# Edge Detector This example performs edge detection on 3 different inputs: left, right and RGB camera. HW accelerated sobel filter 3x3 is used. Sobel filter parameters can be changed by keys 1 and 2. ## 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 cv2 import depthai as dai import numpy as np # Create pipeline pipeline = dai.Pipeline() # Define sources and outputs camRgb = pipeline.create(dai.node.ColorCamera) monoLeft = pipeline.create(dai.node.MonoCamera) monoRight = pipeline.create(dai.node.MonoCamera) edgeDetectorLeft = pipeline.create(dai.node.EdgeDetector) edgeDetectorRight = pipeline.create(dai.node.EdgeDetector) edgeDetectorRgb = pipeline.create(dai.node.EdgeDetector) xoutEdgeLeft = pipeline.create(dai.node.XLinkOut) xoutEdgeRight = pipeline.create(dai.node.XLinkOut) xoutEdgeRgb = pipeline.create(dai.node.XLinkOut) xinEdgeCfg = pipeline.create(dai.node.XLinkIn) edgeLeftStr = "edge left" edgeRightStr = "edge right" edgeRgbStr = "edge rgb" edgeCfgStr = "edge cfg" xoutEdgeLeft.setStreamName(edgeLeftStr) xoutEdgeRight.setStreamName(edgeRightStr) xoutEdgeRgb.setStreamName(edgeRgbStr) xinEdgeCfg.setStreamName(edgeCfgStr) # Properties camRgb.setBoardSocket(dai.CameraBoardSocket.CAM_A) camRgb.setResolution(dai.ColorCameraProperties.SensorResolution.THE_1080_P) monoLeft.setResolution(dai.MonoCameraProperties.SensorResolution.THE_400_P) monoLeft.setCamera("left") monoRight.setResolution(dai.MonoCameraProperties.SensorResolution.THE_400_P) monoRight.setCamera("right") edgeDetectorRgb.setMaxOutputFrameSize(camRgb.getVideoWidth() * camRgb.getVideoHeight()) # Linking monoLeft.out.link(edgeDetectorLeft.inputImage) monoRight.out.link(edgeDetectorRight.inputImage) camRgb.video.link(edgeDetectorRgb.inputImage) edgeDetectorLeft.outputImage.link(xoutEdgeLeft.input) edgeDetectorRight.outputImage.link(xoutEdgeRight.input) edgeDetectorRgb.outputImage.link(xoutEdgeRgb.input) xinEdgeCfg.out.link(edgeDetectorLeft.inputConfig) xinEdgeCfg.out.link(edgeDetectorRight.inputConfig) xinEdgeCfg.out.link(edgeDetectorRgb.inputConfig) # Connect to device and start pipeline with dai.Device(pipeline) as device: # Output/input queues edgeLeftQueue = device.getOutputQueue(edgeLeftStr, 8, False) edgeRightQueue = device.getOutputQueue(edgeRightStr, 8, False) edgeRgbQueue = device.getOutputQueue(edgeRgbStr, 8, False) edgeCfgQueue = device.getInputQueue(edgeCfgStr) print("Switch between sobel filter kernels using keys '1' and '2'") while(True): edgeLeft = edgeLeftQueue.get() edgeRight = edgeRightQueue.get() edgeRgb = edgeRgbQueue.get() edgeLeftFrame = edgeLeft.getFrame() edgeRightFrame = edgeRight.getFrame() edgeRgbFrame = edgeRgb.getFrame() # Show the frame cv2.imshow(edgeLeftStr, edgeLeftFrame) cv2.imshow(edgeRightStr, edgeRightFrame) cv2.imshow(edgeRgbStr, edgeRgbFrame) key = cv2.waitKey(1) if key == ord('q'): break if key == ord('1'): print("Switching sobel filter kernel.") cfg = dai.EdgeDetectorConfig() sobelHorizontalKernel = [[1, 0, -1], [2, 0, -2], [1, 0, -1]] sobelVerticalKernel = [[1, 2, 1], [0, 0, 0], [-1, -2, -1]] cfg.setSobelFilterKernels(sobelHorizontalKernel, sobelVerticalKernel) edgeCfgQueue.send(cfg) if key == ord('2'): print("Switching sobel filter kernel.") cfg = dai.EdgeDetectorConfig() sobelHorizontalKernel = [[3, 0, -3], [10, 0, -10], [3, 0, -3]] sobelVerticalKernel = [[3, 10, 3], [0, 0, 0], [-3, -10, -3]] cfg.setSobelFilterKernels(sobelHorizontalKernel, sobelVerticalKernel) edgeCfgQueue.send(cfg) ``` #### C++ ```cpp #include // Includes common necessary includes for development using depthai library #include "depthai/depthai.hpp" int main() { using namespace std; // Create pipeline dai::Pipeline pipeline; // Define sources and outputs auto camRgb = pipeline.create(); auto monoLeft = pipeline.create(); auto monoRight = pipeline.create(); auto edgeDetectorLeft = pipeline.create(); auto edgeDetectorRight = pipeline.create(); auto edgeDetectorRgb = pipeline.create(); auto xoutEdgeLeft = pipeline.create(); auto xoutEdgeRight = pipeline.create(); auto xoutEdgeRgb = pipeline.create(); auto xinEdgeCfg = pipeline.create(); const auto edgeLeftStr = "edge left"; const auto edgeRightStr = "edge right"; const auto edgeRgbStr = "edge rgb"; const auto edgeCfgStr = "edge cfg"; xoutEdgeLeft->setStreamName(edgeLeftStr); xoutEdgeRight->setStreamName(edgeRightStr); xoutEdgeRgb->setStreamName(edgeRgbStr); xinEdgeCfg->setStreamName(edgeCfgStr); // Properties camRgb->setBoardSocket(dai::CameraBoardSocket::CAM_A); camRgb->setResolution(dai::ColorCameraProperties::SensorResolution::THE_1080_P); monoLeft->setResolution(dai::MonoCameraProperties::SensorResolution::THE_400_P); monoLeft->setCamera("left"); monoRight->setResolution(dai::MonoCameraProperties::SensorResolution::THE_400_P); monoRight->setCamera("right"); edgeDetectorRgb->setMaxOutputFrameSize(camRgb->getVideoWidth() * camRgb->getVideoHeight()); // Linking monoLeft->out.link(edgeDetectorLeft->inputImage); monoRight->out.link(edgeDetectorRight->inputImage); camRgb->video.link(edgeDetectorRgb->inputImage); edgeDetectorLeft->outputImage.link(xoutEdgeLeft->input); edgeDetectorRight->outputImage.link(xoutEdgeRight->input); edgeDetectorRgb->outputImage.link(xoutEdgeRgb->input); xinEdgeCfg->out.link(edgeDetectorLeft->inputConfig); xinEdgeCfg->out.link(edgeDetectorRight->inputConfig); xinEdgeCfg->out.link(edgeDetectorRgb->inputConfig); // Connect to device and start pipeline dai::Device device(pipeline); // Output/input queues auto edgeLeftQueue = device.getOutputQueue(edgeLeftStr, 8, false); auto edgeRightQueue = device.getOutputQueue(edgeRightStr, 8, false); auto edgeRgbQueue = device.getOutputQueue(edgeRgbStr, 8, false); auto edgeCfgQueue = device.getInputQueue(edgeCfgStr); std::cout << "Switch between sobel filter kernels using keys '1' and '2'" << std::endl; while(true) { auto edgeLeft = edgeLeftQueue->get(); auto edgeRight = edgeRightQueue->get(); auto edgeRgb = edgeRgbQueue->get(); cv::Mat edgeLeftFrame = edgeLeft->getFrame(); cv::Mat edgeRightFrame = edgeRight->getFrame(); cv::Mat edgeRgbFrame = edgeRgb->getFrame(); // Show the frame cv::imshow(edgeLeftStr, edgeLeftFrame); cv::imshow(edgeRightStr, edgeRightFrame); cv::imshow(edgeRgbStr, edgeRgbFrame); int key = cv::waitKey(1); switch(key) { case 'q': return 0; break; case '1': { std::cout << "Switching sobel filter kernel." << std::endl; dai::EdgeDetectorConfig cfg; std::vector> sobelHorizontalKernel = {{1, 0, -1}, {2, 0, -2}, {1, 0, -1}}; std::vector> sobelVerticalKernel = {{1, 2, 1}, {0, 0, 0}, {-1, -2, -1}}; cfg.setSobelFilterKernels(sobelHorizontalKernel, sobelVerticalKernel); edgeCfgQueue->send(cfg); } break; case '2': { std::cout << "Switching sobel filter kernel." << std::endl; dai::EdgeDetectorConfig cfg; std::vector> sobelHorizontalKernel = {{3, 0, -3}, {10, 0, -10}, {3, 0, -3}}; std::vector> sobelVerticalKernel = {{3, 10, 3}, {0, 0, 0}, {-3, -10, -3}}; cfg.setSobelFilterKernels(sobelHorizontalKernel, sobelVerticalKernel); edgeCfgQueue->send(cfg); } break; default: break; } } return 0; } ``` ## Pipeline ### examples/edge_detector.pipeline.json ```json { "pipeline": { "connections": [ { "node1Id": 1, "node1Output": "out", "node1OutputGroup": "", "node2Id": 3, "node2Input": "inputImage", "node2InputGroup": "" }, { "node1Id": 9, "node1Output": "out", "node1OutputGroup": "", "node2Id": 3, "node2Input": "inputConfig", "node2InputGroup": "" }, { "node1Id": 9, "node1Output": "out", "node1OutputGroup": "", "node2Id": 4, "node2Input": "inputConfig", "node2InputGroup": "" }, { "node1Id": 2, "node1Output": "out", "node1OutputGroup": "", "node2Id": 4, "node2Input": "inputImage", "node2InputGroup": "" }, { "node1Id": 0, "node1Output": "video", "node1OutputGroup": "", "node2Id": 5, "node2Input": "inputImage", "node2InputGroup": "" }, { "node1Id": 