Sync python-cpp examples v2

docs/source/samples/depth_preview.rst

@@ -5,11 +5,17 @@ This example shows how to set the SGBM (semi-global-matching) disparity-depth no
 over XLink to transfer the results to the host real-time, and displays the depth map in OpenCV.
 Note that disparity is used in this case, as it colorizes in a more intuitive way.
 Below is also a preview of using different median filters side-by-side on a depth image.
+There are 3 depth modes which you can select inside the code:
+
+#. `lr_check`: used for better occlusion handling. For more information `click here <https://docs.luxonis.com/en/latest/pages/faq/#left-right-check-depth-mode>`__
+#. `extended_disparity`: suitable for short range objects. For more information `click here <https://docs.luxonis.com/en/latest/pages/faq/#extended-disparity-depth-mode>`__
+#. `subpixel`: suitable for long range. For more information `click here <https://docs.luxonis.com/en/latest/pages/faq/#subpixel-disparity-depth-mode>`__
 
 .. rubric:: Similiar samples:
 
 - :ref:`RGB Preview`
 - :ref:`Mono Preview`
+- :ref:`Stereo Depth Video`
 
 Demo
 ####

docs/source/samples/object_tracker_video.rst

@@ -33,4 +33,12 @@ Source code
            :language: python
            :linenos:
 
+    .. tab:: C++
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-core/blob/main/examples/src/object_tracker_video.cpp>`__
+
+        .. literalinclude:: ../../../depthai-core/examples/src/object_tracker_video.cpp
+           :language: cpp
+           :linenos:
+
 .. include::  /includes/footer-short.rst

docs/source/samples/stereo_depth_from_host.rst

@@ -1,10 +1,18 @@
 Stereo Depth from host
 ======================
 
-This example shows depth map from host using stereo images. There are 3 depth modes which you can select
-inside the code: left-right check, extended (for closer distance), subpixel (for longer distance).
+This example shows depth map from host using stereo images. There are 3 depth modes which you can select inside the code:
+
+#. `lr_check`: used for better occlusion handling. For more information `click here <https://docs.luxonis.com/en/latest/pages/faq/#left-right-check-depth-mode>`__
+#. `extended_disparity`: suitable for short range objects. For more information `click here <https://docs.luxonis.com/en/latest/pages/faq/#extended-disparity-depth-mode>`__
+#. `subpixel`: suitable for long range. For more information `click here <https://docs.luxonis.com/en/latest/pages/faq/#subpixel-disparity-depth-mode>`__
+
 Otherwise a median with kernel_7x7 is activated.
 
+.. rubric:: Similiar samples:
+
+- :ref:`Stereo Depth Video`
+
 Setup
 #####
 

docs/source/samples/stereo_depth_video.rst

@@ -0,0 +1,45 @@
+Stereo Depth Video
+==================
+
+This example is an upgraded :ref:`Depth Preview`. It has higher resolution (720p), each frame can be shown
+(mono left-right, rectified left-right, disparity and depth). There are 6 modes which you can select
+inside the code:
+
+#. `withDepth`: if you turn it off it will became :ref:`Mono Preview`, so it will show only the 2 mono cameras
+#. `outputDepth`: if you turn it on it will show the depth
+#. `lrcheck`: used for better occlusion handling. For more information `click here <https://docs.luxonis.com/en/latest/pages/faq/#left-right-check-depth-mode>`__
+#. `extended`: suitable for short range objects. For more information `click here <https://docs.luxonis.com/en/latest/pages/faq/#extended-disparity-depth-mode>`__
+#. `subpixel`: suitable for long range. For more information `click here <https://docs.luxonis.com/en/latest/pages/faq/#subpixel-disparity-depth-mode>`__
+
+.. rubric:: Similiar samples:
+
+- :ref:`Depth Preview`
+- :ref:`Stereo Depth from host`
+
+Setup
+#####
+
+.. include::  /includes/install_from_pypi.rst
+
+Source code
+###########
+
+.. tabs::
+
+    .. tab:: Python
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-python/blob/main/examples/stereo_depth_video.py>`__
+
+        .. literalinclude:: ../../../examples/stereo_depth_video.py
+           :language: python
+           :linenos:
+
+    .. tab:: C++
+
+        Also `available on GitHub <https://github.com/luxonis/depthai-core/blob/main/examples/src/stereo_depth_video.cpp>`__
+
+        .. literalinclude:: ../../../depthai-core/examples/src/stereo_depth_video.cpp
+           :language: cpp
+           :linenos:
+
+.. include::  /includes/footer-short.rst

