Neural Depth Minimal

1#!/usr/bin/env python3
2
3import cv2
4import depthai as dai
5import numpy as np
6
7FPS = 10
8
9# Create pipeline
10with dai.Pipeline() as pipeline:
11    cameraLeft = pipeline.create(dai.node.Camera).build(dai.CameraBoardSocket.CAM_B, sensorFps=FPS)
12    cameraRight = pipeline.create(dai.node.Camera).build(dai.CameraBoardSocket.CAM_C, sensorFps=FPS)
13    leftOutput = cameraLeft.requestFullResolutionOutput()
14    rightOutput = cameraRight.requestFullResolutionOutput()
15
16    neuralDepth = pipeline.create(dai.node.NeuralDepth).build(leftOutput, rightOutput, dai.DeviceModelZoo.NEURAL_DEPTH_LARGE)
17
18    disparityQueue = neuralDepth.disparity.createOutputQueue()
19
20    # Connect to device and start pipeline
21    pipeline.start()
22    maxDisparity = 1
23    colorMap = cv2.applyColorMap(np.arange(256, dtype=np.uint8), cv2.COLORMAP_JET)
24    colorMap[0] = [0, 0, 0]  # to make zero-disparity pixels black
25
26    while pipeline.isRunning():
27        disparityData = disparityQueue.get()
28        assert isinstance(disparityData, dai.ImgFrame)
29        npDisparity = disparityData.getFrame()
30        maxDisparity = max(maxDisparity, np.max(npDisparity))
31        colorizedDisparity = cv2.applyColorMap(((npDisparity / maxDisparity) * 255).astype(np.uint8), colorMap)
32        cv2.imshow("disparity", colorizedDisparity)
33
34        key = cv2.waitKey(1)
35        if key == ord('q'):
36            pipeline.stop()
37            break
38
39        if cv2.waitKey(1) == ord('q'):
40            break