Merge pull request #1017 from luxonis/dynamic_calib

Add runtime stereo calib reconfig
luxonis · Sep 26, 2024 · a1d2c06 · a1d2c06
2 parents 572492e + 6a3b60b
commit a1d2c06
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diff --git a/depthai-core b/depthai-core
diff --git a/examples/Camera/camera_undistort.py b/examples/Camera/camera_undistort.py
@@ -1,3 +1,5 @@
+#!/usr/bin/env python3
+
 import depthai as dai
 import cv2
 

diff --git a/examples/Camera/thermal_cam.py b/examples/Camera/thermal_cam.py
@@ -1,3 +1,5 @@
+#!/usr/bin/env python3
+
 import depthai as dai
 import cv2
 import numpy as np

diff --git a/examples/Cast/cast_blur.py b/examples/Cast/cast_blur.py
@@ -1,3 +1,5 @@
+#!/usr/bin/env python3
+
 import depthai as dai
 import cv2
 from pathlib import Path

diff --git a/examples/Cast/cast_concat.py b/examples/Cast/cast_concat.py
@@ -1,3 +1,5 @@
+#!/usr/bin/env python3
+
 import numpy as np
 import cv2
 import depthai as dai

diff --git a/examples/Cast/cast_diff.py b/examples/Cast/cast_diff.py
@@ -1,3 +1,5 @@
+#!/usr/bin/env python3
+
 import cv2
 import depthai as dai
 from pathlib import Path

diff --git a/examples/ColorCamera/rgb_scene.py b/examples/ColorCamera/rgb_scene.py
@@ -1,3 +1,5 @@
+#!/usr/bin/env python3
+
 import cv2
 import depthai as dai
 from itertools import cycle

diff --git a/examples/ColorCamera/rgb_undistort.py b/examples/ColorCamera/rgb_undistort.py
@@ -1,3 +1,5 @@
+#!/usr/bin/env python3
+
 import cv2
 import depthai as dai
 import numpy as np

diff --git a/examples/CrashReport/capture_diagnostic.py b/examples/CrashReport/capture_diagnostic.py
@@ -1,3 +1,5 @@
+#!/usr/bin/env python3
+
 import depthai as dai
 import zipfile
 from json import dump, JSONEncoder

diff --git a/examples/FeatureTracker/feature_motion_estimation.py b/examples/FeatureTracker/feature_motion_estimation.py
@@ -1,3 +1,5 @@
+#!/usr/bin/env python3
+
 import numpy as np
 import cv2
 from collections import deque

diff --git a/examples/ImageAlign/depth_align.py b/examples/ImageAlign/depth_align.py
@@ -1,3 +1,5 @@
+#!/usr/bin/env python3
+
 import numpy as np
 import cv2
 import depthai as dai

diff --git a/examples/ImageAlign/image_align.py b/examples/ImageAlign/image_align.py
@@ -1,3 +1,5 @@
+#!/usr/bin/env python3
+
 import cv2
 import depthai as dai
 from datetime import timedelta

diff --git a/examples/ImageAlign/thermal_align.py b/examples/ImageAlign/thermal_align.py
@@ -1,3 +1,5 @@
+#!/usr/bin/env python3
+
 import cv2
 import depthai as dai
 import numpy as np

diff --git a/examples/ImageAlign/tof_align.py b/examples/ImageAlign/tof_align.py
@@ -1,3 +1,5 @@
+#!/usr/bin/env python3
+
 import numpy as np
 import cv2
 import depthai as dai

diff --git a/examples/NeuralNetwork/thermal_nnet.py b/examples/NeuralNetwork/thermal_nnet.py
@@ -1,3 +1,5 @@
+#!/usr/bin/env python3
+
 import depthai as dai
 import cv2
 from pathlib import Path

diff --git a/examples/PointCloud/pointcloud_control.py b/examples/PointCloud/pointcloud_control.py
@@ -1,3 +1,5 @@
+#!/usr/bin/env python3
+
 import depthai as dai
 import numpy as np
 import cv2

diff --git a/examples/PointCloud/visualize_pointcloud.py b/examples/PointCloud/visualize_pointcloud.py
@@ -1,3 +1,5 @@
+#!/usr/bin/env python3
+
 import depthai as dai
 from time import sleep
 import numpy as np

diff --git a/examples/Script/script_emmc_access.py b/examples/Script/script_emmc_access.py
@@ -1,3 +1,5 @@
+#!/usr/bin/env python3
+
 import depthai as dai
 import cv2
 

