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