RGB Depth

This example shows usage of RGB depth. Since our boards has 1 color and 2 mono cameres, therefore you need 2 mono cameras for the depth map, then you need to align the image from the color camera on top of that to get RGB depth.

Demo

Setup

Please run the install script to download all required dependencies. Please note that this script must be ran from git context, so you have to download the depthai-python repository first and then run the script

git clone https://github.com/luxonis/depthai-python.git
cd depthai-python/examples
python3 install_requirements.py

For additional information, please follow installation guide

Source code

Python

C++

Also available on GitHub

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#!/usr/bin/env python3

import cv2
import numpy as np
import depthai as dai

# Weights to use when blending depth/rgb image (should equal 1.0)
rgbWeight = 0.6
depthWeight = 0.4


def updateBlendWeights(percent_rgb):
    """
    Update the rgb and depth weights used to blend depth/rgb image

    @param[in] percent_rgb The rgb weight expressed as a percentage (0..100)
    """
    global depthWeight
    global rgbWeight
    rgbWeight = float(percent_rgb)/100.0
    depthWeight = 1.0 - rgbWeight


# Optional. If set (True), the ColorCamera is downscaled from 1080p to 720p.
# Otherwise (False), the aligned depth is automatically upscaled to 1080p
downscaleColor = True
fps = 30
# The disparity is computed at this resolution, then upscaled to RGB resolution
monoResolution = dai.MonoCameraProperties.SensorResolution.THE_400_P

# Create pipeline
pipeline = dai.Pipeline()
queueNames = []

# Define sources and outputs
camRgb = pipeline.create(dai.node.ColorCamera)
left = pipeline.create(dai.node.MonoCamera)
right = pipeline.create(dai.node.MonoCamera)
stereo = pipeline.create(dai.node.StereoDepth)

rgbOut = pipeline.create(dai.node.XLinkOut)
depthOut = pipeline.create(dai.node.XLinkOut)

rgbOut.setStreamName("rgb")
queueNames.append("rgb")
depthOut.setStreamName("depth")
queueNames.append("depth")

#Properties
camRgb.setBoardSocket(dai.CameraBoardSocket.RGB)
camRgb.setResolution(dai.ColorCameraProperties.SensorResolution.THE_1080_P)
camRgb.setFps(fps)
if downscaleColor: camRgb.setIspScale(2, 3)
# For now, RGB needs fixed focus to properly align with depth.
# This value was used during calibration
camRgb.initialControl.setManualFocus(130)

left.setResolution(monoResolution)
left.setBoardSocket(dai.CameraBoardSocket.LEFT)
left.setFps(fps)
right.setResolution(monoResolution)
right.setBoardSocket(dai.CameraBoardSocket.RIGHT)
right.setFps(fps)

stereo.setDefaultProfilePreset(dai.node.StereoDepth.PresetMode.HIGH_DENSITY)
# LR-check is required for depth alignment
stereo.setLeftRightCheck(True)
stereo.setDepthAlign(dai.CameraBoardSocket.RGB)

# Linking
camRgb.isp.link(rgbOut.input)
left.out.link(stereo.left)
right.out.link(stereo.right)
stereo.disparity.link(depthOut.input)

# Connect to device and start pipeline
with dai.Device(pipeline) as device:

    device.getOutputQueue(name="rgb",   maxSize=4, blocking=False)
    device.getOutputQueue(name="depth", maxSize=4, blocking=False)

    frameRgb = None
    frameDepth = None

    # Configure windows; trackbar adjusts blending ratio of rgb/depth
    rgbWindowName = "rgb"
    depthWindowName = "depth"
    blendedWindowName = "rgb-depth"
    cv2.namedWindow(rgbWindowName)
    cv2.namedWindow(depthWindowName)
    cv2.namedWindow(blendedWindowName)
    cv2.createTrackbar('RGB Weight %', blendedWindowName, int(rgbWeight*100), 100, updateBlendWeights)

    while True:
        latestPacket = {}
        latestPacket["rgb"] = None
        latestPacket["depth"] = None

        queueEvents = device.getQueueEvents(("rgb", "depth"))
        for queueName in queueEvents:
            packets = device.getOutputQueue(queueName).tryGetAll()
            if len(packets) > 0:
                latestPacket[queueName] = packets[-1]

        if latestPacket["rgb"] is not None:
            frameRgb = latestPacket["rgb"].getCvFrame()
            cv2.imshow(rgbWindowName, frameRgb)

        if latestPacket["depth"] is not None:
            frameDepth = latestPacket["depth"].getFrame()
            maxDisparity = stereo.initialConfig.getMaxDisparity()
            # Optional, extend range 0..95 -> 0..255, for a better visualisation
            if 1: frameDepth = (frameDepth * 255. / maxDisparity).astype(np.uint8)
            # Optional, apply false colorization
            if 1: frameDepth = cv2.applyColorMap(frameDepth, cv2.COLORMAP_HOT)
            frameDepth = np.ascontiguousarray(frameDepth)
            cv2.imshow(depthWindowName, frameDepth)

        # Blend when both received
        if frameRgb is not None and frameDepth is not None:
            # Need to have both frames in BGR format before blending
            if len(frameDepth.shape) < 3:
                frameDepth = cv2.cvtColor(frameDepth, cv2.COLOR_GRAY2BGR)
            blended = cv2.addWeighted(frameRgb, rgbWeight, frameDepth, depthWeight, 0)
            cv2.imshow(blendedWindowName, blended)
            frameRgb = None
            frameDepth = None

        if cv2.waitKey(1) == ord('q'):
            break

Also available on GitHub

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#include <cstdio>
#include <iostream>

