# Casting NN Concatenation This example demonstrates how to concatenate frames from multiple cameras (RGB, left, and right) using a [NeuralNetwork](https://docs.luxonis.com/software/depthai-components/nodes/neural_network.md) and the [Cast](https://docs.luxonis.com/software/depthai-components/nodes/cast_node.md) node. ## Demo ## Setup Please run the [install script](https://github.com/luxonis/depthai-python/blob/main/examples/install_requirements.py) to download all required dependencies. Please note that this script must be ran from git context, so you have to download the [depthai-python](https://github.com/luxonis/depthai-python) repository first and then run the script ```bash git clone https://github.com/luxonis/depthai-python.git cd depthai-python/examples python3 install_requirements.py ``` For additional information, please follow the [installation guide](https://docs.luxonis.com/software/depthai/manual-install.md). ## Source code #### Python ```python #!/usr/bin/env python3 import numpy as np import cv2 import depthai as dai from pathlib import Path SHAPE = 300 p = dai.Pipeline() camRgb = p.create(dai.node.ColorCamera) left = p.create(dai.node.MonoCamera) right = p.create(dai.node.MonoCamera) manipLeft = p.create(dai.node.ImageManip) manipRight = p.create(dai.node.ImageManip) nn = p.create(dai.node.NeuralNetwork) cast = p.create(dai.node.Cast) castXout = p.create(dai.node.XLinkOut) camRgb.setPreviewSize(SHAPE, SHAPE) camRgb.setInterleaved(False) camRgb.setColorOrder(dai.ColorCameraProperties.ColorOrder.BGR) left.setCamera("left") left.setResolution(dai.MonoCameraProperties.SensorResolution.THE_400_P) manipLeft.initialConfig.setResize(SHAPE, SHAPE) manipLeft.initialConfig.setFrameType(dai.ImgFrame.Type.BGR888p) right.setCamera("right") right.setResolution(dai.MonoCameraProperties.SensorResolution.THE_400_P) manipRight.initialConfig.setResize(SHAPE, SHAPE) manipRight.initialConfig.setFrameType(dai.ImgFrame.Type.BGR888p) nnBlobPath = (Path(__file__).parent / Path('../models/concat_openvino_2021.4_6shave.blob')).resolve().absolute() nn.setBlobPath(nnBlobPath) nn.setNumInferenceThreads(2) castXout.setStreamName("cast") cast.setOutputFrameType(dai.ImgFrame.Type.BGR888p) # Linking left.out.link(manipLeft.inputImage) right.out.link(manipRight.inputImage) manipLeft.out.link(nn.inputs['img1']) camRgb.preview.link(nn.inputs['img2']) manipRight.out.link(nn.inputs['img3']) nn.out.link(cast.input) cast.output.link(castXout.input) # Pipeline is defined, now we can connect to the device with dai.Device(p) as device: qCast = device.getOutputQueue(name="cast", maxSize=4, blocking=False) while True: inCast = qCast.get() assert isinstance(inCast, dai.ImgFrame) cv2.imshow("Concated frames", inCast.getCvFrame()) if cv2.waitKey(1) == ord('q'): break ``` #### C++ ```cpp #include #include constexpr int SHAPE = 300; int main() { dai::Pipeline p; auto camRgb = p.create(); auto left = p.create(); auto right = p.create(); auto manipLeft = p.create(); auto manipRight = p.create(); auto nn = p.create(); auto cast = p.create(); auto castXout = p.create(); camRgb->setPreviewSize(SHAPE, SHAPE); camRgb->setInterleaved(false); camRgb->setColorOrder(dai::ColorCameraProperties::ColorOrder::BGR); left->setCamera("left"); left->setResolution(dai::MonoCameraProperties::SensorResolution::THE_400_P); manipLeft->initialConfig.setResize(SHAPE, SHAPE); manipLeft->initialConfig.setFrameType(dai::ImgFrame::Type::BGR888p); right->setCamera("right"); right->setResolution(dai::MonoCameraProperties::SensorResolution::THE_400_P); manipRight->initialConfig.setResize(SHAPE, SHAPE); manipRight->initialConfig.setFrameType(dai::ImgFrame::Type::BGR888p); nn->setBlobPath(BLOB_PATH); nn->setNumInferenceThreads(2); castXout->setStreamName("cast"); cast->setOutputFrameType(dai::ImgFrame::Type::BGR888p); // Linking