Edge Detector

1#!/usr/bin/env python3
2
3import cv2
4import depthai as dai
5import numpy as np
6
7# Create pipeline
8pipeline = dai.Pipeline()
9
10# Define sources and outputs
11camRgb = pipeline.create(dai.node.ColorCamera)
12monoLeft = pipeline.create(dai.node.MonoCamera)
13monoRight = pipeline.create(dai.node.MonoCamera)
14
15edgeDetectorLeft = pipeline.create(dai.node.EdgeDetector)
16edgeDetectorRight = pipeline.create(dai.node.EdgeDetector)
17edgeDetectorRgb = pipeline.create(dai.node.EdgeDetector)
18
19xoutEdgeLeft = pipeline.create(dai.node.XLinkOut)
20xoutEdgeRight = pipeline.create(dai.node.XLinkOut)
21xoutEdgeRgb = pipeline.create(dai.node.XLinkOut)
22xinEdgeCfg = pipeline.create(dai.node.XLinkIn)
23
24edgeLeftStr = "edge left"
25edgeRightStr = "edge right"
26edgeRgbStr = "edge rgb"
27edgeCfgStr = "edge cfg"
28
29xoutEdgeLeft.setStreamName(edgeLeftStr)
30xoutEdgeRight.setStreamName(edgeRightStr)
31xoutEdgeRgb.setStreamName(edgeRgbStr)
32xinEdgeCfg.setStreamName(edgeCfgStr)
33
34# Properties
35camRgb.setBoardSocket(dai.CameraBoardSocket.CAM_A)
36camRgb.setResolution(dai.ColorCameraProperties.SensorResolution.THE_1080_P)
37
38monoLeft.setResolution(dai.MonoCameraProperties.SensorResolution.THE_400_P)
39monoLeft.setCamera("left")
40monoRight.setResolution(dai.MonoCameraProperties.SensorResolution.THE_400_P)
41monoRight.setCamera("right")
42
43edgeDetectorRgb.setMaxOutputFrameSize(camRgb.getVideoWidth() * camRgb.getVideoHeight())
44
45# Linking
46monoLeft.out.link(edgeDetectorLeft.inputImage)
47monoRight.out.link(edgeDetectorRight.inputImage)
48camRgb.video.link(edgeDetectorRgb.inputImage)
49
50edgeDetectorLeft.outputImage.link(xoutEdgeLeft.input)
51edgeDetectorRight.outputImage.link(xoutEdgeRight.input)
52edgeDetectorRgb.outputImage.link(xoutEdgeRgb.input)
53
54xinEdgeCfg.out.link(edgeDetectorLeft.inputConfig)
55xinEdgeCfg.out.link(edgeDetectorRight.inputConfig)
56xinEdgeCfg.out.link(edgeDetectorRgb.inputConfig)
57
58# Connect to device and start pipeline
59with dai.Device(pipeline) as device:
60
61    # Output/input queues
62    edgeLeftQueue = device.getOutputQueue(edgeLeftStr, 8, False)
63    edgeRightQueue = device.getOutputQueue(edgeRightStr, 8, False)
64    edgeRgbQueue = device.getOutputQueue(edgeRgbStr, 8, False)
65    edgeCfgQueue = device.getInputQueue(edgeCfgStr)
66
67    print("Switch between sobel filter kernels using keys '1' and '2'")
68
69    while(True):
70        edgeLeft = edgeLeftQueue.get()
71        edgeRight = edgeRightQueue.get()
72        edgeRgb = edgeRgbQueue.get()
73
74        edgeLeftFrame = edgeLeft.getFrame()
75        edgeRightFrame = edgeRight.getFrame()
76        edgeRgbFrame = edgeRgb.getFrame()
77
78        # Show the frame
79        cv2.imshow(edgeLeftStr, edgeLeftFrame)
80        cv2.imshow(edgeRightStr, edgeRightFrame)
81        cv2.imshow(edgeRgbStr, edgeRgbFrame)
82
83        key = cv2.waitKey(1)
84        if key == ord('q'):
85            break
86
87        if key == ord('1'):
88            print("Switching sobel filter kernel.")
89            cfg = dai.EdgeDetectorConfig()
90            sobelHorizontalKernel = [[1, 0, -1], [2, 0, -2], [1, 0, -1]]
91            sobelVerticalKernel = [[1, 2, 1], [0, 0, 0], [-1, -2, -1]]
92            cfg.setSobelFilterKernels(sobelHorizontalKernel, sobelVerticalKernel)
93            edgeCfgQueue.send(cfg)
94
95        if key == ord('2'):
96            print("Switching sobel filter kernel.")
97            cfg = dai.EdgeDetectorConfig()
98            sobelHorizontalKernel = [[3, 0, -3], [10, 0, -10], [3, 0, -3]]
99            sobelVerticalKernel = [[3, 10, 3], [0, 0, 0], [-3, -10, -3]]
100            cfg.setSobelFilterKernels(sobelHorizontalKernel, sobelVerticalKernel)
101            edgeCfgQueue.send(cfg)