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- import cv2
- import depthai as dai
- # Create pipeline
- pipeline = dai.Pipeline()
- # Define sources and outputs
- camRgb = pipeline.create(dai.node.ColorCamera)
- monoLeft = pipeline.create(dai.node.MonoCamera)
- monoRight = pipeline.create(dai.node.MonoCamera)
- edgeDetectorLeft = pipeline.create(dai.node.EdgeDetector)
- edgeDetectorRight = pipeline.create(dai.node.EdgeDetector)
- edgeDetectorRgb = pipeline.create(dai.node.EdgeDetector)
- xoutEdgeLeft = pipeline.create(dai.node.XLinkOut)
- xoutEdgeRight = pipeline.create(dai.node.XLinkOut)
- xoutEdgeRgb = pipeline.create(dai.node.XLinkOut)
- xinEdgeCfg = pipeline.create(dai.node.XLinkIn)
- edgeLeftStr = "edge left"
- edgeRightStr = "edge right"
- edgeRgbStr = "edge rgb"
- edgeCfgStr = "edge cfg"
- xoutEdgeLeft.setStreamName(edgeLeftStr)
- xoutEdgeRight.setStreamName(edgeRightStr)
- xoutEdgeRgb.setStreamName(edgeRgbStr)
- xinEdgeCfg.setStreamName(edgeCfgStr)
- # Properties
- camRgb.setBoardSocket(dai.CameraBoardSocket.RGB)
- camRgb.setResolution(dai.ColorCameraProperties.SensorResolution.THE_1080_P)
- monoLeft.setResolution(dai.MonoCameraProperties.SensorResolution.THE_400_P)
- monoLeft.setBoardSocket(dai.CameraBoardSocket.LEFT)
- monoRight.setResolution(dai.MonoCameraProperties.SensorResolution.THE_400_P)
- monoRight.setBoardSocket(dai.CameraBoardSocket.RIGHT)
- edgeDetectorRgb.setMaxOutputFrameSize(camRgb.getVideoWidth() * camRgb.getVideoHeight())
- # Linking
- monoLeft.out.link(edgeDetectorLeft.inputImage)
- monoRight.out.link(edgeDetectorRight.inputImage)
- camRgb.video.link(edgeDetectorRgb.inputImage)
- edgeDetectorLeft.outputImage.link(xoutEdgeLeft.input)
- edgeDetectorRight.outputImage.link(xoutEdgeRight.input)
- edgeDetectorRgb.outputImage.link(xoutEdgeRgb.input)
- xinEdgeCfg.out.link(edgeDetectorLeft.inputConfig)
- xinEdgeCfg.out.link(edgeDetectorRight.inputConfig)
- xinEdgeCfg.out.link(edgeDetectorRgb.inputConfig)
- # Connect to device and start pipeline
- with dai.Device(pipeline) as device:
- # Output/input queues
- edgeLeftQueue = device.getOutputQueue(edgeLeftStr, 8, False)
- edgeRightQueue = device.getOutputQueue(edgeRightStr, 8, False)
- edgeRgbQueue = device.getOutputQueue(edgeRgbStr, 8, False)
- edgeCfgQueue = device.getInputQueue(edgeCfgStr)
- print("Switch between sobel filter kernels using keys '1' and '2'")
- while(True):
- edgeLeft = edgeLeftQueue.get()
- edgeRight = edgeRightQueue.get()
- edgeRgb = edgeRgbQueue.get()
- edgeLeftFrame = edgeLeft.getFrame()
- edgeRightFrame = edgeRight.getFrame()
- edgeRgbFrame = edgeRgb.getFrame()
- # Show the frame
- cv2.imshow(edgeLeftStr, edgeLeftFrame)
- cv2.imshow(edgeRightStr, edgeRightFrame)
- cv2.imshow(edgeRgbStr, edgeRgbFrame)
- key = cv2.waitKey(1)
- if key == 27:
- break
- if key == ord('1'):
- print("Switching sobel filter kernel.")
- cfg = dai.EdgeDetectorConfig()
- sobelHorizontalKernel = [[1, 0, -1], [2, 0, -2], [1, 0, -1]]
- sobelVerticalKernel = [[1, 2, 1], [0, 0, 0], [-1, -2, -1]]
- cfg.setSobelFilterKernels(sobelHorizontalKernel, sobelVerticalKernel)
- edgeCfgQueue.send(cfg)
- if key == ord('2'):
- print("Switching sobel filter kernel.")
- cfg = dai.EdgeDetectorConfig()
- sobelHorizontalKernel = [[3, 0, -3], [10, 0, -10], [3, 0, -3]]
- sobelVerticalKernel = [[3, 10, 3], [0, 0, 0], [-3, -10, -3]]
- cfg.setSobelFilterKernels(sobelHorizontalKernel, sobelVerticalKernel)
- edgeCfgQueue.send(cfg)
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