深度与视频同步

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1import depthai as dai
2import numpy as np
3import cv2
4from datetime import timedelta
5
6pipeline = dai.Pipeline()
7
8monoLeft = pipeline.create(dai.node.MonoCamera)
9monoRight = pipeline.create(dai.node.MonoCamera)
10color = pipeline.create(dai.node.ColorCamera)
11stereo = pipeline.create(dai.node.StereoDepth)
12sync = pipeline.create(dai.node.Sync)
13
14xoutGrp = pipeline.create(dai.node.XLinkOut)
15
16xoutGrp.setStreamName("xout")
17
18monoLeft.setResolution(dai.MonoCameraProperties.SensorResolution.THE_400_P)
19monoLeft.setCamera("left")
20monoRight.setResolution(dai.MonoCameraProperties.SensorResolution.THE_400_P)
21monoRight.setCamera("right")
22
23stereo.setDefaultProfilePreset(dai.node.StereoDepth.PresetMode.HIGH_ACCURACY)
24
25color.setCamera("color")
26
27sync.setSyncThreshold(timedelta(milliseconds=50))
28
29monoLeft.out.link(stereo.left)
30monoRight.out.link(stereo.right)
31
32stereo.disparity.link(sync.inputs["disparity"])
33color.video.link(sync.inputs["video"])
34
35sync.out.link(xoutGrp.input)
36
37disparityMultiplier = 255.0 / stereo.initialConfig.getMaxDisparity()
38with dai.Device(pipeline) as device:
39    queue = device.getOutputQueue("xout", 10, False)
40    while True:
41        msgGrp = queue.get()
42        for name, msg in msgGrp:
43            frame = msg.getCvFrame()
44            if name == "disparity":
45                frame = (frame * disparityMultiplier).astype(np.uint8)
46                frame = cv2.applyColorMap(frame, cv2.COLORMAP_JET)
47            cv2.imshow(name, frame)
48        if cv2.waitKey(1) == ord("q"):
49            break

1#include <iostream>
2
3// Includes common necessary includes for development using depthai library
4#include "depthai/depthai.hpp"
5
6int main() {
7    // Create pipeline
8    dai::Pipeline pipeline;
9
10    // Define sources and outputs
11    auto monoLeft = pipeline.create<dai::node::MonoCamera>();
12    auto monoRight = pipeline.create<dai::node::MonoCamera>();
13    auto color = pipeline.create<dai::node::ColorCamera>();
14    auto stereo = pipeline.create<dai::node::StereoDepth>();
15    auto sync = pipeline.create<dai::node::Sync>();
16
17    auto xoutGrp = pipeline.create<dai::node::XLinkOut>();
18
19    // XLinkOut
20    xoutGrp->setStreamName("xout");
21
22    // Properties
23    monoLeft->setResolution(dai::MonoCameraProperties::SensorResolution::THE_400_P);
24    monoLeft->setCamera("left");
25    monoRight->setResolution(dai::MonoCameraProperties::SensorResolution::THE_400_P);
26    monoRight->setCamera("right");
27
28    stereo->setDefaultProfilePreset(dai::node::StereoDepth::PresetMode::HIGH_ACCURACY);
29
30    color->setCamera("color");
31
32    sync->setSyncThreshold(std::chrono::milliseconds(100));
33
34    // Linking
35    monoLeft->out.link(stereo->left);
36    monoRight->out.link(stereo->right);
37
38    stereo->disparity.link(sync->inputs["disparity"]);
39    color->video.link(sync->inputs["video"]);
40
41    sync->out.link(xoutGrp->input);
42
43    // Connect to device and start pipeline
44    dai::Device device(pipeline);
45
46    auto queue = device.getOutputQueue("xout", 10, true);
47
48    float disparityMultiplier = 255 / stereo->initialConfig.getMaxDisparity();
49
50    while(true) {
51        auto msgGrp = queue->get<dai::MessageGroup>();
52        for(auto& frm : *msgGrp) {
53            auto imgFrm = std::dynamic_pointer_cast<dai::ImgFrame>(frm.second);
54            cv::Mat img = imgFrm->getCvFrame();
55            if(frm.first == "disparity") {
56                img.convertTo(img, CV_8UC1, disparityMultiplier);  // Extend disparity range
57                cv::applyColorMap(img, img, cv::COLORMAP_JET);
58            }
59            cv::imshow(frm.first, img);
60        }
61
62        int key = cv::waitKey(1);
63        if(key == 'q' || key == 'Q') {
64            return 0;
65        }
66    }
67    return 0;
68}