Stereo Depth Video ================== 此示例是升级的 :ref:`Depth Preview ` 。它具有更高的分辨率(720p)，可以显示每一帧(mono left-right, rectified left-right, disparity and depth)。您可以在代码中选择 6 种模式： #. `withDepth`: 如果你关闭它，它将变成 :ref:`Mono Preview ` ，所以它只会显示2个单目相机。 #. `outputDepth`: 如果你打开它会显示深度 #. `lrcheck`: 用于更好的处理阴影。欲了解更多信息， `请点击此处 `__ #. `extended`: 适用于短距离物体。欲了解更多信息， `请点击此处 `__ #. `subpixel`: 适合远距离。欲了解更多信息， `请点击此处 `__ .. rubric:: 类似样本: - :ref:`Depth Preview ` - :ref:`Stereo Depth from host ` 设置 *********************** 请运行以下命令以安装所需的依赖项 .. warning:: 说明：此处安装的是第二代depthai库 .. code-block:: bash python3 -m pip install depthai numpy==1.19.5 opencv-python==4.5.1.48 有关更多信息，请参阅 :ref:`Python API 安装指南 ` 源代码 ************** 可以在 `GitHub `_ 上找到。国内用户也可以在 `gitee `_ 上找到。 代码流程图 ############## .. image:: /_static/images/samples/flow_chart/stereo_depth_video.png .. code-block:: python #!/usr/bin/env python3 import cv2 import numpy as np import depthai as dai import argparse parser = argparse.ArgumentParser() parser.add_argument( "-res", "--resolution", type=str, default="720", help="Sets the resolution on mono cameras. Options: 800 | 720 | 400", ) parser.add_argument( "-md", "--mesh_dir", type=str, default=None, help="Output directory for mesh files. If not specified mesh files won't be saved", ) parser.add_argument( "-lm", "--load_mesh", default=False, action="store_true", help="Read camera intrinsics, generate mesh files and load them into the stereo node.", ) parser.add_argument( "-rect", "--out_rectified", default=False, action="store_true", help="Generate and display rectified streams", ) parser.add_argument( "-lr", "--lrcheck", default=False, action="store_true", help="Better handling for occlusions", ) parser.add_argument( "-e", "--extended", default=False, action="store_true", help="Closer-in minimum depth, disparity range is doubled", ) parser.add_argument( "-s", "--subpixel", default=False, action="store_true", help="Better accuracy for longer distance, fractional disparity 32-levels", ) parser.add_argument( "-m", "--median", type=str, default="7x7", help="Choose the size of median filtering. Options: OFF | 3x3 | 5x5 | 7x7 (default)", ) parser.add_argument( "-d", "--depth", default=False, action="store_true", help="Display depth frames", ) args = parser.parse_args() resolutionMap = {"800": (1280, 800), "720": (1280, 720), "400": (640, 400)} if args.resolution not in resolutionMap: exit("Unsupported resolution!") resolution = resolutionMap[args.resolution] meshDirectory = args.mesh_dir # Output dir for mesh files generateMesh = args.load_mesh # Load mesh files outRectified = args.out_rectified # Output and display rectified streams lrcheck = args.lrcheck # Better handling for occlusions extended = args.extended # Closer-in minimum depth, disparity range is doubled subpixel = args.subpixel # Better accuracy for longer distance, fractional disparity 32-levels depth = args.depth # Display depth frames medianMap = { "OFF": dai.StereoDepthProperties.MedianFilter.MEDIAN_OFF, "3x3": dai.StereoDepthProperties.MedianFilter.KERNEL_3x3, "5x5": dai.StereoDepthProperties.MedianFilter.KERNEL_5x5, "7x7": dai.StereoDepthProperties.MedianFilter.KERNEL_7x7, } if args.median not in medianMap: exit("Unsupported median size!") median = medianMap[args.median] print("StereoDepth config options:") print(" Resolution: ", resolution) print(" Left-Right check: ", lrcheck) print(" Extended disparity:", extended) print(" Subpixel: ", subpixel) print(" Median filtering: ", median) print(" Generating mesh files: ", generateMesh) print(" Outputting mesh files to: ", meshDirectory) def getMesh(calibData): M1 = np.array(calibData.getCameraIntrinsics(dai.CameraBoardSocket.LEFT, resolution[0], resolution[1])) d1 = np.array(calibData.getDistortionCoefficients(dai.CameraBoardSocket.LEFT)) R1 = np.array(calibData.getStereoLeftRectificationRotation()) M2 = np.array(calibData.getCameraIntrinsics(dai.CameraBoardSocket.RIGHT, resolution[0], resolution[1])) d2 = np.array(calibData.getDistortionCoefficients(dai.CameraBoardSocket.RIGHT)) R2 = np.array(calibData.getStereoRightRectificationRotation()) mapXL, mapYL = cv2.initUndistortRectifyMap(M1, d1, R1, M2, resolution, cv2.CV_32FC1) mapXR, mapYR = cv2.initUndistortRectifyMap(M2, d2, R2, M2, resolution, cv2.CV_32FC1) meshCellSize = 16 meshLeft = [] meshRight = [] for y in range(mapXL.shape[0] + 1): if y % meshCellSize == 0: rowLeft = [] rowRight = [] for x in range(mapXL.shape[1] + 1): if x % meshCellSize == 0: if y == mapXL.shape[0] and x == mapXL.shape[1]: rowLeft.append(mapYL[y - 1, x - 1]) rowLeft.append(mapXL[y - 1, x - 1]) rowRight.append(mapYR[y - 1, x - 1]) rowRight.append(mapXR[y - 1, x - 1]) elif y == mapXL.shape[0]: rowLeft.append(mapYL[y - 1, x]) rowLeft.append(mapXL[y - 1, x]) rowRight.append(mapYR[y - 1, x]) rowRight.append(mapXR[y - 1, x]) elif x == mapXL.shape[1]: rowLeft.append(mapYL[y, x - 1]) rowLeft.append(mapXL[y, x - 1]) rowRight.append(mapYR[y, x - 1]) rowRight.append(mapXR[y, x - 1]) else: rowLeft.append(mapYL[y, x]) rowLeft.append(mapXL[y, x]) rowRight.append(mapYR[y, x]) rowRight.append(mapXR[y, x]) if (mapXL.shape[1] % meshCellSize) % 2 != 0: rowLeft.append(0) rowLeft.append(0) rowRight.append(0) rowRight.append(0) meshLeft.append(rowLeft) meshRight.append(rowRight) meshLeft = np.array(meshLeft) meshRight = np.array(meshRight) return meshLeft, meshRight def saveMeshFiles(meshLeft, meshRight, outputPath): print("Saving mesh to:", outputPath) meshLeft.tofile(outputPath + "/left_mesh.calib") meshRight.tofile(outputPath + "/right_mesh.calib") def getDisparityFrame(frame): maxDisp = stereo.initialConfig.getMaxDisparity() disp = (frame * (255.0 / maxDisp)).astype(np.uint8) disp = cv2.applyColorMap(disp, cv2.COLORMAP_JET) return disp print("Creating Stereo Depth pipeline") pipeline = dai.Pipeline() camLeft = pipeline.create(dai.node.MonoCamera) camRight = pipeline.create(dai.node.MonoCamera) stereo = pipeline.create(dai.node.StereoDepth) xoutLeft = pipeline.create(dai.node.XLinkOut) xoutRight = pipeline.create(dai.node.XLinkOut) xoutDisparity = pipeline.create(dai.node.XLinkOut) xoutDepth = pipeline.create(dai.node.XLinkOut) xoutRectifLeft = pipeline.create(dai.node.XLinkOut) xoutRectifRight = pipeline.create(dai.node.XLinkOut) camLeft.setBoardSocket(dai.CameraBoardSocket.LEFT) camRight.setBoardSocket(dai.CameraBoardSocket.RIGHT) res = ( dai.MonoCameraProperties.SensorResolution.THE_800_P if resolution[1] == 800 else dai.MonoCameraProperties.SensorResolution.THE_720_P if resolution[1] == 720 else dai.MonoCameraProperties.SensorResolution.THE_400_P ) for monoCam in (camLeft, camRight): # Common config monoCam.setResolution(res) # monoCam.setFps(20.0) stereo.setDefaultProfilePreset(dai.node.StereoDepth.PresetMode.HIGH_DENSITY) stereo.initialConfig.setMedianFilter(median) # KERNEL_7x7 default stereo.setRectifyEdgeFillColor(0) # Black, to better see the cutout stereo.setLeftRightCheck(lrcheck) # FIXME: RuntimeError: StereoDepth(2) - StereoDepth | ExtendedDisparity is not implemented yet. stereo.setExtendedDisparity(extended) stereo.setSubpixel(subpixel) xoutLeft.setStreamName("left") xoutRight.setStreamName("right") xoutDisparity.setStreamName("disparity") xoutDepth.setStreamName("depth") xoutRectifLeft.setStreamName("rectifiedLeft") xoutRectifRight.setStreamName("rectifiedRight") camLeft.out.link(stereo.left) camRight.out.link(stereo.right) stereo.syncedLeft.link(xoutLeft.input) stereo.syncedRight.link(xoutRight.input) stereo.disparity.link(xoutDisparity.input) if depth: stereo.depth.link(xoutDepth.input) if outRectified: stereo.rectifiedLeft.link(xoutRectifLeft.input) stereo.rectifiedRight.link(xoutRectifRight.input) streams = ["left", "right"] if outRectified: streams.extend(["rectifiedLeft", "rectifiedRight"]) streams.append("disparity") if depth: streams.append("depth") calibData = dai.Device().readCalibration() leftMesh, rightMesh = getMesh(calibData) if generateMesh: meshLeft = list(leftMesh.tobytes()) meshRight = list(rightMesh.tobytes()) stereo.loadMeshData(meshLeft, meshRight) if meshDirectory is not None: saveMeshFiles(leftMesh, rightMesh, meshDirectory) print("Creating DepthAI device") with dai.Device(pipeline) as device: # Create a receive queue for each stream qList = [device.getOutputQueue(stream, 8, blocking=False) for stream in streams] while True: for q in qList: name = q.getName() frame = q.get().getCvFrame() if name == "depth": frame = frame.astype(np.uint16) elif name == "disparity": frame = getDisparityFrame(frame) cv2.imshow(name, frame) if cv2.waitKey(1) == ord("q"): break .. include:: /pages/includes/footer-short.rst