RGB-Left Align

1import cv2
2import depthai as dai
3from datetime import timedelta
4
5# This is an interactive example that shows how two frame sources without depth information.
6FPS = 30.0
7
8RGB_SOCKET = dai.CameraBoardSocket.CAM_A
9LEFT_SOCKET = dai.CameraBoardSocket.CAM_B
10ALIGN_SOCKET = LEFT_SOCKET
11
12COLOR_RESOLUTION = dai.ColorCameraProperties.SensorResolution.THE_1080_P
13LEFT_RIGHT_RESOLUTION = dai.MonoCameraProperties.SensorResolution.THE_720_P
14
15device = dai.Device()
16pipeline = dai.Pipeline()
17
18# Define sources and outputs
19camRgb = pipeline.create(dai.node.ColorCamera)
20left = pipeline.create(dai.node.MonoCamera)
21sync = pipeline.create(dai.node.Sync)
22out = pipeline.create(dai.node.XLinkOut)
23align = pipeline.create(dai.node.ImageAlign)
24cfgIn = pipeline.create(dai.node.XLinkIn)
25
26left.setResolution(LEFT_RIGHT_RESOLUTION)
27left.setBoardSocket(LEFT_SOCKET)
28left.setFps(FPS)
29
30camRgb.setBoardSocket(RGB_SOCKET)
31camRgb.setResolution(COLOR_RESOLUTION)
32camRgb.setFps(FPS)
33camRgb.setIspScale(1, 3)
34
35out.setStreamName("out")
36
37sync.setSyncThreshold(timedelta(seconds=0.5 / FPS))
38
39cfgIn.setStreamName("config")
40
41cfg = align.initialConfig.get()
42staticDepthPlane = cfg.staticDepthPlane
43
44# Linking
45align.outputAligned.link(sync.inputs["aligned"])
46camRgb.isp.link(sync.inputs["rgb"])
47camRgb.isp.link(align.inputAlignTo)
48left.out.link(align.input)
49sync.out.link(out.input)
50cfgIn.out.link(align.inputConfig)
51
52
53rgbWeight = 0.4
54leftWeight = 0.6
55
56
57def updateBlendWeights(percentRgb):
58    """
59    Update the rgb and left weights used to blend rgb/left image
60
61    @param[in] percent_rgb The rgb weight expressed as a percentage (0..100)
62    """
63    global leftWeight
64    global rgbWeight
65    rgbWeight = float(percentRgb) / 100.0
66    leftWeight = 1.0 - rgbWeight
67
68def updateDepthPlane(depth):
69    global staticDepthPlane
70    staticDepthPlane = depth
71
72# Connect to device and start pipeline
73with device:
74    device.startPipeline(pipeline)
75    queue = device.getOutputQueue("out", 8, False)
76    cfgQ = device.getInputQueue("config")
77
78    # Configure windows; trackbar adjusts blending ratio of rgb/depth
79    windowName = "rgb-left"
80
81    # Set the window to be resizable and the initial size
82    cv2.namedWindow(windowName, cv2.WINDOW_NORMAL)
83    cv2.resizeWindow(windowName, 1280, 720)
84    cv2.createTrackbar(
85        "RGB Weight %",
86        windowName,
87        int(rgbWeight * 100),
88        100,
89        updateBlendWeights,
90    )
91    cv2.createTrackbar(
92        "Static Depth Plane [mm]",
93        windowName,
94        0,
95        2000,
96        updateDepthPlane,
97    )
98    while True:
99        messageGroup = queue.get()
100        assert isinstance(messageGroup, dai.MessageGroup)
101        frameRgb = messageGroup["rgb"]
102        assert isinstance(frameRgb, dai.ImgFrame)
103        leftAligned = messageGroup["aligned"]
104        assert isinstance(leftAligned, dai.ImgFrame)
105
106        frameRgbCv = frameRgb.getCvFrame()
107        # Colorize the aligned depth
108        leftCv = leftAligned.getCvFrame()
109
110        if len(leftCv.shape) == 2:
111            leftCv = cv2.cvtColor(leftCv, cv2.COLOR_GRAY2BGR)
112        if leftCv.shape != frameRgbCv.shape:
113            leftCv = cv2.resize(leftCv, (frameRgbCv.shape[1], frameRgbCv.shape[0]))
114
115        blended = cv2.addWeighted(frameRgbCv, rgbWeight, leftCv, leftWeight, 0)
116        cv2.imshow(windowName, blended)
117
118        key = cv2.waitKey(1)
119        if key == ord("q"):
120            break
121
122        cfg.staticDepthPlane = staticDepthPlane
123        cfgQ.send(cfg)