# RGB-左对齐 本示例演示如何将来自左侧相机的深度信息与 RGB 相机对齐。这在需要叠加或比较深度与颜色数据的应用中尤为有用。会创建一个 OpenCV 窗口，用于显示 RGB 图像与对齐后的深度图像的混合效果。提供了滑块条，用于调整混合比例和静态深度平面。 ## 演示 ## 设置 请运行[安装脚本](https://github.com/luxonis/depthai-python/blob/main/examples/install_requirements.py)以下载所有必需的依赖项。请注意，此脚本必须在 git 上下文中运行，因此您需要先下载 [depthai-python](https://github.com/luxonis/depthai-python) 仓库，然后运行该脚本。 ```bash git clone https://github.com/luxonis/depthai-python.git cd depthai-python/examples python3 install_requirements.py ``` 更多信息，请参考[安装指南](https://docs.luxonis.com/software/depthai/manual-install.md)。 ## 源代码 #### Python ```python #!/usr/bin/env python3 import cv2 import depthai as dai from datetime import timedelta import numpy as np # This is an interactive example that shows how two frame sources without depth information. FPS = 30.0 RGB_SOCKET = dai.CameraBoardSocket.CAM_A LEFT_SOCKET = dai.CameraBoardSocket.CAM_B ALIGN_SOCKET = LEFT_SOCKET COLOR_RESOLUTION = dai.ColorCameraProperties.SensorResolution.THE_1080_P LEFT_RIGHT_RESOLUTION = dai.MonoCameraProperties.SensorResolution.THE_720_P ISP_SCALE = 3 device = dai.Device() calibrationHandler = device.readCalibration() rgbDistortion = calibrationHandler.getDistortionCoefficients(RGB_SOCKET) distortionModel = calibrationHandler.getDistortionModel(RGB_SOCKET) if distortionModel != dai.CameraModel.Perspective: raise RuntimeError("Unsupported distortion model for RGB camera. This example supports only Perspective model.") pipeline = dai.Pipeline() # Define sources and outputs camRgb = pipeline.create(dai.node.ColorCamera) left = pipeline.create(dai.node.MonoCamera) sync = pipeline.create(dai.node.Sync) out = pipeline.create(dai.node.XLinkOut) align = pipeline.create(dai.node.ImageAlign) cfgIn = pipeline.create(dai.node.XLinkIn) left.setResolution(LEFT_RIGHT_RESOLUTION) left.setBoardSocket(LEFT_SOCKET) left.setFps(FPS) camRgb.setBoardSocket(RGB_SOCKET) camRgb.setResolution(COLOR_RESOLUTION) camRgb.setFps(FPS) camRgb.setIspScale(1, ISP_SCALE) out.setStreamName("out") sync.setSyncThreshold(timedelta(seconds=0.5 / FPS)) cfgIn.setStreamName("config") cfg = align.initialConfig.get() staticDepthPlane = cfg.staticDepthPlane # Linking align.outputAligned.link(sync.inputs["aligned"]) camRgb.isp.link(sync.inputs["rgb"]) camRgb.isp.link(align.inputAlignTo) left.out.link(align.input) sync.out.link(out.input) cfgIn.out.link(align.inputConfig) rgbWeight = 0.4 leftWeight = 0.6 def updateBlendWeights(percentRgb): """ Update the rgb and left weights used to blend rgb/left image @param[in] percent_rgb The rgb weight expressed as a percentage (0..100) """ global leftWeight global rgbWeight rgbWeight = float(percentRgb) / 100.0 leftWeight = 1.0 - rgbWeight def updateDepthPlane(depth): global staticDepthPlane staticDepthPlane = depth # Connect to device and start pipeline with device: device.startPipeline(pipeline) queue = device.getOutputQueue("out", 8, False) cfgQ = device.getInputQueue("config") # Configure windows; trackbar adjusts blending ratio of rgb/depth windowName = "rgb-left" # Set the window to be resizable and the