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  • Casting NN subtraction
  • Demo
  • Setup
  • Source code
  • Pipeline

Casting NN subtraction

This example demonstrates how to perform frame subtraction using a NeuralNetwork and the Cast node.

Demo

Setup

Please run the install script to download all required dependencies. Please note that this script must be ran from git context, so you have to download the depthai-python repository first and then run the script
Command Line
1git clone https://github.com/luxonis/depthai-python.git
2cd depthai-python/examples
3python3 install_requirements.py
For additional information, please follow the installation guide.

Source code

Python
C++

Python

Python
GitHub
1#!/usr/bin/env python3
2
3import cv2
4import depthai as dai
5from pathlib import Path
6
7SHAPE = 720
8
9p = dai.Pipeline()
10
11camRgb = p.create(dai.node.ColorCamera)
12nn = p.create(dai.node.NeuralNetwork)
13script = p.create(dai.node.Script)
14rgbXout = p.create(dai.node.XLinkOut)
15cast = p.create(dai.node.Cast)
16castXout = p.create(dai.node.XLinkOut)
17
18camRgb.setVideoSize(SHAPE, SHAPE)
19camRgb.setPreviewSize(SHAPE, SHAPE)
20camRgb.setInterleaved(False)
21
22nnBlobPath = (Path(__file__).parent / Path('../models/diff_openvino_2022.1_6shave.blob')).resolve().absolute()
23nn.setBlobPath(nnBlobPath)
24
25script.setScript("""
26old = node.io['in'].get()
27while True:
28    frame = node.io['in'].get()
29    node.io['img1'].send(old)
30    node.io['img2'].send(frame)
31    old = frame
32""")
33
34rgbXout.setStreamName("rgb")
35castXout.setStreamName("cast")
36cast.setOutputFrameType(dai.RawImgFrame.Type.GRAY8)
37
38# Linking
39camRgb.preview.link(script.inputs['in'])
40script.outputs['img1'].link(nn.inputs['img1'])
41script.outputs['img2'].link(nn.inputs['img2'])
42camRgb.video.link(rgbXout.input)
43nn.out.link(cast.input)
44cast.output.link(castXout.input)
45
46# Pipeline is defined, now we can connect to the device
47with dai.Device(p) as device:
48    qCam = device.getOutputQueue(name="rgb", maxSize=4, blocking=False)
49    qCast = device.getOutputQueue(name="cast", maxSize=4, blocking=False)
50
51
52    while True:
53        colorFrame = qCam.get()
54        assert isinstance(colorFrame, dai.ImgFrame)
55        cv2.imshow("Color", colorFrame.getCvFrame())
56
57        inCast = qCast.get()
58        assert isinstance(inCast, dai.ImgFrame)
59        cv2.imshow("Diff", inCast.getCvFrame())
60
61        if cv2.waitKey(1) == ord('q'):
62            break

Pipeline

React Flow

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