two_SDKWrappers_example.py

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

devices = get_connected_devices()
if len(devices.keys()) != 2:
    exit("You need to connect exactly two devices to run this example")

for k, v in devices.items():
    if v == "other":
        sr_mx_id = k
    else:
        head_mx_id = k

sr = SDKWrapper(get_config_file_path("CONFIG_SR"), compute_depth=True, rectify=False, mx_id=sr_mx_id)
head = SDKWrapper(get_config_file_path("CONFIG_IMX296"), compute_depth=False, rectify=True, mx_id=head_mx_id)


while True:
    data_sr, _, _ = sr.get_data()
    data_head, _, _ = head.get_data()
    cv2.imshow("sr_left", data_sr["left"])
    cv2.imshow("sr_right", data_sr["right"])
    cv2.imshow("sr_depthNode_left", data_sr["depthNode_left"])
    cv2.imshow("sr_depthNode_right", data_sr["depthNode_right"])
    cv2.imshow("depth", data_sr["depth"])

    disparity = data_sr["disparity"]
    disparity = data_sr["disparity"]
    disparity = (disparity * (255 / sr.depth_max_disparity)).astype(np.uint8)
    disparity = cv2.applyColorMap(disparity, cv2.COLORMAP_JET)
    cv2.imshow("disparity", disparity)

    cv2.imshow("left_head", data_head["left"])
    cv2.imshow("right_head", data_head["right"])
    cv2.waitKey(1)