docs/source/tutorials/code_samples.rst

@@ -35,6 +35,7 @@ Code samples are used for automated testing. They are also a great starting poin
 - :ref:`Mono Camera Control` - Demonstrates how to control the mono camera (crop, exposure, sensitivity) from the host
 - :ref:`Depth Crop Control` - Demonstrates how to control cropping of depth frames from the host
 - :ref:`Stereo Depth from host` - Generates stereo depth frame from a set of mono images from the host
+- :ref:`Stereo Depth Video` - An extended version of **Depth Preview**
 - :ref:`RGB Rotate Warp` - Demonstrates how to rotate, mirror, flip or perform perspective transform on a frame
 - :ref:`RGB Depth` - Displays RGB depth frames
 - :ref:`Auto Exposure on ROI` - Demonstrates how to use auto exposure based on the selected ROI

docs/source/tutorials/complex_samples.rst

@@ -10,6 +10,7 @@ Complex
    ../samples/mono_camera_control.rst
    ../samples/depth_crop_control.rst
    ../samples/stereo_depth_from_host.rst
+   ../samples/stereo_depth_video.rst
    ../samples/rgb_rotate_warp.rst
    ../samples/rgb_depth_aligned.rst
    ../samples/autoexposure_roi.rst
@@ -34,6 +35,7 @@ If you want to see more interesting examples you should check out our `Experimen
 - :ref:`Mono Camera Control` - Demonstrates how to control the mono camera (crop, exposure, sensitivity) from the host
 - :ref:`Depth Crop Control` - Demonstrates how to control cropping of depth frames from the host
 - :ref:`Stereo Depth from host` - Generates stereo depth frame from a set of mono images from the host
+- :ref:`Stereo Depth Video` - An extended version of **Depth Preview**
 - :ref:`RGB Rotate Warp` - Demonstrates how to rotate, mirror, flip or perform perspective transform on a frame
 - :ref:`RGB Depth` - Displays RGB depth frames
 - :ref:`Auto Exposure on ROI` - Demonstrates how to use auto exposure based on the selected ROI

examples/CMakeLists.txt

@@ -118,3 +118,4 @@ add_python_example(object_tracker object_tracker.py)
 add_python_example(spatial_object_tracker spatial_object_tracker.py)
 add_python_example(object_tracker_video object_tracker_video.py)
 add_python_example(stereo_depth_from_host stereo_depth_from_host.py)
+add_python_example(stereo_depth_video stereo_depth_video.py)

examples/object_tracker_video.py

@@ -77,10 +77,10 @@
 with dai.Device(pipeline) as device:
 
     qIn = device.getInputQueue(name="inFrame")
-    trackerFrameQ = device.getOutputQueue("trackerFrame", 4)
-    tracklets = device.getOutputQueue("tracklets", 4)
-    qManip = device.getOutputQueue("manip", maxSize=4)
-    qDet = device.getOutputQueue("nn", maxSize=4)
+    trackerFrameQ = device.getOutputQueue(name="trackerFrame", maxSize=4)
+    tracklets = device.getOutputQueue(name="tracklets", maxSize=4)
+    qManip = device.getOutputQueue(name="manip", maxSize=4)
+    qDet = device.getOutputQueue(name="nn", maxSize=4)
 
