Neural Depth RGBD

1import time
2import depthai as dai
3
4from argparse import ArgumentParser
5
6parser = ArgumentParser()
7parser.add_argument("--webSocketPort", type=int, default=8765)
8parser.add_argument("--httpPort", type=int, default=8080)
9args = parser.parse_args()
10
11FPS = 10
12with dai.Pipeline() as p:
13    remoteConnector = dai.RemoteConnection(
14        webSocketPort=args.webSocketPort, httpPort=args.httpPort
15    )
16    left = p.create(dai.node.Camera)
17    right = p.create(dai.node.Camera)
18    color = p.create(dai.node.Camera)
19    stereo = p.create(dai.node.NeuralDepth)
20    rgbd = p.create(dai.node.RGBD).build()
21    align = None
22
23    color.build(sensorFps=FPS)
24    left.build(dai.CameraBoardSocket.CAM_B, sensorFps=FPS)
25    right.build(dai.CameraBoardSocket.CAM_C, sensorFps=FPS)
26
27    # Linking
28    stereo.build(left.requestFullResolutionOutput(), right.requestFullResolutionOutput(), dai.DeviceModelZoo.NEURAL_DEPTH_LARGE)
29    out = color.requestOutput((1280, 800), dai.ImgFrame.Type.RGB888i, enableUndistortion=True)
30    align = p.create(dai.node.ImageAlign)
31    stereo.depth.link(align.input)
32    out.link(align.inputAlignTo)
33    align.outputAligned.link(rgbd.inDepth)
34    out.link(rgbd.inColor)
35    remoteConnector.addTopic("pcl", rgbd.pcl, "common")
36
37    p.start()
38    remoteConnector.registerPipeline(p)
39
40    while p.isRunning():
41        key = remoteConnector.waitKey(1)
42        if key == ord("q"):
43            print("Got q key from the remote connection!")
44            break