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alex-luxonisalex-luxonis
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Merge 'origin/develop' into ir_frame_control. Update core/FW/style
2 parents 767ac96 + 6d893a8 commit d08a688

22 files changed

+397
-19
lines changed

‎CMakeLists.txt‎

Lines changed: 3 additions & 1 deletion
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@@ -35,7 +35,7 @@ endif()
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# Pybindings project
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set(TARGET_NAME depthai)
38-
project(depthai VERSION "1") # revision of bindings [depthai-core].[rev]
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project(depthai VERSION "0") # revision of bindings [depthai-core].[rev]
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# Set default build type depending on context
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set(default_build_type "Release")
@@ -100,6 +100,7 @@ pybind11_add_module(${TARGET_NAME}
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src/pipeline/AssetManagerBindings.cpp
101101
src/openvino/OpenVINOBindings.cpp
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src/log/LogBindings.cpp
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src/VersionBindings.cpp
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src/pipeline/node/NodeBindings.cpp
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@@ -124,6 +125,7 @@ pybind11_add_module(${TARGET_NAME}
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src/pipeline/node/FeatureTrackerBindings.cpp
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src/pipeline/node/AprilTagBindings.cpp
126127
src/pipeline/node/DetectionParserBindings.cpp
128+
src/pipeline/node/WarpBindings.cpp
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128130
src/pipeline/datatype/ADatatypeBindings.cpp
129131
src/pipeline/datatype/AprilTagConfigBindings.cpp

‎depthai-core‎

Submodule depthai-core updated 33 files

‎docs/source/samples/SpatialDetection/spatial_calculator_multi_roi.rst‎

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@@ -1,7 +1,7 @@
11
Spatial Calculator Multi-ROI
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============================
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4-
This example shows how one can use multiple ROIs with a single :ref:`SpatailLocationCalculator` node. A similar logic could be used as a simple depth line
4+
This example shows how one can use multiple ROIs with a single :ref:`SpatialLocationCalculator` node. A similar logic could be used as a simple depth line
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scanning camera for mobile robots.
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.. rubric:: Similar samples:

‎docs/source/tutorials/low-latency.rst‎

Lines changed: 2 additions & 1 deletion
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@@ -108,9 +108,10 @@ Encoded frames
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- 7.5
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- `link <https://user-images.githubusercontent.com/18037362/162675335-2e5a9581-972a-448c-b650-6b6d076a04b8.png>`__
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111-
You can also reduce frame latency by using `Zero-Copy <https://github.com/luxonis/depthai-python/tree/tmp_zero_copy>`__
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You can also reduce frame latency by using `Zero-Copy <https://github.com/luxonis/depthai-python/tree/message_zero_copy>`__
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branch of the DepthAI. This will pass pointers (at XLink level) to cv2.Mat instead of doing memcopy (as it currently does),
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so performance improvement would depend on the image sizes you are using.
114+
(Note: API differs and not all functionality is available as is on the `message_zero_copy` branch)
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Reducing latency when running NN

‎examples/ColorCamera/rgb_camera_control.py‎

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@@ -32,6 +32,8 @@
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For the 'Select control: ...' options, use these keys to modify the value:
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'-' or '_' to decrease
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'+' or '=' to increase
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36+
'/' to toggle showing camera settings: exposure, ISO, lens position, color temperature
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"""
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import depthai as dai
@@ -117,6 +119,7 @@ def clamp(num, v0, v1):
117119
luma_denoise = 0
118120
chroma_denoise = 0
119121
control = 'none'
122+
show = False
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121124
awb_mode = cycle([item for name, item in vars(dai.CameraControl.AutoWhiteBalanceMode).items() if name.isupper()])
122125
anti_banding_mode = cycle([item for name, item in vars(dai.CameraControl.AntiBandingMode).items() if name.isupper()])
@@ -129,6 +132,13 @@ def clamp(num, v0, v1):
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130133
ispFrames = ispQueue.tryGetAll()
131134
for ispFrame in ispFrames:
135+
if show:
136+
txt = f"[{ispFrame.getSequenceNum()}] "
137+
txt += f"Exposure: {ispFrame.getExposureTime().total_seconds()*1000:.3f} ms, "
138+
txt += f"ISO: {ispFrame.getSensitivity()}, "
139+
txt += f"Lens position: {ispFrame.getLensPosition()}, "
140+
txt += f"Color temp: {ispFrame.getColorTemperature()} K"
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print(txt)
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cv2.imshow('isp', ispFrame.getCvFrame())
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# Send new cfg to camera
@@ -150,6 +160,9 @@ def clamp(num, v0, v1):
150160
key = cv2.waitKey(1)
151161
if key == ord('q'):
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break
163+
elif key == ord('/'):
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show = not show
165+
if not show: print("Printing camera settings: OFF")
153166
elif key == ord('c'):
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ctrl = dai.CameraControl()
155168
ctrl.setCaptureStill(True)

