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Merge pull request #1072 from luxonis/develop
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DepthAI SDK v1.12.1
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@daniilpastukhov
daniilpastukhov authored Jul 2, 2023
2 parents fd946a2 + 0aa1668 commit 5282b72
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Showing 3 changed files with 111 additions and 25 deletions.
7 changes: 7 additions & 0 deletions depthai_sdk/src/depthai_sdk/components/camera_component.py
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Original file line number Diff line number Diff line change
Expand Up @@ -106,6 +106,13 @@ def __init__(self,
"Please specify sensor type with c/color or m/mono after the ','"
" - eg. `cam = oak.create_camera('cama,c')`"
)
elif source in ["COLOR", "RGB"]:
for features in device.getConnectedCameraFeatures():
if dai.CameraSensorType.COLOR in features.supportedTypes:
source = features.socket
break
if not isinstance(source, dai.CameraBoardSocket):
raise ValueError("Couldn't find a color camera!")

socket = parse_camera_socket(source)
sensor = [f for f in device.getConnectedCameraFeatures() if f.socket == socket][0]
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2 changes: 1 addition & 1 deletion depthai_sdk/src/depthai_sdk/components/stereo_component.py
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Original file line number Diff line number Diff line change
Expand Up @@ -127,7 +127,7 @@ def __init__(self,
if self._device.getDeviceName() == 'OAK-D-LR':
self._resolution = dai.MonoCameraProperties.SensorResolution.THE_1200_P

if not self.left:
if not self.left: # Should never happen
self.left = CameraComponent(device, pipeline, 'left', self._resolution, self._fps, replay=self._replay)
if not self.right:
self.right = CameraComponent(device, pipeline, 'right', self._resolution, self._fps,
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127 changes: 103 additions & 24 deletions depthai_sdk/src/depthai_sdk/oak_camera.py
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Original file line number Diff line number Diff line change
Expand Up @@ -22,7 +22,7 @@
from depthai_sdk.components.component import Component
from depthai_sdk.components.imu_component import IMUComponent
from depthai_sdk.components.nn_component import NNComponent
from depthai_sdk.components.parser import parse_usb_speed
from depthai_sdk.components.parser import parse_usb_speed, parse_camera_socket
from depthai_sdk.components.stereo_component import StereoComponent
from depthai_sdk.components.pointcloud_component import PointcloudComponent
from depthai_sdk.oak_device import OakDevice
Expand Down Expand Up @@ -109,16 +109,16 @@ def __init__(self,
self.replay = Replay(replay)
self.replay.initPipeline(self.pipeline)
logging.info(f'Available streams from recording: {self.replay.getStreams()}')

def create_camera(self,
source: Union[str, dai.CameraBoardSocket],
resolution: Optional[Union[
str, dai.ColorCameraProperties.SensorResolution, dai.MonoCameraProperties.SensorResolution
]] = None,
fps: Optional[float] = None,
encode: Union[None, str, bool, dai.VideoEncoderProperties.Profile] = None,
name: Optional[str] = None,
) -> CameraComponent:
def camera(self,
source: Union[str, dai.CameraBoardSocket],
resolution: Optional[Union[
str, dai.ColorCameraProperties.SensorResolution, dai.MonoCameraProperties.SensorResolution
]] = None,
fps: Optional[float] = None,
encode: Union[None, str, bool, dai.VideoEncoderProperties.Profile] = None,
name: Optional[str] = None,
) -> CameraComponent:
"""
Creates Camera component. This abstracts ColorCamera/MonoCamera nodes and supports mocking the camera when
recording is passed during OakCamera initialization. Mocking the camera will send frames from the host to the
Expand All @@ -131,6 +131,13 @@ def create_camera(self,
encode (bool/str/Profile): Whether we want to enable video encoding (accessible via cameraComponent.out_encoded). If True, it will use MJPEG
name (str): Name used to identify the X-out stream. This name will also be associated with the frame in the callback function.
"""
socket = source
if isinstance(source, str):
socket = parse_camera_socket(source.split(",")[0])
for comp in self._components:
if isinstance(comp, CameraComponent) and comp.node.getBoardSocket() == socket:
return comp

comp = CameraComponent(self._oak.device,
self.pipeline,
source=source,
Expand All @@ -144,13 +151,38 @@ def create_camera(self,
self._components.append(comp)
return comp

def create_all_cameras(self,
resolution: Optional[Union[
def create_camera(self,
source: Union[str, dai.CameraBoardSocket],
resolution: Optional[Union[
str, dai.ColorCameraProperties.SensorResolution, dai.MonoCameraProperties.SensorResolution
]] = None,
fps: Optional[float] = None,
encode: Union[None, str, bool, dai.VideoEncoderProperties.Profile] = None,
) -> List[CameraComponent]:
fps: Optional[float] = None,
encode: Union[None, str, bool, dai.VideoEncoderProperties.Profile] = None,
name: Optional[str] = None,
) -> CameraComponent:
"""
Deprecated, use camera() instead.
Creates Camera component. This abstracts ColorCamera/MonoCamera nodes and supports mocking the camera when
recording is passed during OakCamera initialization. Mocking the camera will send frames from the host to the
OAK device (via XLinkIn node).
Args:
source (str / dai.CameraBoardSocket): Camera source
resolution (str/SensorResolution): Sensor resolution of the camera.
fps (float): Sensor FPS
encode (bool/str/Profile): Whether we want to enable video encoding (accessible via cameraComponent.out_encoded). If True, it will use MJPEG
name (str): Name used to identify the X-out stream. This name will also be associated with the frame in the callback function.
"""
return self.camera(source, resolution, fps, encode, name)

