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Set lens position from calibration data #599

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merged 2 commits into from
Jun 8, 2022
Merged

Set lens position from calibration data #599

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a53c0a4
Set lens position from calibration data
SzabolcsGergely Jun 3, 2022
a116199
Merge remote-tracking branch 'origin/develop' into HEAD
SzabolcsGergely Jun 8, 2022
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2 changes: 1 addition & 1 deletion depthai-core
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Submodule depthai-core updated 3 files
+0 −1 examples/Script/script_forward_frames.cpp
+12 −2 examples/StereoDepth/rgb_depth_aligned.cpp
+12 −2 examples/StereoDepth/rgb_depth_confidence_aligned.cpp
1 change: 0 additions & 1 deletion examples/Script/script_forward_frames.py
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Original file line number Diff line number Diff line change
Expand Up @@ -6,7 +6,6 @@
pipeline = dai.Pipeline()

cam = pipeline.create(dai.node.ColorCamera)
cam.initialControl.setManualFocus(130)
# Not needed, you can display 1080P frames as well
cam.setIspScale(1,2)

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2 changes: 1 addition & 1 deletion examples/SpatialDetection/spatial_tiny_yolo.py
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Original file line number Diff line number Diff line change
Expand Up @@ -116,7 +116,7 @@

stereo.depth.link(spatialDetectionNetwork.inputDepth)
spatialDetectionNetwork.passthroughDepth.link(xoutDepth.input)
spatialDetectionNetwork.outNetwork.link(nnNetworkOut.input);
spatialDetectionNetwork.outNetwork.link(nnNetworkOut.input)

# Connect to device and start pipeline
with dai.Device(pipeline) as device:
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13 changes: 10 additions & 3 deletions examples/StereoDepth/rgb_depth_aligned.py
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Original file line number Diff line number Diff line change
Expand Up @@ -30,6 +30,7 @@ def updateBlendWeights(percent_rgb):

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

# Define sources and outputs
Expand All @@ -53,8 +54,13 @@ def updateBlendWeights(percent_rgb):
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)

try:
calibData = device.readCalibration()
lensPosition = calibData.getLensPosition(dai.CameraBoardSocket.RGB)
if lensPosition:
camRgb.initialControl.setManualFocus(lensPosition)
except:
raise
left.setResolution(monoResolution)
left.setBoardSocket(dai.CameraBoardSocket.LEFT)
left.setFps(fps)
Expand All @@ -74,7 +80,8 @@ def updateBlendWeights(percent_rgb):
stereo.disparity.link(disparityOut.input)

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

frameRgb = None
frameDisp = None
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12 changes: 10 additions & 2 deletions examples/StereoDepth/rgb_depth_confidence_aligned.py
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Original file line number Diff line number Diff line change
Expand Up @@ -50,6 +50,7 @@ def updateConfBlendWeights(percent):

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

# Define sources and outputs
Expand All @@ -73,7 +74,13 @@ def updateConfBlendWeights(percent):
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)
try:
calibData = device.readCalibration()
lensPosition = calibData.getLensPosition(dai.CameraBoardSocket.RGB)
if lensPosition:
camRgb.initialControl.setManualFocus(lensPosition)
except:
raise

left.setResolution(monoResolution)
left.setBoardSocket(dai.CameraBoardSocket.LEFT)
Expand All @@ -99,7 +106,8 @@ def updateConfBlendWeights(percent):
stereo.confidenceMap.link(xoutConfMap.input)

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

frameRgb = None
frameDisp = None
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7 changes: 5 additions & 2 deletions examples/StereoDepth/stereo_depth_video.py
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Original file line number Diff line number Diff line change
Expand Up @@ -233,7 +233,8 @@ def getDisparityFrame(frame):
if depth:
streams.append("depth")

calibData = dai.Device().readCalibration()
device = dai.Device()
calibData = device.readCalibration()
leftMesh, rightMesh = getMesh(calibData)
if generateMesh:
meshLeft = list(leftMesh.tobytes())
Expand All @@ -245,7 +246,9 @@ def getDisparityFrame(frame):


print("Creating DepthAI device")
with dai.Device(pipeline) as device:
with device:
device.startPipeline(pipeline)

# Create a receive queue for each stream
qList = [device.getOutputQueue(stream, 8, blocking=False) for stream in streams]

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