initial size cv2.namedWindow(windowName, cv2.WINDOW_NORMAL) cv2.resizeWindow(windowName, 1280, 720) cv2.createTrackbar( "RGB Weight %", windowName, int(rgbWeight * 100), 100, updateBlendWeights, ) cv2.createTrackbar( "Static Depth Plane [mm]", windowName, 0, 2000, updateDepthPlane, ) while True: messageGroup = queue.get() assert isinstance(messageGroup, dai.MessageGroup) frameRgb = messageGroup["rgb"] assert isinstance(frameRgb, dai.ImgFrame) leftAligned = messageGroup["aligned"] assert isinstance(leftAligned, dai.ImgFrame) frameRgbCv = frameRgb.getCvFrame() # Colorize the aligned depth leftCv = leftAligned.getCvFrame() rgbIntrinsics = calibrationHandler.getCameraIntrinsics(RGB_SOCKET, int(frameRgbCv.shape[1]), int(frameRgbCv.shape[0])) cvFrameUndistorted = cv2.undistort( frameRgbCv, np.array(rgbIntrinsics), np.array(rgbDistortion), ) if len(leftCv.shape) == 2: leftCv = cv2.cvtColor(leftCv, cv2.COLOR_GRAY2BGR) if leftCv.shape != cvFrameUndistorted.shape: leftCv = cv2.resize(leftCv, (cvFrameUndistorted.shape[1], cvFrameUndistorted.shape[0])) blended = cv2.addWeighted(cvFrameUndistorted, rgbWeight, leftCv, leftWeight, 0) cv2.imshow(windowName, blended) key = cv2.waitKey(1) if key == ord("q"): break cfg.staticDepthPlane = staticDepthPlane cfgQ.send(cfg) ``` #### C++ ```cpp #include #include #include #include "depthai/depthai.hpp" constexpr auto FPS = 30.0; constexpr auto RGB_SOCKET = dai::CameraBoardSocket::CAM_A; constexpr auto LEFT_SOCKET = dai::CameraBoardSocket::CAM_B; constexpr auto ALIGN_SOCKET = LEFT_SOCKET; constexpr auto COLOR_RESOLUTION = dai::ColorCameraProperties::SensorResolution::THE_1080_P; constexpr auto LEFT_RIGHT_RESOLUTION = dai::MonoCameraProperties::SensorResolution::THE_720_P; class FPSCounter { public: void tick() { auto now = std::chrono::steady_clock::now(); frameTimes.push(now); if(frameTimes.size() > 100) { frameTimes.pop(); } } double getFps() { if(frameTimes.size() <= 1) return 0; auto duration = std::chrono::duration_cast(frameTimes.back() - frameTimes.front()).count(); return (frameTimes.size() - 1) * 1000.0 / duration; } private: std::queue frameTimes; }; double rgbWeight = 0.4; double leftWeight = 0.6; int staticDepthPlane = 0; void updateBlendWeights(int percentRgb, void*) { rgbWeight = static_cast(percentRgb) / 100.0; leftWeight = 1.0 - rgbWeight; } void updateDepthPlane(int depth, void*) { staticDepthPlane = depth; } int main() { dai::Pipeline pipeline; auto camRgb = pipeline.create(); auto left = pipeline.create(); auto sync = pipeline.create(); auto out = pipeline.create(); auto align = pipeline.create(); auto cfgIn = pipeline.create(); left->setResolution(LEFT_RIGHT_RESOLUTION); left->setBoardSocket(LEFT_SOCKET); left->setFps(FPS); camRgb->setBoardSocket(RGB_SOCKET); camRgb->setResolution(COLOR_RESOLUTION); camRgb->setFps(FPS); camRgb->setIspScale(1, 3); out->setStreamName("out"); sync->setSyncThreshold(std::chrono::milliseconds(static_cast((1 / FPS) * 1000.0 * 