def all_cameras(self,
resolution: Optional[Union[
str, dai.ColorCameraProperties.SensorResolution, dai.MonoCameraProperties.SensorResolution
]] = None,
fps: Optional[float] = None,
encode: Union[None, str, bool, dai.VideoEncoderProperties.Profile] = None,
) -> List[CameraComponent]:
"""
Creates Camera component for each camera sensors on the OAK camera.
Expand All @@ -177,6 +209,25 @@ def create_all_cameras(self,
self._components.extend(components)
return components

def create_all_cameras(self,
resolution: Optional[Union[
str, dai.ColorCameraProperties.SensorResolution,
dai.MonoCameraProperties.SensorResolution
]] = None,
fps: Optional[float] = None,
encode: Union[None, str, bool, dai.VideoEncoderProperties.Profile] = None,
) -> List[CameraComponent]:
"""
Deprecated, use all_cameras() instead.
Creates Camera component for each camera sensors on the OAK camera.
Args:
resolution (str/SensorResolution): Sensor resolution of the camera.
fps (float): Sensor FPS
encode (bool/str/Profile): Whether we want to enable video encoding (accessible via cameraComponent.out_encoded). If True, it will use MJPEG
"""
return self.all_cameras(resolution, fps, encode)

def create_nn(self,
model: Union[str, Dict, Path],
Expand Down Expand Up @@ -213,14 +264,14 @@ def create_nn(self,
self._components.append(comp)
return comp

def create_stereo(self,
resolution: Union[None, str, dai.MonoCameraProperties.SensorResolution] = None,
fps: Optional[float] = None,
left: Union[None, dai.Node.Output, CameraComponent] = None, # Left mono camera
right: Union[None, dai.Node.Output, CameraComponent] = None, # Right mono camera
name: Optional[str] = None,
encode: Union[None, str, bool, dai.VideoEncoderProperties.Profile] = None
) -> StereoComponent:
def stereo(self,
resolution: Union[None, str, dai.MonoCameraProperties.SensorResolution] = None,
fps: Optional[float] = None,
left: Union[None, dai.Node.Output, CameraComponent] = None, # Left mono camera
right: Union[None, dai.Node.Output, CameraComponent] = None, # Right mono camera
name: Optional[str] = None,
encode: Union[None, str, bool, dai.VideoEncoderProperties.Profile] = None
) -> StereoComponent:
"""
Create Stereo camera component. If left/right cameras/component aren't specified they will get created internally.
Expand All @@ -232,6 +283,11 @@ def create_stereo(self,
name (str): Name used to identify the X-out stream. This name will also be associated with the frame in the callback function.
encode (bool/str/Profile): Whether we want to enable video encoding (accessible via StereoComponent.out.encoded). If True, it will use h264 codec.
"""
if left is None:
left = self.camera(source=dai.CameraBoardSocket.LEFT, resolution=resolution, fps=fps)
if right is None:
right = self.camera(source=dai.CameraBoardSocket.RIGHT, resolution=resolution, fps=fps)

comp = StereoComponent(self._oak.device,
self.pipeline,
resolution=resolution,
Expand All @@ -245,6 +301,29 @@ def create_stereo(self,
self._components.append(comp)
return comp

def create_stereo(self,
resolution: Union[None, str, dai.MonoCameraProperties.SensorResolution] = None,
fps: Optional[float] = None,
left: Union[None, dai.Node.Output, CameraComponent] = None, # Left mono camera
right: Union[None, dai.Node.Output, CameraComponent] = None, # Right mono camera
name: Optional[str] = None,
encode: Union[None, str, bool, dai.VideoEncoderProperties.Profile] = None
) -> StereoComponent:
"""
Deprecated, use stereo() instead.
Create Stereo camera component. If left/right cameras/component aren't specified they will get created internally.
Args:
resolution (str/SensorResolution): If monochrome cameras aren't already passed, create them and set specified resolution
fps (float): If monochrome cameras aren't already passed, create them and set specified FPS
left (CameraComponent/dai.node.MonoCamera): Pass the camera object (component/node) that will be used for stereo camera.
right (CameraComponent/dai.node.MonoCamera): Pass the camera object (component/node) that will be used for stereo camera.
name (str): Name used to identify the X-out stream. This name will also be associated with the frame in the callback function.
encode (bool/str/Profile): Whether we want to enable video encoding (accessible via StereoComponent.out.encoded). If True, it will use h264 codec.
"""
return self.stereo(resolution, fps, left, right, name, encode)

def create_imu(self) -> IMUComponent:
"""
Create IMU component
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