@param[in] percent The depth weight expressed as a percentage (0..100)
31+
"""
32+
global depthWeight
33+
depthWeight = float(percent)/100.0
34+
35+
def updateConfBlendWeights(percent):
36+
"""
37+
Update the confidence weight used to blend rgb/depth/confidence image
38+
39+
@param[in] percent The confidence weight expressed as a percentage (0..100)
40+
"""
41+
global confWeight
42+
confWeight = float(percent)/100.0
43+
44+
# Optional. If set (True), the ColorCamera is downscaled from 1080p to 720p.
45+
# Otherwise (False), the aligned depth is automatically upscaled to 1080p
46+
downscaleColor = True
47+
fps = 30
48+
# The disparity is computed at this resolution, then upscaled to RGB resolution
49+
monoResolution = dai.MonoCameraProperties.SensorResolution.THE_720_P
50+
51+
# Create pipeline
52+
pipeline = dai.Pipeline()
53+
queueNames = []
54+
55+
# Define sources and outputs
56+
camRgb = pipeline.create(dai.node.ColorCamera)
57+
left = pipeline.create(dai.node.MonoCamera)
58+
right = pipeline.create(dai.node.MonoCamera)
59+
stereo = pipeline.create(dai.node.StereoDepth)
60+
61+
rgbOut = pipeline.create(dai.node.XLinkOut)
62+
disparityOut = pipeline.create(dai.node.XLinkOut)
63+
64+
rgbOut.setStreamName("rgb")
65+
queueNames.append("rgb")
66+
disparityOut.setStreamName("disp")
67+
queueNames.append("disp")
68+
69+
#Properties
70+
camRgb.setBoardSocket(dai.CameraBoardSocket.RGB)
71+
camRgb.setResolution(dai.ColorCameraProperties.SensorResolution.THE_1080_P)
72+
camRgb.setFps(fps)
73+
if downscaleColor: camRgb.setIspScale(2, 3)
74+
# For now, RGB needs fixed focus to properly align with depth.
75+
# This value was used during calibration
76+
camRgb.initialControl.setManualFocus(130)
77+
78+
left.setResolution(monoResolution)
79+
left.setBoardSocket(dai.CameraBoardSocket.LEFT)
80+
left.setFps(fps)
81+
right.setResolution(monoResolution)
82+
right.setBoardSocket(dai.CameraBoardSocket.RIGHT)
83+
right.setFps(fps)
84+
85+
stereo.setDefaultProfilePreset(dai.node.StereoDepth.PresetMode.HIGH_DENSITY)
86+
# LR-check is required for depth alignment
87+
stereo.setLeftRightCheck(True)
88+
if 0: stereo.setSubpixel(True) # TODO enable for test
89+
stereo.setDepthAlign(dai.CameraBoardSocket.RGB)
90+
91+
xoutConfMap = pipeline.create(dai.node.XLinkOut)
92+
xoutConfMap.setStreamName('confidence_map')
93+
94+
# Linking
95+
camRgb.isp.link(rgbOut.input)
96+
left.out.link(stereo.left)
97+
right.out.link(stereo.right)
98+
stereo.disparity.link(disparityOut.input)
99+
stereo.confidenceMap.link(xoutConfMap.input)
100+
101+
# Connect to device and start pipeline
102+
with dai.Device(pipeline) as device:
103+
104+
frameRgb = None
105+
frameDisp = None
106+
frameC = None
107+
108+
# Configure windows; trackbar adjusts blending ratio of rgb/depth
109+
rgbWindowName = "rgb"
110+
depthWindowName = "depth"
111+
confWindowName = "conf"
112+
blendedWindowName = "rgb-depth-conf"
113+
cv2.namedWindow(rgbWindowName)
114+
cv2.namedWindow(depthWindowName)
115+
cv2.namedWindow(confWindowName)
116+
cv2.namedWindow(blendedWindowName)
117+
cv2.createTrackbar('RGB Weight %', blendedWindowName, int(rgbWeight*100), 100, updateRgbBlendWeights)
118+
cv2.createTrackbar('Depth Weight %', blendedWindowName, int(depthWeight*100), 100, updateDepthBlendWeights)
119+
cv2.createTrackbar('Confidence Weight %', blendedWindowName, int(confWeight*100), 100, updateConfBlendWeights)
120+
while True:
121+
latestPacket = {}
122+
latestPacket["rgb"] = None
123+
latestPacket["disp"] = None
124+
latestPacket["confidence_map"] = None
125+
126+
queueEvents = device.getQueueEvents(("rgb", "disp", "confidence_map"))
127+
for queueName in queueEvents:
128+
packets = device.getOutputQueue(queueName).tryGetAll()
129+
if len(packets) > 0:
130+
latestPacket[queueName] = packets[-1]
131+
132+
if latestPacket["rgb"] is not None:
133+
frameRgb = latestPacket["rgb"].getCvFrame()
134+
cv2.imshow(rgbWindowName, frameRgb)
135+
136+
if latestPacket["confidence_map"] is not None:
137+
frameC = latestPacket["confidence_map"].getCvFrame()
138+
cv2.imshow(confWindowName, frameC)
139+
140+
if latestPacket["disp"] is not None:
141+
frameDisp = latestPacket["disp"].getFrame()
142+
maxDisparity = stereo.initialConfig.getMaxDisparity()
143+
# Optional, extend range 0..95 -> 0..255, for a better visualisation
144+
if 1: frameDisp = (frameDisp * 255. / maxDisparity).astype(np.uint8)
145+
# Optional, apply false colorization
146+
if 1: frameDisp = cv2.applyColorMap(frameDisp, cv2.COLORMAP_HOT)
147+
frameDisp = np.ascontiguousarray(frameDisp)
148+
cv2.imshow(depthWindowName, frameDisp)
149+
150+
# Blend when all three frames received
151+
if frameRgb is not None and frameDisp is not None and frameC is not None:
152+
# Need to have all three frames in BGR format before blending
153+
if len(frameDisp.shape) < 3:
154+
frameDisp = cv2.cvtColor(frameDisp, cv2.COLOR_GRAY2BGR)
155+
if len(frameC.shape) < 3:
156+
frameC = cv2.cvtColor(frameC, cv2.COLOR_GRAY2BGR)
157+
sumWeight = rgbWeight + depthWeight + confWeight
158+
# Normalize the weights so their sum to be <= 1.0
159+
if sumWeight <= 1.0:
160+
rgbWeightNorm = rgbWeight
161+
depthWeightNorm = depthWeight
162+
confWeightNorm = confWeight
163+
else :
164+
rgbWeightNorm = rgbWeight / sumWeight
165+
depthWeightNorm = depthWeight / sumWeight
166+
confWeightNorm = confWeight / sumWeight
167+
blended1 = cv2.addWeighted(frameRgb, rgbWeightNorm, frameDisp, depthWeightNorm, 0)
168+
blended2 = cv2.addWeighted(blended1, rgbWeightNorm + depthWeightNorm, frameC, confWeightNorm, 0)
169+
cv2.imshow(blendedWindowName, blended2)
170+
frameRgb = None
171+
frameDisp = None
172+
frameC = None
173+
174+
if cv2.waitKey(1) == ord('q'):
175+
break

0 commit comments

Comments
 (0)