0.5))); cfgIn->setStreamName("config"); align->outputAligned.link(sync->inputs["aligned"]); camRgb->isp.link(sync->inputs["rgb"]); camRgb->isp.link(align->inputAlignTo); left->out.link(align->input); sync->out.link(out->input); cfgIn->out.link(align->inputConfig); dai::Device device(pipeline); auto queue = device.getOutputQueue("out", 8, false); auto cfgQ = device.getInputQueue("config"); FPSCounter fpsCounter; std::string windowName = "rgb-left"; cv::namedWindow(windowName, cv::WINDOW_NORMAL); cv::resizeWindow(windowName, 1280, 720); cv::createTrackbar("RGB Weight %", windowName, nullptr, 100, updateBlendWeights); cv::createTrackbar("Static Depth Plane [mm]", windowName, nullptr, 2000, updateDepthPlane); while(true) { auto messageGroup = queue->get(); fpsCounter.tick(); auto frameRgb = messageGroup->get("rgb"); auto leftAligned = messageGroup->get("aligned"); if(frameRgb && leftAligned) { auto frameRgbCv = frameRgb->getCvFrame(); auto leftCv = leftAligned->getCvFrame(); if(leftCv.channels() == 1) { cv::cvtColor(leftCv, leftCv, cv::COLOR_GRAY2BGR); } if(leftCv.size() != frameRgbCv.size()) { cv::resize(leftCv, leftCv, frameRgbCv.size()); } cv::Mat blended; cv::addWeighted(frameRgbCv, rgbWeight, leftCv, leftWeight, 0, blended); cv::imshow(windowName, blended); } int key = cv::waitKey(1); if(key == 'q' || key == 'Q') { break; } auto cfg = align->initialConfig.get(); cfg.staticDepthPlane = staticDepthPlane; auto alignConfig = std::make_shared(); alignConfig->set(cfg); cfgQ->send(alignConfig); } return 0; } ``` ## 管道 ### examples/image_align.pipeline.json ```json { "pipeline": { "connections": [ { "node1Id": 4, "node1Output": "outputAligned", "node1OutputGroup": "", "node2Id": 2, "node2Input": "aligned", "node2InputGroup": "inputs" }, { "node1Id": 0, "node1Output": "isp", "node1OutputGroup": "", "node2Id": 2, "node2Input": "rgb", "node2InputGroup": "inputs" }, { "node1Id": 5, "node1Output": "out", "node1OutputGroup": "", "node2Id": 4, "node2Input": "inputConfig", "node2InputGroup": "" }, { "node1Id": 0, "node1Output": "isp", "node1OutputGroup": "", "node2Id": 4, "node2Input": "inputAlignTo", "node2InputGroup": "" }, { "node1Id": 1, "node1Output": "out", "node1OutputGroup": "", "node2Id": 4, "node2Input": "input", "node2InputGroup": "" }, { "node1Id": 2, "node1Output": "out", "node1OutputGroup": "", "node2Id": 3, "node2Input": "in", "node2InputGroup": "" } ], "globalProperties": { "calibData": null, "cameraTuningBlobSize": null, "cameraTuningBlobUri": "", "leonCssFrequencyHz": 700000000.0, "leonMssFrequencyHz": 700000000.0, "pipelineName": null, "pipelineVersion": null, "sippBufferSize": 18432, "sippDmaBufferSize": 16384, "xlinkChunkSize": -1 }, "nodes": [ [ 0, { "id": 0, "ioInfo": [ [ [ "", "inputConfig" ], { "blocking": false, "group": "", "id": 1, "name": "inputConfig", "queueSize": 8, "type": 3, "waitForMessage": false } ], [ [ "", "raw" ], { "blocking": false, "group": "", "id": 6, "name": "raw", "queueSize": 8, "type": 0, "waitForMessage": false } ], [ [ "", "still" ], { "blocking": false, "group": "", "id": 7, "name": "still", "queueSize": 8, "type": 0, "waitForMessage": false } ], [ [ "", "inputControl" ], { "blocking": true, "group": "", "id": 2, "name": "inputControl", "queueSize": 8, "type": 3, "waitForMessage": false } ], [ [ "", "video" ], { "blocking": false, "group": "", "id": 3, "name": "video", "queueSize": 8, "type": 0, "waitForMessage": false } ], [ [ "", "isp" ], { "blocking": false, "group": "", "id": 4, "name": "isp", "queueSize": 8, "type": 0, "waitForMessage": false } ], [ [ "", "preview" ], { "blocking": false, "group": "", "id": 5, "name": "preview", "queueSize": 8, "type": 0, "waitForMessage": false } ], [ [ "", "frameEvent" ], { "blocking": false, "group": "", "id": 8, "name": "frameEvent", "queueSize": 8, "type": 0, "waitForMessage": false } ] ], "name": "ColorCamera", "properties": { "boardSocket": 0, "cameraName": "", "colorOrder": 0, "fp16": false, "fps": 30.0, "imageOrientation": -1, "initialControl": { "aeLockMode": false, "aeMaxExposureTimeUs": 0, "aeRegion": { "height": 0, "priority": 0, "width": 0, "x": 0, "y": 0 }, "afRegion": { "height": 0, "priority": 0, "width": 0, "x": 0, "y": 0 }, "antiBandingMode": 0, "autoFocusMode": 3, "awbLockMode": false, "awbMode": 0, "brightness": 0, "captureIntent": 0, "chromaDenoise": 0, "cmdMask": 0, "contrast": 0, "controlMode": 0, "effectMode": 0, "expCompensation": 0, "expManual": { "exposureTimeUs": 0, "frameDurationUs": 0, "sensitivityIso": 0 }, "frameSyncMode": 0, "lensPosAutoInfinity": 0, "lensPosAutoMacro": 0, "lensPosition": 0, "lensPositionRaw": 0.0, "lowPowerNumFramesBurst": 0, "lowPowerNumFramesDiscard": 0, "lumaDenoise": 0, "saturation": 0, "sceneMode": 0, "sharpness": 0, "strobeConfig": { "activeLevel": 0, "enable": 0, "gpioNumber": 0 }, "strobeTimings": { "durationUs": 0, "exposureBeginOffsetUs": 0, "exposureEndOffsetUs": 0 }, "wbColorTemp": 0 }, "interleaved": true, "isp3aFps": 0, "ispScale": { "horizDenominator": 3, "horizNumerator": 1, "vertDenominator": 3, "vertNumerator": 1 }, "numFramesPoolIsp": 3, "numFramesPoolPreview": 4, "numFramesPoolRaw": 3, "numFramesPoolStill": 4, "numFramesPoolVideo": 4, "previewHeight": 300, "previewKeepAspectRatio": true, "previewWidth": 300, "rawPacked": null, "resolution": 0, "sensorCropX": -1.0, "sensorCropY": -1.0, "stillHeight": -1, "stillWidth": -1, "videoHeight": -1, "videoWidth": -1 } } ], [ 1, { "id": 1, "ioInfo": [ [ [ "", "inputControl" ], { "blocking": true, "group": "", "id": 9, "name": "inputControl", "queueSize": 8, "type": 3, "waitForMessage": false } ], [ [ "", "out" ], { "blocking": false, "group": "", "id": 10, "name": "out", "queueSize": 8, "type": 0, "waitForMessage": false } ], [ [ "", "raw" ], { "blocking": false, "group": "", "id": 11, "name": "raw", "queueSize": 8, "type": 0, "waitForMessage": false } ], [ [ "", "frameEvent" ], { "blocking": false, "group": "", "id": 12, "name": "frameEvent", "queueSize": 8, "type": 0, "waitForMessage": false } ] ], "name": "MonoCamera", "properties": { "boardSocket": 1, "cameraName": "", "fps": 30.0, "imageOrientation": -1, "initialControl": { "aeLockMode": false, "aeMaxExposureTimeUs": 0, "aeRegion": { "height": 0, "priority": 0, "width": 0, "x": 