Stereo Depth Remap

1import depthai as dai
2import cv2
3import numpy as np
4
5def draw_rotated_rectangle(frame, center, size, angle, color, thickness=2):
6    """
7    Draws a rotated rectangle on the given frame.
8
9    Args:
10        frame (numpy.ndarray): The image/frame to draw on.
11        center (tuple): The (x, y) coordinates of the rectangle's center.
12        size (tuple): The (width, height) of the rectangle.
13        angle (float): The rotation angle of the rectangle in degrees (counter-clockwise).
14        color (tuple): The color of the rectangle in BGR format (e.g., (0, 255, 0) for green).
15        thickness (int): The thickness of the rectangle edges. Default is 2.
16    """
17    # Create a rotated rectangle
18    rect = ((center[0], center[1]), (size[0], size[1]), angle)
19
20    # Get the four vertices of the rotated rectangle
21    box = cv2.boxPoints(rect)
22    box = np.intp(box)  # Convert to integer coordinates
23
24    # Draw the rectangle on the frame
25    cv2.polylines(frame, [box], isClosed=True, color=color, thickness=thickness)
26
27def processDepthFrame(depthFrame):
28    depth_downscaled = depthFrame[::4]
29    if np.all(depth_downscaled == 0):
30        min_depth = 0
31    else:
32        min_depth = np.percentile(depth_downscaled[depth_downscaled != 0], 1)
33    max_depth = np.percentile(depth_downscaled, 99)
34    depthFrameColor = np.interp(depthFrame, (min_depth, max_depth), (0, 255)).astype(np.uint8)
35    return cv2.applyColorMap(depthFrameColor, cv2.COLORMAP_HOT)
36
37with dai.Pipeline() as pipeline:
38    color = pipeline.create(dai.node.Camera).build(dai.CameraBoardSocket.CAM_A)
39    monoLeft = pipeline.create(dai.node.Camera).build(dai.CameraBoardSocket.CAM_B)
40    monoRight = pipeline.create(dai.node.Camera).build(dai.CameraBoardSocket.CAM_C)
41    stereo = pipeline.create(dai.node.StereoDepth)
42
43    stereo.setDefaultProfilePreset(dai.node.StereoDepth.PresetMode.DEFAULT)
44    # stereo.setDepthAlign(dai.CameraBoardSocket.CAM_A)
45    # stereo.setOutputSize(640, 400)
46
47    colorCamOut = color.requestOutput((640, 480))
48
49    monoLeftOut = monoLeft.requestOutput((640, 480))
50    monoRightOut = monoRight.requestOutput((640, 480))
51
52    monoLeftOut.link(stereo.left)
53    monoRightOut.link(stereo.right)
54
55    colorOut = colorCamOut.createOutputQueue()
56    rightOut = monoRightOut.createOutputQueue()
57    stereoOut = stereo.depth.createOutputQueue()
58
59    pipeline.start()
60    while pipeline.isRunning():
61        colorFrame = colorOut.get()
62        stereoFrame = stereoOut.get()
63
64        assert colorFrame.validateTransformations()
65        assert stereoFrame.validateTransformations()
66
67        clr = colorFrame.getCvFrame()
68        depth = processDepthFrame(stereoFrame.getCvFrame())
69
70        rect = dai.RotatedRect(dai.Point2f(300, 200), dai.Size2f(200, 100), 10)
71        remappedRect = colorFrame.getTransformation().remapRectTo(stereoFrame.getTransformation(), rect)
72
73        print(f"Original rect x: {rect.center.x} y: {rect.center.y} width: {rect.size.width} height: {rect.size.height} angle: {rect.angle}")
74        print(f"Remapped rect x: {remappedRect.center.x} y: {remappedRect.center.y} width: {remappedRect.size.width} height: {remappedRect.size.height} angle: {remappedRect.angle}")
75
76        draw_rotated_rectangle(clr, (rect.center.x, rect.center.y), (rect.size.width, rect.size.height), rect.angle, (255, 0, 0))
77        draw_rotated_rectangle(depth, (remappedRect.center.x, remappedRect.center.y), (remappedRect.size.width, remappedRect.size.height), remappedRect.angle, (255, 0, 0))
78
79        cv2.imshow("color", clr)
80        cv2.imshow("depth", depth)
81
82        if cv2.waitKey(1) == ord('q'):
83            break
84    pipeline.stop()