‎examples/ColorCamera/rgb_preview.py‎

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@@ -26,6 +26,9 @@
2626
print('Connected cameras: ', device.getConnectedCameras())
2727
# Print out usb speed
2828
print('Usb speed: ', device.getUsbSpeed().name)
29+
# Bootloader version
30+
if device.getBootloaderVersion() is not None:
31+
print('Bootloader version: ', device.getBootloaderVersion())
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3033
# Output queue will be used to get the rgb frames from the output defined above
3134
qRgb = device.getOutputQueue(name="rgb", maxSize=4, blocking=False)

‎examples/ColorCamera/rgb_undistort.py‎

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@@ -0,0 +1,88 @@
1+
import cv2
2+
import depthai as dai
3+
import numpy as np
4+
5+
camRes = dai.ColorCameraProperties.SensorResolution.THE_1080_P
6+
camSocket = dai.CameraBoardSocket.RGB
7+
ispScale = (1,2)
8+
9+
def getMesh(calibData, ispSize):
10+
M1 = np.array(calibData.getCameraIntrinsics(camSocket, ispSize[0], ispSize[1]))
11+
d1 = np.array(calibData.getDistortionCoefficients(camSocket))
12+
R1 = np.identity(3)
13+
mapX, mapY = cv2.initUndistortRectifyMap(M1, d1, R1, M1, ispSize, cv2.CV_32FC1)
14+
15+
meshCellSize = 16
16+
mesh0 = []
17+
# Creates subsampled mesh which will be loaded on to device to undistort the image
18+
for y in range(mapX.shape[0] + 1): # iterating over height of the image
19+
if y % meshCellSize == 0:
20+
rowLeft = []
21+
for x in range(mapX.shape[1]): # iterating over width of the image
22+
if x % meshCellSize == 0:
23+
if y == mapX.shape[0] and x == mapX.shape[1]:
24+
rowLeft.append(mapX[y - 1, x - 1])
25+
rowLeft.append(mapY[y - 1, x - 1])
26+
elif y == mapX.shape[0]:
27+
rowLeft.append(mapX[y - 1, x])
28+
rowLeft.append(mapY[y - 1, x])
29+
elif x == mapX.shape[1]:
30+
rowLeft.append(mapX[y, x - 1])
31+
rowLeft.append(mapY[y, x - 1])
32+
else:
33+
rowLeft.append(mapX[y, x])
34+
rowLeft.append(mapY[y, x])
35+
if (mapX.shape[1] % meshCellSize) % 2 != 0:
36+
rowLeft.append(0)
37+
rowLeft.append(0)
38+
39+
mesh0.append(rowLeft)
40+
41+
mesh0 = np.array(mesh0)
42+
meshWidth = mesh0.shape[1] // 2
43+
meshHeight = mesh0.shape[0]
44+
mesh0.resize(meshWidth * meshHeight, 2)
45+
46+
mesh = list(map(tuple, mesh0))
47+
48+
return mesh, meshWidth, meshHeight
49+
50+
def create_pipeline(calibData):
51+
pipeline = dai.Pipeline()
52+
53+
cam = pipeline.create(dai.node.ColorCamera)
54+
cam.setIspScale(ispScale)
55+
cam.setBoardSocket(camSocket)
56+
cam.setResolution(camRes)
57+
58+
manip = pipeline.create(dai.node.ImageManip)
59+
mesh, meshWidth, meshHeight = getMesh(calibData, cam.getIspSize())
60+
manip.setWarpMesh(mesh, meshWidth, meshHeight)
61+
manip.setMaxOutputFrameSize(cam.getIspWidth() * cam.getIspHeight() * 3 // 2)
62+
cam.isp.link(manip.inputImage)
63+
64+
cam_xout = pipeline.create(dai.node.XLinkOut)
65+
cam_xout.setStreamName("Undistorted")
66+
manip.out.link(cam_xout.input)
67+
68+
dist_xout = pipeline.create(dai.node.XLinkOut)
69+
dist_xout.setStreamName("Distorted")
70+
cam.isp.link(dist_xout.input)
71+
72+
return pipeline
73+
74+
with dai.Device() as device:
75+
76+
calibData = device.readCalibration()
77+
pipeline = create_pipeline(calibData)
78+
device.startPipeline(pipeline)
79+
80+
queues = [device.getOutputQueue(name, 4, False) for name in ['Undistorted', 'Distorted']]
81+
82+
while True:
83+
for q in queues:
84+
frame = q.get().getCvFrame()
85+
cv2.imshow(q.getName(), frame)
86+
87+
if cv2.waitKey(1) == ord('q'):
88+
break

