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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 1,143 @@ | ||
| #include <cstdio> | ||
| #include <iostream> | ||
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| #include "utility.hpp" | ||
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| // Includes common necessary includes for development using depthai library | ||
| #include "depthai/depthai.hpp" | ||
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| // Optional. If set (true), the ColorCamera is downscaled from 1080p to 720p. | ||
| // Otherwise (false), the aligned depth is automatically upscaled to 1080p | ||
| static std::atomic<bool> downscaleColor{true}; | ||
| static constexpr int fps = 30; | ||
| // The disparity is computed at this resolution, then upscaled to RGB resolution | ||
| static constexpr auto monoRes = dai::MonoCameraProperties::SensorResolution::THE_720_P; | ||
|
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| static float rgbWeight = 0.4f; | ||
| static float depthWeight = 0.6f; | ||
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| static void updateBlendWeights(int percentRgb, void* ctx) { | ||
| rgbWeight = float(percentRgb) / 100.f; | ||
| depthWeight = 1.f - rgbWeight; | ||
| } | ||
|
|
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| int main() { | ||
| using namespace std; | ||
|
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| // Create pipeline | ||
| dai::Pipeline pipeline; | ||
| dai::Device device; | ||
| std::vector<std::string> queueNames; | ||
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| // Define sources and outputs | ||
| auto camRgb = pipeline.create<dai::node::ColorCamera>(); | ||
| auto left = pipeline.create<dai::node::MonoCamera>(); | ||
| auto right = pipeline.create<dai::node::MonoCamera>(); | ||
| auto stereo = pipeline.create<dai::node::StereoDepth>(); | ||
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| auto depthAlign = pipeline.create<dai::node::DepthAlign>(); | ||
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| auto rgbOut = pipeline.create<dai::node::XLinkOut>(); | ||
| auto depthOut = pipeline.create<dai::node::XLinkOut>(); | ||
| auto alignedDepthOut = pipeline.create<dai::node::XLinkOut>(); | ||
|
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| rgbOut->setStreamName("rgb"); | ||
| queueNames.push_back("rgb"); | ||
| depthOut->setStreamName("depth"); | ||
| queueNames.push_back("depth"); | ||
| alignedDepthOut->setStreamName("depth_aligned"); | ||
| queueNames.push_back("depth_aligned"); | ||
|
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| // Properties | ||
| camRgb->setBoardSocket(dai::CameraBoardSocket::CAM_A); | ||
| camRgb->setResolution(dai::ColorCameraProperties::SensorResolution::THE_1080_P); | ||
| camRgb->setFps(fps); | ||
| camRgb->setIspScale(2, 3); | ||
| // For now, RGB needs fixed focus to properly align with depth. | ||
| // This value was used during calibration | ||
| try { | ||
| auto calibData = device.readCalibration2(); | ||
| auto lensPosition = calibData.getLensPosition(dai::CameraBoardSocket::CAM_A); | ||
| if(lensPosition) { | ||
| camRgb->initialControl.setManualFocus(lensPosition); | ||
| } | ||
| } catch(const std::exception& ex) { | ||
| std::cout << ex.what() << std::endl; | ||
| return 1; | ||
| } | ||
|
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| left->setResolution(monoRes); | ||
| left->setCamera("left"); | ||
| left->setFps(fps); | ||
| right->setResolution(monoRes); | ||
| right->setCamera("right"); | ||
| right->setFps(fps); | ||
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| stereo->setDefaultProfilePreset(dai::node::StereoDepth::PresetMode::HIGH_DENSITY); | ||
|
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| // Linking | ||
| camRgb->isp.link(rgbOut->input); | ||
| left->out.link(stereo->left); | ||
| right->out.link(stereo->right); | ||
| stereo->depth.link(depthAlign->inputDepth); | ||
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| depthAlign->outputDepthAlign.link(alignedDepthOut->input); | ||
| depthAlign->properties.alignTo = dai::CameraBoardSocket::CAM_A; | ||
| stereo->depth.link(depthOut->input); | ||
|
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| // Connect to device and start pipeline | ||
| device.startPipeline(pipeline); | ||
|
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| // Sets queues size and behavior | ||
| for(const auto& name : queueNames) { | ||
| device.getOutputQueue(name, 4, false); | ||
| } | ||
|
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| std::unordered_map<std::string, cv::Mat> frame; | ||
|
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| auto rgbWindowName = "rgb"; | ||
| auto depthWindowName = "depth"; | ||
| auto blendedWindowName = "rgb-depth"; | ||
| auto alignedDepth = "depth_aligned"; | ||
| cv::namedWindow(rgbWindowName); | ||
| cv::namedWindow(depthWindowName); | ||
| cv::namedWindow(blendedWindowName); | ||
| cv::namedWindow(alignedDepth); | ||
| int defaultValue = (int)(rgbWeight * 100); | ||
| cv::createTrackbar("RGB Weight %", blendedWindowName, &defaultValue, 100, updateBlendWeights); | ||
|
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| while(true) { | ||
| std::unordered_map<std::string, std::shared_ptr<dai::ImgFrame>> latestPacket; | ||
|
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| auto queueEvents = device.getQueueEvents(queueNames); | ||
| for(const auto& name : queueEvents) { | ||
| auto packets = device.getOutputQueue(name)->tryGetAll<dai::ImgFrame>(); | ||
| auto count = packets.size(); | ||
| if(count > 0) { | ||
| latestPacket[name] = packets[count - 1]; | ||
| } | ||
| } | ||
|
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| for(const auto& name : queueNames) { | ||
| if(latestPacket.find(name) != latestPacket.end()) { | ||
| if(name == depthWindowName) { | ||
| frame[name] = latestPacket[name]->getFrame(); | ||
| } else if (name == rgbWindowName) { | ||
| frame[name] = latestPacket[name]->getCvFrame(); | ||
| } | ||
| else { | ||
| frame[name] = latestPacket[name]->getFrame(); | ||
| } | ||
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| cv::imshow(name, frame[name]); | ||
| } | ||
| } | ||
|
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| int key = cv::waitKey(1); | ||
| if(key == 'q' || key == 'Q') { | ||
| return 0; | ||
| } | ||
| } | ||
| return 0; | ||
| } |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 1,36 @@ | ||
| #pragma once | ||
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| #include <unordered_map> | ||
| #include <vector> | ||
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| #include "depthai-shared/datatype/RawImageAlignConfig.hpp" | ||
| #include "depthai/pipeline/datatype/Buffer.hpp" | ||
|
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| namespace dai { | ||
|
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| /** | ||
| * ImageAlignConfig message | ||
| */ | ||
| class ImageAlignConfig : public Buffer { | ||
| std::shared_ptr<RawBuffer> serialize() const override; | ||
| RawImageAlignConfig& cfg; | ||
|
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| public: | ||
| ImageAlignConfig(); | ||
| explicit ImageAlignConfig(std::shared_ptr<RawImageAlignConfig> ptr); | ||
| virtual ~ImageAlignConfig() = default; | ||
|
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| /** | ||
| * Set explicit configuration. | ||
| * @param config Explicit configuration | ||
| */ | ||
| ImageAlignConfig& set(dai::RawImageAlignConfig config); | ||
|
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| /** | ||
| * Retrieve configuration data for SpatialLocationCalculator. | ||
| * @returns config for SpatialLocationCalculator | ||
| */ | ||
| dai::RawImageAlignConfig get() const; | ||
| }; | ||
|
|
||
| } // namespace dai |
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