#include "utility.hpp"

// Includes common necessary includes for development using depthai library
#include "depthai/depthai.hpp"

// Optional. If set (true), the ColorCamera is downscaled from 1080p to 720p.
// Otherwise (false), the aligned depth is automatically upscaled to 1080p
static std::atomic<bool> downscaleColor{true};
static constexpr int fps = 30;
// The disparity is computed at this resolution, then upscaled to RGB resolution
static constexpr auto monoRes = dai::MonoCameraProperties::SensorResolution::THE_400_P;

static float rgbWeight = 0.6f;
static float depthWeight = 0.4f;

static void updateBlendWeights(int percentRgb, void* ctx) {
    rgbWeight = float(percentRgb) / 100.f;
    depthWeight = 1.f - rgbWeight;
}

int main() {
    using namespace std;

    // Create pipeline
    dai::Pipeline pipeline;
    std::vector<std::string> queueNames;

    // Define sources and outputs
    auto camRgb = pipeline.create<dai::node::ColorCamera>();
    auto left = pipeline.create<dai::node::MonoCamera>();
    auto right = pipeline.create<dai::node::MonoCamera>();
    auto stereo = pipeline.create<dai::node::StereoDepth>();

    auto rgbOut = pipeline.create<dai::node::XLinkOut>();
    auto depthOut = pipeline.create<dai::node::XLinkOut>();

    rgbOut->setStreamName("rgb");
    queueNames.push_back("rgb");
    depthOut->setStreamName("depth");
    queueNames.push_back("depth");

    // Properties
    camRgb->setBoardSocket(dai::CameraBoardSocket::RGB);
    camRgb->setResolution(dai::ColorCameraProperties::SensorResolution::THE_1080_P);
    camRgb->setFps(fps);
    if(downscaleColor) camRgb->setIspScale(2, 3);
    // For now, RGB needs fixed focus to properly align with depth.
    // This value was used during calibration
    camRgb->initialControl.setManualFocus(135);

    left->setResolution(monoRes);
    left->setBoardSocket(dai::CameraBoardSocket::LEFT);
    left->setFps(fps);
    right->setResolution(monoRes);
    right->setBoardSocket(dai::CameraBoardSocket::RIGHT);
    right->setFps(fps);

    stereo->setDefaultProfilePreset(dai::node::StereoDepth::PresetMode::HIGH_DENSITY);
    // LR-check is required for depth alignment
    stereo->setLeftRightCheck(true);
    stereo->setDepthAlign(dai::CameraBoardSocket::RGB);

    // Linking
    camRgb->isp.link(rgbOut->input);
    left->out.link(stereo->left);
    right->out.link(stereo->right);
    stereo->disparity.link(depthOut->input);

    // Connect to device and start pipeline
    dai::Device device(pipeline);

    // Sets queues size and behavior
    for(const auto& name : queueNames) {
        device.getOutputQueue(name, 4, false);
    }

    std::unordered_map<std::string, cv::Mat> frame;

    auto rgbWindowName = "rgb";
    auto depthWindowName = "depth";
    auto blendedWindowName = "rgb-depth";
    cv::namedWindow(rgbWindowName);
    cv::namedWindow(depthWindowName);
    cv::namedWindow(blendedWindowName);
    int defaultValue = (int)(rgbWeight * 100);
    cv::createTrackbar("RGB Weight %", blendedWindowName, &defaultValue, 100, updateBlendWeights);

    while(true) {
        std::unordered_map<std::string, std::shared_ptr<dai::ImgFrame>> latestPacket;

        auto queueEvents = device.getQueueEvents(queueNames);
        for(const auto& name : queueEvents) {
            auto packets = device.getOutputQueue(name)->tryGetAll<dai::ImgFrame>();
            auto count = packets.size();
            if(count > 0) {
                latestPacket[name] = packets[count - 1];
            }
        }

        for(const auto& name : queueNames) {
            if(latestPacket.find(name) != latestPacket.end()) {
                if(name == depthWindowName) {
                    frame[name] = latestPacket[name]->getFrame();
                    auto maxDisparity = stereo->initialConfig.getMaxDisparity();
                    // Optional, extend range 0..95 -> 0..255, for a better visualisation
                    if(1) frame[name].convertTo(frame[name], CV_8UC1, 255. / maxDisparity);
                    // Optional, apply false colorization
                    if(1) cv::applyColorMap(frame[name], frame[name], cv::COLORMAP_HOT);
                } else {
                    frame[name] = latestPacket[name]->getCvFrame();
                }

                cv::imshow(name, frame[name]);
            }
        }

        // Blend when both received
        if(frame.find(rgbWindowName) != frame.end() && frame.find(depthWindowName) != frame.end()) {
            // Need to have both frames in BGR format before blending
            if(frame[depthWindowName].channels() < 3) {
                cv::cvtColor(frame[depthWindowName], frame[depthWindowName], cv::COLOR_GRAY2BGR);
            }
            cv::Mat blended;
            cv::addWeighted(frame[rgbWindowName], rgbWeight, frame[depthWindowName], depthWeight, 0, blended);
            cv::imshow(blendedWindowName, blended);
            frame.clear();
        }

        int key = cv::waitKey(1);
        if(key == 'q' || key == 'Q') {
            return 0;
        }
    }
    return 0;
}

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