Undistort camera stream

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

1#include <atomic>
2#include <csignal>
3#include <iostream>
4#include <memory>
5#include <opencv2/opencv.hpp>
6#include <optional>
7
8#include "depthai/depthai.hpp"
9
10// Global flag for graceful shutdown
11std::atomic<bool> quitEvent(false);
12
13// Signal handler
14void signalHandler(int signum) {
15    quitEvent = true;
16}
17
18int main() {
19    // Set up signal handlers
20    signal(SIGTERM, signalHandler);
21    signal(SIGINT, signalHandler);
22
23    try {
24        // Create pipeline
25        dai::Pipeline pipeline;
26
27        // Define source and outputs
28        auto cam = pipeline.create<dai::node::Camera>();
29        cam->build(dai::CameraBoardSocket::CAM_B, std::nullopt, 30);
30
31        // Create output queues with different resize modes
32        auto croppedQueue = cam->requestOutput(std::make_pair(300, 300), dai::ImgFrame::Type::NV12, dai::ImgResizeMode::CROP, 20, 20)->createOutputQueue();
33
34        auto stretchedQueue = cam->requestOutput(std::make_pair(300, 300), dai::ImgFrame::Type::NV12, dai::ImgResizeMode::STRETCH, 20, 20)->createOutputQueue();
35
36        auto letterBoxedQueue =
37            cam->requestOutput(std::make_pair(300, 300), dai::ImgFrame::Type::NV12, dai::ImgResizeMode::LETTERBOX, 20, 20)->createOutputQueue();
38
39        // Start pipeline
40        pipeline.start();
41
42        // Main loop
43        while(pipeline.isRunning() && !quitEvent) {
44            // Get and show cropped undistorted frame
45            auto croppedIn = croppedQueue->get<dai::ImgFrame>();
46            cv::imshow("cropped undistorted", croppedIn->getCvFrame());
47
48            // Get and show stretched undistorted frame
49            auto stretchedIn = stretchedQueue->get<dai::ImgFrame>();
50            cv::imshow("stretched undistorted", stretchedIn->getCvFrame());
51
52            // Get and show letterboxed undistorted frame
53            auto letterBoxedIn = letterBoxedQueue->get<dai::ImgFrame>();
54            cv::imshow("letterboxed undistorted", letterBoxedIn->getCvFrame());
55
56            // Check for quit key
57            if(cv::waitKey(1) == 'q') {
58                break;
59            }
60        }
61
62        // Cleanup
63        pipeline.stop();
64        pipeline.wait();
65
66    } catch(const std::exception& e) {
67        std::cerr << "Error: " << e.what() << std::endl;
68        return 1;
69    }
70
71    return 0;
72}