9, "node1Output": "out", "node1OutputGroup": "", "node2Id": 5, "node2Input": "inputConfig", "node2InputGroup": "" }, { "node1Id": 3, "node1Output": "outputImage", "node1OutputGroup": "", "node2Id": 6, "node2Input": "in", "node2InputGroup": "" }, { "node1Id": 4, "node1Output": "outputImage", "node1OutputGroup": "", "node2Id": 7, "node2Input": "in", "node2InputGroup": "" }, { "node1Id": 5, "node1Output": "outputImage", "node1OutputGroup": "", "node2Id": 8, "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, 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"frameEvent", "queueSize": 8, "type": 0, "waitForMessage": false } ] ], "name": "ColorCamera", "properties": { "boardSocket": 0, "cameraName": "", "colorOrder": 0, "fp16": false, "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": 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"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", 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"exposureEndOffsetUs": 0 }, "wbColorTemp": 0 }, "isp3aFps": 0, "numFramesPool": 3, "numFramesPoolRaw": 3, "rawPacked": null, "resolution": 2 } } ], [ 3, { "id": 3, "ioInfo": [ [ [ "", "inputConfig" ], { "blocking": false, "group": "", "id": 17, "name": "inputConfig", "queueSize": 4, "type": 3, "waitForMessage": false } ], [ [ "", "outputImage" ], { "blocking": false, "group": "", "id": 19, "name": "outputImage", "queueSize": 8, "type": 0, "waitForMessage": false } ], [ [ "", "inputImage" ], { "blocking": false, "group": "", "id": 18, "name": "inputImage", "queueSize": 4, "type": 3, "waitForMessage": true } ], [ [ "", "passthroughInputImage" ], { "blocking": false, "group": "", "id": 20, "name": "passthroughInputImage", "queueSize": 8, "type": 0, "waitForMessage": false } ] ], "name": "EdgeDetector", "properties": { "initialConfig": { "config": { "sobelFilterHorizontalKernel": [], "sobelFilterVerticalKernel": [] } }, "numFramesPool": 4, "outputFrameSize": 1048576 } } ], [ 4, { "id": 4, 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"", "outputImage" ], { "blocking": false, "group": "", "id": 27, "name": "outputImage", "queueSize": 8, "type": 0, "waitForMessage": false } ], [ [ "", "inputImage" ], { "blocking": false, "group": "", "id": 26, "name": "inputImage", "queueSize": 4, "type": 3, "waitForMessage": true } ], [ [ "", "passthroughInputImage" ], { "blocking": false, "group": "", "id": 28, "name": "passthroughInputImage", "queueSize": 8, "type": 0, "waitForMessage": false } ] ], "name": "EdgeDetector", "properties": { "initialConfig": { "config": { "sobelFilterHorizontalKernel": [], "sobelFilterVerticalKernel": [] } }, "numFramesPool": 4, "outputFrameSize": 2073600 } } ], [ 6, { "id": 6, "ioInfo": [ [ [ "", "in" ], { "blocking": true, "group": "", "id": 29, "name": "in", "queueSize": 8, "type": 3, "waitForMessage": true } ] ], "name": "XLinkOut", "properties": { "maxFpsLimit": -1.0, "metadataOnly": false, "streamName": "edge left" } } ], [ 7, { "id": 7, "ioInfo": [ [ [ "", "in" ], { "blocking": true, "group": "", "id": 30, "name": "in", "queueSize": 8, "type": 3, "waitForMessage": true } ] ], "name": "XLinkOut", "properties": { "maxFpsLimit": -1.0, "metadataOnly": false, "streamName": "edge right" } } ], [ 8, { "id": 8, "ioInfo": [ [ [ "", "in" ], { "blocking": true, "group": "", "id": 31, "name": "in", "queueSize": 8, "type": 3, "waitForMessage": true } ] ], "name": "XLinkOut", "properties": { "maxFpsLimit": -1.0, "metadataOnly": false, "streamName": "edge rgb" } } ], [ 9, { "id": 9, "ioInfo": [ [ [ "", "out" ], { "blocking": false, "group": "", "id": 32, "name": "out", "queueSize": 8, "type": 0, "waitForMessage": false } ] ], "name": "XLinkIn", "properties": { "maxDataSize": 5242880, "numFrames": 8, "streamName": "edge cfg" } } ] ] } } ``` ### Need assistance? 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