left->out.link(manipLeft->inputImage); right->out.link(manipRight->inputImage); manipLeft->out.link(nn->inputs["img1"]); camRgb->preview.link(nn->inputs["img2"]); manipRight->out.link(nn->inputs["img3"]); nn->out.link(cast->input); cast->output.link(castXout->input); // Pipeline is defined, now we can connect to the device dai::Device device(p); auto qCast = device.getOutputQueue("cast", 4, false); while(true) { auto inCast = qCast->get(); if(inCast) { cv::imshow("Concated frames", inCast->getCvFrame()); } if(cv::waitKey(1) == 'q') { break; } } return 0; } ``` ## Pipeline ### examples/cast_concat.pipeline.json ```json { "pipeline": { "connections": [ { "node1Id": 1, "node1Output": "out", "node1OutputGroup": "", "node2Id": 3, "node2Input": "inputImage", "node2InputGroup": "" }, { "node1Id": 2, "node1Output": "out", "node1OutputGroup": "", "node2Id": 4, "node2Input": "inputImage", "node2InputGroup": "" }, { "node1Id": 3, "node1Output": "out", "node1OutputGroup": "", "node2Id": 5, "node2Input": "img1", "node2InputGroup": "inputs" }, { "node1Id": 0, "node1Output": "preview", "node1OutputGroup": "", "node2Id": 5, "node2Input": "img2", "node2InputGroup": "inputs" }, { "node1Id": 4, "node1Output": "out", "node1OutputGroup": "", "node2Id": 5, "node2Input": "img3", "node2InputGroup": "inputs" }, { "node1Id": 5, "node1Output": "out", "node1OutputGroup": "", "node2Id": 6, "node2Input": "input", "node2InputGroup": "" }, { "node1Id": 6, "node1Output": "output", "node1OutputGroup": "", "node2Id": 7, "node2Input": "in", "node2InputGroup": "" } ], "globalProperties": { "calibData": null, "cameraTuningBlobSize": null, "cameraTuningBlobUri": "", "leonCssFrequencyHz": 700000000.0, "leonMssFrequencyHz": 700000000.0, "pipelineName": null, "pipelineVersion": null, "sippBufferSize": 18432, "sippDmaBufferSize": 16384, "xlinkChunkSize": -1 }, "nodes": [ [ 0, { "id": 0, "ioInfo": [ [ [ "", "inputConfig" ], { "blocking": false, "group": "", "id": 1, "name": "inputConfig", "queueSize": 8, "type": 3, "waitForMessage": false } ], [ [ "", "raw" ], { "blocking": false, "group": "", "id": 6, "name": "raw", "queueSize": 8, "type": 0, "waitForMessage": false } ], [ [ "", "still" ], { "blocking": false, "group": "", "id": 7, "name": "still", "queueSize": 8, "type": 0, "waitForMessage": false } ], [ [ "", "inputControl" ], { "blocking": true, "group": "", "id": 2, "name": "inputControl", "queueSize": 8, "type": 3, "waitForMessage": false } ], [ [ "", "video" ], { "blocking": false, "group": "", "id": 3, "name": "video", "queueSize": 8, "type": 0, "waitForMessage": false } ], [ [ "", "isp" ], { "blocking": false, 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"inputControl" ], { "blocking": true, "group": "", "id": 9, "name": "inputControl", "queueSize": 8, "type": 3, "waitForMessage": false } ], [ [ "", "out" ], { "blocking": false, "group": "", "id": 10, "name": "out", "queueSize": 8, "type": 0, "waitForMessage": false } ], [ [ "", "raw" ], { "blocking": false, "group": "", "id": 11, "name": "raw", "queueSize": 8, "type": 0, "waitForMessage": false } ], [ [ "", "frameEvent" ], { "blocking": false, "group": "", "id": 12, "name": "frameEvent", "queueSize": 8, "type": 