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bindings/python/src/pipeline/datatype/RGBDDataBindings.cpp
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| #include "DatatypeBindings.hpp" | ||
| #include "pipeline/CommonBindings.hpp" | ||
| #include <unordered_map> | ||
| #include <memory> | ||
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| // depthai | ||
| #include "depthai/pipeline/datatype/RGBDData.hpp" | ||
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| //pybind | ||
| #include <pybind11/chrono.h> | ||
| #include <pybind11/numpy.h> | ||
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| void bind_transformdata(pybind11::module& m, void* pCallstack){ | ||
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| using namespace dai; | ||
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| py::class_<RGBDData, Py<RGBDData>, Buffer, std::shared_ptr<RGBDData>> rgbdData(m, "RGBDData", DOC(dai, RGBDData)); | ||
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| /////////////////////////////////////////////////////////////////////// | ||
| /////////////////////////////////////////////////////////////////////// | ||
| /////////////////////////////////////////////////////////////////////// | ||
| // Call the rest of the type defines, then perform the actual bindings | ||
| Callstack* callstack = (Callstack*) pCallstack; | ||
| auto cb = callstack->top(); | ||
| callstack->pop(); | ||
| cb(m, pCallstack); | ||
| // Actual bindings | ||
| /////////////////////////////////////////////////////////////////////// | ||
| /////////////////////////////////////////////////////////////////////// | ||
| /////////////////////////////////////////////////////////////////////// | ||
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| // Metadata / raw | ||
| rgbdData | ||
| .def(py::init<>()) | ||
| .def("__repr__", &RGBDData::str) | ||
| .def_readwrite("rgbFrame", &RGBDData::rgbFrame, DOC(dai, RGBDData, rgbFrame)) | ||
| .def_readwrite("depthFrame", &RGBDData::depthFrame, DOC(dai, RGBDData, depthFrame)); | ||
| } |
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| import time | ||
| import depthai as dai | ||
| import sys | ||
| import numpy as np | ||
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| try: | ||
| import open3d as o3d | ||
| except ImportError: | ||
| sys.exit("Critical dependency missing: Open3D. Please install it using the command: '{} -m pip install open3d' and then rerun the script.".format(sys.executable)) | ||
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| class O3DNode(dai.node.ThreadedHostNode): | ||
| def __init__(self): | ||
| dai.node.ThreadedHostNode.__init__(self) | ||
| self.inputPCL = self.createInput() | ||
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| def run(self): | ||
| def key_callback(vis, action, mods): | ||
| global isRunning | ||
| if action == 0: | ||
| isRunning = False | ||
| pc = o3d.geometry.PointCloud() | ||
| vis = o3d.visualization.VisualizerWithKeyCallback() | ||
| vis.create_window() | ||
| vis.register_key_action_callback(81, key_callback) | ||
| pcd = o3d.geometry.PointCloud() | ||
| coordinateFrame = o3d.geometry.TriangleMesh.create_coordinate_frame(size=1000, origin=[0,0,0]) | ||
| vis.add_geometry(coordinateFrame) | ||
| first = True | ||
| while self.isRunning(): | ||
| inPointCloud = self.inputPCL.tryGet() | ||
| if inPointCloud is not None: | ||
| points, colors = inPointCloud.getPointsRGB() | ||
| pcd.points = o3d.utility.Vector3dVector(points.astype(np.float64)) | ||
| colors = (colors.reshape(-1, 3) / 255.0).astype(np.float64) | ||
| pcd.colors = o3d.utility.Vector3dVector(colors) | ||
| if first: | ||
| vis.add_geometry(pcd) | ||
| first = False | ||
| else: | ||
| vis.update_geometry(pcd) | ||
| vis.poll_events() | ||
| vis.update_renderer() | ||
| vis.destroy_window() | ||
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| # Create pipeline | ||
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| with dai.Pipeline() as p: | ||
| fps = 30 | ||
| # Define sources and outputs | ||
| left = p.create(dai.node.Camera) | ||
| right = p.create(dai.node.Camera) | ||
| color = p.create(dai.node.Camera) | ||
| stereo = p.create(dai.node.StereoDepth) | ||
| rgbd = p.create(dai.node.RGBD).build() | ||
| color.build() | ||
| o3dViewer = O3DNode() | ||
| left.build(dai.CameraBoardSocket.LEFT) | ||
| right.build(dai.CameraBoardSocket.RIGHT) | ||
| out = color.requestOutput((1280,720), dai.ImgFrame.Type.RGB888i) | ||
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| out.link(stereo.inputAlignTo) | ||
| stereo.setDefaultProfilePreset(dai.node.StereoDepth.PresetMode.DEFAULT) | ||
| stereo.setRectifyEdgeFillColor(0) | ||
| stereo.enableDistortionCorrection(True) | ||
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| # Linking | ||
| left.requestOutput((1280, 720)).link(stereo.left) | ||
| right.requestOutput((1280, 720)).link(stereo.right) | ||
| stereo.depth.link(rgbd.inDepth) | ||
| out.link(rgbd.inColor) | ||
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| rgbd.pcl.link(o3dViewer.inputPCL) | ||
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| p.start() | ||
| while p.isRunning(): | ||
| time.sleep(1) |
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