     startTime = time.monotonic()
     counter = 0

examples/stereo_depth_video.py

@@ -0,0 +1,116 @@
+#!/usr/bin/env python3
+
+import cv2
+import depthai as dai
+import numpy as np
+
+withDepth = True
+
+outputDepth = False
+outputRectified = True
+lrcheck = True
+extended = False
+subpixel = False
+
+# Create pipeline
+pipeline = dai.Pipeline()
+
+# Define sources and outputs
+monoLeft = pipeline.createMonoCamera()
+monoRight = pipeline.createMonoCamera()
+if withDepth:
+    stereo = pipeline.createStereoDepth()
+
+xoutLeft = pipeline.createXLinkOut()
+xoutRight = pipeline.createXLinkOut()
+xoutDisp = pipeline.createXLinkOut()
+xoutDepth = pipeline.createXLinkOut()
+xoutRectifL = pipeline.createXLinkOut()
+xoutRectifR = pipeline.createXLinkOut()
+
+# XLinkOut
+xoutLeft.setStreamName("left")
+xoutRight.setStreamName("right")
+if withDepth:
+    xoutDisp.setStreamName("disparity")
+    xoutDepth.setStreamName("depth")
+    xoutRectifL.setStreamName("rectified_left")
+    xoutRectifR.setStreamName("rectified_right")
+
+# Properties
+monoLeft.setResolution(dai.MonoCameraProperties.SensorResolution.THE_720_P)
+monoLeft.setBoardSocket(dai.CameraBoardSocket.LEFT)
+monoRight.setResolution(dai.MonoCameraProperties.SensorResolution.THE_720_P)
+monoRight.setBoardSocket(dai.CameraBoardSocket.RIGHT)
+
+if withDepth:
+    # StereoDepth
+    stereo.setConfidenceThreshold(200)
+    stereo.setRectifyEdgeFillColor(0)  # black, to better see the cutout
+    # stereo.setInputResolution(1280, 720)
+    stereo.setMedianFilter(dai.StereoDepthProperties.MedianFilter.MEDIAN_OFF)
+    stereo.setLeftRightCheck(lrcheck)
+    stereo.setExtendedDisparity(extended)
+    stereo.setSubpixel(subpixel)
+
+    # Linking
+    monoLeft.out.link(stereo.left)
+    monoRight.out.link(stereo.right)
+
+    stereo.syncedLeft.link(xoutLeft.input)
+    stereo.syncedRight.link(xoutRight.input)
+    stereo.disparity.link(xoutDisp.input)
+
+    if outputRectified:
+        stereo.rectifiedLeft.link(xoutRectifL.input)
+        stereo.rectifiedRight.link(xoutRectifR.input)
+
+    if outputDepth:
+        stereo.depth.link(xoutDepth.input)
+
+else:
+    # Link plugins CAM . XLINK
+    monoLeft.out.link(xoutLeft.input)
+    monoRight.out.link(xoutRight.input)
+
+# Connect to device and start pipeline
+with dai.Device(pipeline) as device:
+
+    leftQueue = device.getOutputQueue(name="left", maxSize=8, blocking=False)
+    rightQueue = device.getOutputQueue(name="right", maxSize=8, blocking=False)
+    if (withDepth):
+        dispQueue = device.getOutputQueue(name="disparity", maxSize=8, blocking=False)
+        depthQueue = device.getOutputQueue(name="depth", maxSize=8, blocking=False)
+        rectifLeftQueue = device.getOutputQueue(name="rectified_left", maxSize=8, blocking=False)
+        rectifRightQueue = device.getOutputQueue(name="rectified_right", maxSize=8, blocking=False)
+
+    # Disparity range is used for normalization
+    disparityMultiplier = 255 / stereo.getMaxDisparity()
+
+    while True:
+        left = leftQueue.get()
+        cv2.imshow("left", left.getFrame())
+        right = rightQueue.get()
+        cv2.imshow("right", right.getFrame())
+
+        if withDepth:
+            disparity = dispQueue.get()
+            disp = disparity.getCvFrame()
+            disp = (disp*disparityMultiplier).astype(np.uint8) # Extended disparity range
+            cv2.imshow("disparity", disp)
+            disp = cv2.applyColorMap(disp, cv2.COLORMAP_JET)
+            cv2.imshow("disparity_color", disp)
+
+            if outputDepth:
+                depth = depthQueue.get()
+                cv2.imshow("depth", depth.getCvFrame().astype(np.uint16))
+
+            if outputRectified:
+                rectifL = rectifLeftQueue.get()
+                cv2.imshow("rectified_left", rectifL.getFrame())
+
+                rectifR = rectifRightQueue.get()
+                cv2.imshow("rectified_right", rectifR.getFrame())
+
+        if cv2.waitKey(1) == ord('q'):
+            break