‎examples/ImageManip/image_manip_warp_mesh.py‎

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@@ -12,7 +12,7 @@
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maxFrameSize = camRgb.getPreviewWidth() * camRgb.getPreviewHeight() * 3
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1414
# Warp preview frame 1
15-
manip1 = pipeline.create(dai.node.ImageManip)
15+
manip1 = pipeline.create(dai.node.Warp)
1616
# Create a custom warp mesh
1717
tl = dai.Point2f(20, 20)
1818
tr = dai.Point2f(460, 20)

‎examples/Warp/warp_mesh.py‎

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@@ -0,0 +1,68 @@
1+
#!/usr/bin/env python3
2+
import cv2
3+
import depthai as dai
4+
import numpy as np
5+
6+
# Create pipeline
7+
pipeline = dai.Pipeline()
8+
9+
camRgb = pipeline.create(dai.node.ColorCamera)
10+
camRgb.setPreviewSize(496, 496)
11+
camRgb.setInterleaved(False)
12+
maxFrameSize = camRgb.getPreviewWidth() * camRgb.getPreviewHeight() * 3
13+
14+
# Warp preview frame 1
15+
warp1 = pipeline.create(dai.node.Warp)
16+
# Create a custom warp mesh
17+
tl = dai.Point2f(20, 20)
18+
tr = dai.Point2f(460, 20)
19+
ml = dai.Point2f(100, 250)
20+
mr = dai.Point2f(400, 250)
21+
bl = dai.Point2f(20, 460)
22+
br = dai.Point2f(460, 460)
23+
warp1.setWarpMesh([tl,tr,ml,mr,bl,br], 2, 3)
24+
WARP1_OUTPUT_FRAME_SIZE = (992,500)
25+
warp1.setOutputSize(WARP1_OUTPUT_FRAME_SIZE)
26+
warp1.setMaxOutputFrameSize(WARP1_OUTPUT_FRAME_SIZE[0] * WARP1_OUTPUT_FRAME_SIZE[1] * 3)
27+
warp1.setHwIds([1])
28+
warp1.setInterpolation(dai.node.Warp.Properties.Interpolation.BYPASS)
29+
30+
camRgb.preview.link(warp1.inputImage)
31+
xout1 = pipeline.create(dai.node.XLinkOut)
32+
xout1.setStreamName('out1')
33+
warp1.out.link(xout1.input)
34+
35+
# Warp preview frame 2
36+
warp2 = pipeline.create(dai.node.Warp)
37+
# Create a custom warp mesh
38+
mesh2 = [
39+
(20, 20), (250, 100), (460, 20),
40+
(100, 250), (250, 250), (400, 250),
41+
(20, 480), (250, 400), (460,480)
42+
]
43+
warp2.setWarpMesh(mesh2, 3, 3)
44+
warp2.setMaxOutputFrameSize(maxFrameSize)
45+
warp1.setHwIds([2])
46+
warp2.setInterpolation(dai.node.Warp.Properties.Interpolation.BICUBIC)
47+
48+
camRgb.preview.link(warp2.inputImage);
49+
xout2 = pipeline.create(dai.node.XLinkOut)
50+
xout2.setStreamName('out2')
51+
warp2.out.link(xout2.input)
52+
53+
# Connect to device and start pipeline
54+
with dai.Device(pipeline) as device:
55+
# Output queue will be used to get the rgb frames from the output defined above
56+
q1 = device.getOutputQueue(name="out1", maxSize=8, blocking=False)
57+
q2 = device.getOutputQueue(name="out2", maxSize=8, blocking=False)
58+
59+
while True:
60+
in1 = q1.get()
61+
if in1 is not None:
62+
cv2.imshow("Warped preview 1", in1.getCvFrame())
63+
in2 = q2.get()
64+
if in2 is not None:
65+
cv2.imshow("Warped preview 2", in2.getCvFrame())
66+
67+
if cv2.waitKey(1) == ord('q'):
68+
break

‎examples/bootloader/bootloader_version.py‎

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@@ -14,7 +14,7 @@
1414
print("USB Bootloader - supports only Flash memory")
1515
supportedMemTypes = [dai.DeviceBootloader.Memory.FLASH];
1616
else:
17-
print("NETWORK Bootloader")
17+
print(f"NETWORK Bootloader, is User Bootloader: {bl.isUserBootloader()}")
1818

1919
try:
2020
for mem in supportedMemTypes:

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