0, "waitForMessage": false } ] ], "name": "MonoCamera", "properties": { "boardSocket": -1, "cameraName": "left", "fps": 30.0, "imageOrientation": -1, "initialControl": { "aeLockMode": false, "aeMaxExposureTimeUs": 0, "aeRegion": { "height": 0, "priority": 0, "width": 0, "x": 0, "y": 0 }, "afRegion": { "height": 0, "priority": 0, "width": 0, "x": 0, "y": 0 }, "antiBandingMode": 0, "autoFocusMode": 3, "awbLockMode": false, "awbMode": 0, "brightness": 0, "captureIntent": 0, "chromaDenoise": 0, "cmdMask": 0, "contrast": 0, "controlMode": 0, "effectMode": 0, "expCompensation": 0, "expManual": { "exposureTimeUs": 0, "frameDurationUs": 0, "sensitivityIso": 0 }, "frameSyncMode": 0, "lensPosAutoInfinity": 0, "lensPosAutoMacro": 0, "lensPosition": 0, "lensPositionRaw": 0.0, "lowPowerNumFramesBurst": 0, "lowPowerNumFramesDiscard": 0, "lumaDenoise": 0, "saturation": 0, "sceneMode": 0, "sharpness": 0, "strobeConfig": { "activeLevel": 0, "enable": 0, "gpioNumber": 0 }, "strobeTimings": { "durationUs": 0, "exposureBeginOffsetUs": 0, "exposureEndOffsetUs": 0 }, "wbColorTemp": 0 }, "isp3aFps": 0, "numFramesPool": 3, "numFramesPoolRaw": 3, "rawPacked": null, "resolution": 2 } } ], [ 2, { "id": 2, "ioInfo": [ [ [ "", "inputControl" ], { "blocking": true, "group": "", "id": 13, "name": "inputControl", "queueSize": 8, "type": 3, "waitForMessage": false } ], [ [ "", "out" ], { "blocking": false, "group": "", "id": 14, "name": "out", "queueSize": 8, "type": 0, "waitForMessage": false } ], [ [ "", "raw" ], { "blocking": false, "group": "", "id": 15, "name": "raw", "queueSize": 8, "type": 0, "waitForMessage": false } ], [ [ "", "frameEvent" ], { "blocking": false, "group": "", "id": 16, "name": "frameEvent", "queueSize": 8, "type": 0, "waitForMessage": false } ] ], "name": "MonoCamera", "properties": { "boardSocket": -1, "cameraName": "right", "fps": 30.0, "imageOrientation": -1, "initialControl": { "aeLockMode": false, "aeMaxExposureTimeUs": 0, "aeRegion": { "height": 0, "priority": 0, "width": 0, "x": 0, "y": 0 }, "afRegion": { "height": 0, "priority": 0, "width": 0, "x": 0, "y": 0 }, "antiBandingMode": 0, "autoFocusMode": 3, "awbLockMode": false, "awbMode": 0, "brightness": 0, "captureIntent": 0, "chromaDenoise": 0, "cmdMask": 0, "contrast": 0, "controlMode": 0, "effectMode": 0, "expCompensation": 0, "expManual": { "exposureTimeUs": 0, "frameDurationUs": 0, "sensitivityIso": 0 }, "frameSyncMode": 0, "lensPosAutoInfinity": 0, "lensPosAutoMacro": 0, "lensPosition": 0, "lensPositionRaw": 0.0, "lowPowerNumFramesBurst": 0, "lowPowerNumFramesDiscard": 0, "lumaDenoise": 0, "saturation": 0, "sceneMode": 0, "sharpness": 0, "strobeConfig": { "activeLevel": 0, "enable": 0, "gpioNumber": 0 }, "strobeTimings": { "durationUs": 0, "exposureBeginOffsetUs": 0, "exposureEndOffsetUs": 0 }, "wbColorTemp": 0 }, "isp3aFps": 0, "numFramesPool": 3, "numFramesPoolRaw": 3, "rawPacked": null, "resolution": 2 } } ], [ 3, { "id": 3, "ioInfo": [ [ [ "", "inputConfig" ], { "blocking": true, "group": "", "id": 17, "name": "inputConfig", "queueSize": 8, "type": 3, "waitForMessage": false } ], [ [ "", "inputImage" ], { "blocking": true, "group": "", "id": 18, "name": "inputImage", "queueSize": 8, "type": 3, "waitForMessage": true } ], [ [ "", "out" ], { "blocking": false, "group": "", "id": 19, "name": "out", "queueSize": 8, "type": 0, "waitForMessage": false } ] ], "name": "ImageManip", "properties": { "initialConfig": { "cropConfig": { "cropRatio": 1.0, "cropRect": { "xmax": 0.0, "xmin": 0.0, "ymax": 0.0, "ymin": 0.0 }, "cropRotatedRect": { "angle": 0.0, "center": { "x": 0.0, "y": 0.0 }, "size": { "height": 0.0, "width": 0.0 } }, "enableCenterCropRectangle": false, "enableRotatedRect": false, "normalizedCoords": true, "widthHeightAspectRatio": 1.0 }, "enableCrop": false, "enableFormat": true, "enableResize": true, "formatConfig": { "colormap": 0, "colormapMax": 255, "colormapMin": 0, "flipHorizontal": false, "flipVertical": false, "type": 8 }, "interpolation": -1, "resizeConfig": { "bgBlue": 0, "bgGreen": 0, "bgRed": 0, "enableRotation": false, "enableWarp4pt": false, "enableWarpMatrix": false, "height": 300, "keepAspectRatio": true, "lockAspectRatioFill": false, "normalizedCoords": true, "rotationAngleDeg": 0.0, "warpBorderReplicate": false, "warpFourPoints": [], "warpMatrix3x3": [], "width": 300 }, "reusePreviousImage": false, "skipCurrentImage": false }, "meshHeight": 0, "meshUri": "", "meshWidth": 0, 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"colormapMax": 255, "colormapMin": 0, "flipHorizontal": false, "flipVertical": false, "type": 8 }, "interpolation": -1, "resizeConfig": { "bgBlue": 0, "bgGreen": 0, "bgRed": 0, "enableRotation": false, "enableWarp4pt": false, "enableWarpMatrix": false, "height": 300, "keepAspectRatio": true, "lockAspectRatioFill": false, "normalizedCoords": true, "rotationAngleDeg": 0.0, "warpBorderReplicate": false, "warpFourPoints": [], "warpMatrix3x3": [], "width": 300 }, "reusePreviousImage": false, "skipCurrentImage": false }, "meshHeight": 0, "meshUri": "", "meshWidth": 0, "numFramesPool": 4, "outputFrameSize": 1048576 } } ], [ 5, { "id": 5, "ioInfo": [ [ [ "", "in" ], { "blocking": true, "group": "", "id": 23, "name": "in", "queueSize": 5, "type": 3, "waitForMessage": true } ], [ [ "inputs", "img1" ], { "blocking": false, "group": "inputs", "id": 24, "name": "img1", "queueSize": 1, "type": 3, "waitForMessage": true } ], [ [ "inputs", "img2" ], { "blocking": false, "group": "inputs", "id": 25, "name": "img2", "queueSize": 1, "type": 3, "waitForMessage": true } ], [ [ "", "out" ], { "blocking": false, "group": "", "id": 27, "name": "out", "queueSize": 8, "type": 0, "waitForMessage": false } ], [ [ "inputs", "img3" ], { "blocking": false, "group": "inputs", "id": 26, "name": "img3", "queueSize": 1, "type": 3, "waitForMessage": true } ], [ [ "", "passthrough" ], { "blocking": false, "group": "", "id": 28, "name": "passthrough", "queueSize": 8, "type": 0, "waitForMessage": false } ] ], "name": "NeuralNetwork", "properties": { "blobSize": 1024, "blobUri": "asset:__blob", "numFrames": 8, "numNCEPerThread": 0, "numThreads": 2 } } ], [ 6, { "id": 6, "ioInfo": [ [ [ "", "input" ], { "blocking": false, "group": "", "id": 29, "name": "input", "queueSize": 4, "type": 3, "waitForMessage": true } ], [ [ "", "output" ], { "blocking": false, "group": "", "id": 30, "name": "output", "queueSize": 8, "type": 0, "waitForMessage": false } ], [ [ "", "passthroughInput" ], { "blocking": false, "group": "", "id": 31, "name": "passthroughInput", "queueSize": 8, "type": 0, "waitForMessage": false } ] ], "name": "Cast", "properties": { "numFramesPool": 4, "offset": null, "outputType": 8, "scale": null } } ], [ 7, { "id": 7, "ioInfo": [ [ [ "", "in" ], { "blocking": true, "group": "", "id": 32, "name": "in", "queueSize": 8, "type": 3, "waitForMessage": true } ] ], "name": "XLinkOut", "properties": { "maxFpsLimit": -1.0, "metadataOnly": false, "streamName": "cast" } } ] ] } } ``` ### Need assistance? 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