SDKWrapper_example.py

import argparse

import cv2
import numpy as np
from pollen_vision.camera_wrappers.depthai import SDKWrapper
from pollen_vision.camera_wrappers.depthai.utils import (
    get_config_file_path,
    get_config_files_names,
)

valid_configs = get_config_files_names()

argParser = argparse.ArgumentParser(description="sdk wrapper example")
argParser.add_argument(
    "--config",
    type=str,
    required=True,
    choices=valid_configs,
    help=f"Configutation file name : {valid_configs}",
)
args = argParser.parse_args()
compute_depth = True
jpeg_output = True
w = SDKWrapper(get_config_file_path(args.config), compute_depth=compute_depth, rectify=False, jpeg_output=jpeg_output)

while True:
    data, _, _ = w.get_data()

    if jpeg_output:
        left_img = cv2.imdecode(data["left"], cv2.IMREAD_COLOR)
        right_img = cv2.imdecode(data["right"], cv2.IMREAD_COLOR)
    else:
        left_img = data["left"]
        right_img = data["right"]

    cv2.imshow("left", left_img)
    cv2.imshow("right", right_img)

    if compute_depth:
        cv2.imshow("depthNode_left", data["depthNode_left"])
        cv2.imshow("depthNode_right", data["depthNode_right"])
        cv2.imshow("depth", data["depth"])
        disparity = data["disparity"]

        disparity = data["disparity"]
        disparity = (disparity * (255 / w.depth_max_disparity)).astype(np.uint8)
        disparity = cv2.applyColorMap(disparity, cv2.COLORMAP_JET)

        cv2.imshow("disparity", disparity)

    cv2.waitKey(1)