0, "y": 0 }, "afRegion": { "height": 0, "priority": 0, "width": 0, "x": 0, "y": 0 }, "antiBandingMode": 0, "autoFocusMode": 3, "awbLockMode": false, "awbMode": 0, "brightness": 0, "captureIntent": 0, "chromaDenoise": 0, "cmdMask": 0, "contrast": 0, "controlMode": 0, "effectMode": 0, "expCompensation": 0, "expManual": { "exposureTimeUs": 0, "frameDurationUs": 0, "sensitivityIso": 0 }, "frameSyncMode": 0, "lensPosAutoInfinity": 0, "lensPosAutoMacro": 0, "lensPosition": 0, "lensPositionRaw": 0.0, "lowPowerNumFramesBurst": 0, "lowPowerNumFramesDiscard": 0, "lumaDenoise": 0, "saturation": 0, "sceneMode": 0, "sharpness": 0, "strobeConfig": { "activeLevel": 0, "enable": 0, "gpioNumber": 0 }, "strobeTimings": { "durationUs": 0, "exposureBeginOffsetUs": 0, "exposureEndOffsetUs": 0 }, "wbColorTemp": 0 }, "isp3aFps": 0, "numFramesPool": 3, "numFramesPoolRaw": 3, "rawPacked": null, "resolution": 0 } } ], [ 2, { "id": 2, "ioInfo": [ [ [ "inputs", "aligned" ], { "blocking": true, "group": "inputs", "id": 13, "name": "aligned", "queueSize": 8, "type": 3, "waitForMessage": false } ], [ [ "inputs", "rgb" ], { "blocking": true, "group": "inputs", "id": 14, "name": "rgb", "queueSize": 8, "type": 3, "waitForMessage": false } ], [ [ "", "out" ], { "blocking": false, "group": "", "id": 15, "name": "out", "queueSize": 8, "type": 0, "waitForMessage": false } ] ], "name": "Sync", "properties": { "syncAttempts": -1, "syncThresholdNs": 16667000 } } ], [ 3, { "id": 3, "ioInfo": [ [ [ "", "in" ], { "blocking": true, "group": "", "id": 16, "name": "in", "queueSize": 8, "type": 3, "waitForMessage": true } ] ], "name": "XLinkOut", "properties": { "maxFpsLimit": -1.0, "metadataOnly": false, "streamName": "out" } } ], [ 4, { "id": 4, "ioInfo": [ [ [ "", "inputAlignTo" ], { "blocking": false, "group": "", "id": 17, "name": "inputAlignTo", "queueSize": 1, "type": 3, "waitForMessage": true } ], [ [ "", "inputConfig" ], { "blocking": false, "group": "", "id": 18, "name": "inputConfig", "queueSize": 4, "type": 3, "waitForMessage": false } ], [ [ "", "input" ], { "blocking": false, "group": "", "id": 19, "name": "input", "queueSize": 4, "type": 3, "waitForMessage": true } ], [ [ "", "outputAligned" ], { "blocking": false, "group": "", "id": 20, "name": "outputAligned", "queueSize": 8, "type": 0, "waitForMessage": false } ], [ [ "", "passthroughInput" ], { "blocking": false, "group": "", "id": 21, "name": "passthroughInput", "queueSize": 8, "type": 0, "waitForMessage": false } ] ], "name": "ImageAlign", "properties": { "alignHeight": 0, "alignWidth": 0, "initialConfig": { "staticDepthPlane": 0 }, "interpolation": -1, "numFramesPool": 4, "numShaves": 2, "outKeepAspectRatio": true, "warpHwIds": [] } } ], [ 5, { "id": 5, "ioInfo": [ [ [ "", "out" ], { "blocking": false, "group": "", "id": 22, "name": "out", "queueSize": 8, "type": 0, "waitForMessage": false } ] ], "name": "XLinkIn", "properties": { "maxDataSize": 5242880, "numFrames": 8, "streamName": "config" } } ] ] } } ``` ### 需要帮助？ 请前往 [OAKChina 官网](https://www.oakchina.cn/) 获取技术支持或解答您的任何疑问。