Undistort camera stream

This example shows how you can use Camera node to undistort wide FOV camera stream. Camera node will automatically undistort still, video and preview streams, while isp stream will be left as is.

Demo

This example requires the DepthAI v3 API, see installation instructions.

Pipeline

React Flow

Source code

Python

GitHub

1#!/usr/bin/env python3
2
3import cv2
4import depthai as dai
5
6# Create pipeline
7with dai.Pipeline() as pipeline:
8    # Define source and output
9    cam = pipeline.create(dai.node.Camera).build(dai.CameraBoardSocket.CAM_B)
10    croppedQueue = cam.requestOutput((300,300), resizeMode=dai.ImgResizeMode.CROP, enableUndistortion=True).createOutputQueue()
11    stretchedQueue = cam.requestOutput((300,300), resizeMode=dai.ImgResizeMode.STRETCH, enableUndistortion=True).createOutputQueue()
12    letterBoxedQueue = cam.requestOutput((300,300), resizeMode=dai.ImgResizeMode.LETTERBOX, enableUndistortion=True).createOutputQueue()
13
14    # Connect to device and start pipeline
15    pipeline.start()
16    while pipeline.isRunning():
17        croppedIn = croppedQueue.get()
18        assert isinstance(croppedIn, dai.ImgFrame)
19        cv2.imshow("cropped undistorted", croppedIn.getCvFrame())
20
21        stretchedIn = stretchedQueue.get()
22        assert isinstance(stretchedIn, dai.ImgFrame)
23        cv2.imshow("stretched undistorted", stretchedIn.getCvFrame())
24
25        letterBoxedIn = letterBoxedQueue.get()
26        assert isinstance(letterBoxedIn, dai.ImgFrame)
27        cv2.imshow("letterboxed undistorted", letterBoxedIn.getCvFrame())
28
29        if cv2.waitKey(1) == ord("q"):
30            break

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