diff --git a/examples/Script/script_read_calibration.py b/examples/Script/script_read_calibration.py
diff --git a/examples/Script/script_uart.py b/examples/Script/script_uart.py
diff --git a/examples/StereoDepth/stereo_depth_custom_mesh.py b/examples/StereoDepth/stereo_depth_custom_mesh.py
diff --git a/examples/StereoDepth/stereo_runtime_calibration_update.py b/examples/StereoDepth/stereo_runtime_calibration_update.py
@@ -0,0 +1,83 @@
+#!/usr/bin/env python3
+
+import cv2
+import depthai as dai
+import numpy as np
+
+# Create pipeline
+pipeline = dai.Pipeline()
+
+# Define sources and outputs
+monoLeft = pipeline.create(dai.node.MonoCamera)
+monoRight = pipeline.create(dai.node.MonoCamera)
+stereo = pipeline.create(dai.node.StereoDepth)
+xout = pipeline.create(dai.node.XLinkOut)
+xoutLeft = pipeline.create(dai.node.XLinkOut)
+
+xout.setStreamName("disparity")
+xoutLeft.setStreamName("left")
+
+# Properties
+monoLeft.setResolution(dai.MonoCameraProperties.SensorResolution.THE_400_P)
+monoLeft.setCamera("left")
+monoRight.setResolution(dai.MonoCameraProperties.SensorResolution.THE_400_P)
+monoRight.setCamera("right")
+
+stereo.enableDistortionCorrection(True)
+
+# Linking
+monoLeft.out.link(stereo.left)
+monoRight.out.link(stereo.right)
+stereo.disparity.link(xout.input)
+stereo.rectifiedLeft.link(xoutLeft.input)
+
+cvColorMap = cv2.applyColorMap(np.arange(256, dtype=np.uint8), cv2.COLORMAP_JET)
+cvColorMap[0] = [0, 0, 0]
+
+# Connect to device and start pipeline
+with dai.Device(pipeline) as device:
+
+ try:
+ calibration = device.readCalibration()
+ except:
+ print("Device is not calibrated!")
+ exit()
+
+ print("Press 'u' to update distortion coefficients with random values")
+
+ # Output queue will be used to get the disparity frames from the outputs defined above
+ q = device.getOutputQueue(name="disparity", maxSize=4, blocking=False)
+ qLeft = device.getOutputQueue(name="left", maxSize=4, blocking=False)
+
+ while True:
+ inDisparity = q.get() # blocking call, will wait until a new data has arrived
+ frame = inDisparity.getFrame()
+ # Normalization for better visualization
+ frame = (frame * (255 / stereo.initialConfig.getMaxDisparity())).astype(np.uint8)
+
+ cv2.imshow("disparity", frame)
+
+ frame = cv2.applyColorMap(frame, cvColorMap)
+ cv2.imshow("disparity_color", frame)
+
+ inLeft = qLeft.get()
+ frame = inLeft.getCvFrame()
+ cv2.imshow("rectified left", frame)
+
+ key = cv2.waitKey(1)
+ if key == ord('q'):
+ break
+ elif key == ord('u'):
+ randomDistortionCoeffs = np.random.rand(14)
+ calibration.setDistortionCoefficients(dai.CameraBoardSocket.LEFT, randomDistortionCoeffs)
+ try:
+ device.setCalibration(calibration)
+ except:
+ print("Failed to update calibration!")
+ try:
+ updatedCalib = device.getCalibration()
+ distortionCoeffs = updatedCalib.getDistortionCoefficients(dai.CameraBoardSocket.LEFT)
+ print("Updated distortion coefficients: ", distortionCoeffs)
+ except:
+ pass
+
diff --git a/examples/Sync/demux_message_group.py b/examples/Sync/demux_message_group.py
diff --git a/examples/Sync/depth_video_synced.py b/examples/Sync/depth_video_synced.py
diff --git a/examples/Sync/imu_video_synced.py b/examples/Sync/imu_video_synced.py
diff --git a/examples/Sync/sync_scripts.py b/examples/Sync/sync_scripts.py
diff --git a/examples/ToF/tof_depth.py b/examples/ToF/tof_depth.py
diff --git a/examples/UVC/uvc_disparity.py b/examples/UVC/uvc_disparity.py
diff --git a/examples/UVC/uvc_mono.py b/examples/UVC/uvc_mono.py
diff --git a/examples/device/device_all_boot_bootloader.py b/examples/device/device_all_boot_bootloader.py
@@ -1,3 +1,5 @@
+#!/usr/bin/env python3
+
 import depthai as dai
 
 devices = dai.Device.getAllConnectedDevices()

diff --git a/examples/device/device_boot_non_exclusive.py b/examples/device/device_boot_non_exclusive.py
@@ -1,3 +1,5 @@
+#!/usr/bin/env python3
+
 import depthai as dai
 import time
 

diff --git a/examples/mixed/collision_avoidance.py b/examples/mixed/collision_avoidance.py
@@ -1,3 +1,5 @@
+#!/usr/bin/env python3
+
 import depthai as dai
 import cv2
 import numpy as np

diff --git a/src/DeviceBindings.cpp b/src/DeviceBindings.cpp
@@ -504,6 +504,8 @@ void DeviceBindings::bind(pybind11::module& m, void* pCallstack){
  .def("getProfilingData", [](DeviceBase& d) { py::gil_scoped_release release; return d.getProfilingData(); }, DOC(dai, DeviceBase, getProfilingData))
  .def("readCalibration", [](DeviceBase& d) { py::gil_scoped_release release; return d.readCalibration(); }, DOC(dai, DeviceBase, readCalibration))
  .def("flashCalibration", [](DeviceBase& d, CalibrationHandler calibrationDataHandler) { py::gil_scoped_release release; return d.flashCalibration(calibrationDataHandler); }, py::arg("calibrationDataHandler"), DOC(dai, DeviceBase, flashCalibration))
+ .def("setCalibration", [](DeviceBase& d, CalibrationHandler calibrationDataHandler) { py::gil_scoped_release release; return d.setCalibration(calibrationDataHandler); }, py::arg("calibrationDataHandler"), DOC(dai, DeviceBase, setCalibration))
+ .def("getCalibration", [](DeviceBase& d) { py::gil_scoped_release release; return d.getCalibration(); }, DOC(dai, DeviceBase, getCalibration))
  .def("setXLinkChunkSize", [](DeviceBase& d, int s) { py::gil_scoped_release release; d.setXLinkChunkSize(s); }, py::arg("sizeBytes"), DOC(dai, DeviceBase, setXLinkChunkSize))
  .def("getXLinkChunkSize", [](DeviceBase& d) { py::gil_scoped_release release; return d.getXLinkChunkSize(); }, DOC(dai, DeviceBase, getXLinkChunkSize))
  .def("setIrLaserDotProjectorBrightness", [](DeviceBase& d, float mA, int mask) {