Merge pull request #318 from luxonis/release_0411

Release 0.4.1.1

README.md

@@ -9,7 +9,7 @@ __Documentation is available at [https://docs.luxonis.com](https://docs.luxonis.
 DepthAI Demo requires [numpy](https://numpy.org/), [opencv-python](https://pypi.org/project/opencv-python/) and [depthai](https://github.com/luxonis/depthai-api). 
 To get the versions of these packages you need for the program, use pip: (Make sure pip is upgraded: ` python3 -m pip install -U pip`)
 ```
-python3 -m pip install -r requirements.txt 
+python3 install_requirements.py
 ```
 
 Optional:

calibrate.py

@@ -78,30 +78,21 @@ def parse_args():
     parser.add_argument("-brd", "--board", default=None, type=str,
                         help="BW1097, BW1098OBC - Board type from resources/boards/ (not case-sensitive). "
                             "Or path to a custom .json board config. Mutually exclusive with [-fv -b -w]")
-    parser.add_argument("-fv", "--field-of-view", default=None, type=float,
-                        help="Horizontal field of view (HFOV) for the stereo cameras in [deg]. Default: 71.86deg.")
-    parser.add_argument("-b", "--baseline", default=None, type=float,
-                        help="Left/Right camera baseline in [cm]. Default: 9.0cm.")
-    parser.add_argument("-w", "--no-swap-lr", dest="swap_lr", default=None, action="store_false",
-                        help="Do not swap the Left and Right cameras.")
     parser.add_argument("-debug", "--dev_debug", default=None, action='store_true',
                         help="Used by board developers for debugging.")
+    parser.add_argument("-fusb2", "--force_usb2", default=False, action="store_true",
+                        help="Force usb2 connection")
     parser.add_argument("-iv", "--invert-vertical", dest="invert_v", default=False, action="store_true",
                         help="Invert vertical axis of the camera for the display")
     parser.add_argument("-ih", "--invert-horizontal", dest="invert_h", default=False, action="store_true",
                         help="Invert horizontal axis of the camera for the display")
 
     options = parser.parse_args()
 
-    if (options.board is not None) and ((options.field_of_view is not None)
-                                     or (options.baseline      is not None)
-                                     or (options.swap_lr       is not None)):
-        parser.error("[-brd] is mutually exclusive with [-fv -b -w]")
-
-    # Set some defaults after the above check
-    if options.field_of_view is None: options.field_of_view = 71.86
-    if options.baseline      is None: options.baseline = 9.0
-    if options.swap_lr       is None: options.swap_lr = True
+    # Set some extra defaults, `-brd` would override them
+    options.field_of_view = 71.86
+    options.baseline = 7.5
+    options.swap_lr = True
 
     return options
 
@@ -112,6 +103,24 @@ def find_chessboard(frame):
     return cv2.findChessboardCorners(small_frame, (9, 6), chessboard_flags)[0] and \
            cv2.findChessboardCorners(frame, (9, 6), chessboard_flags)[0]
 
+def test_camera_orientation(frame_l, frame_r):
+    chessboard_flags = cv2.CALIB_CB_ADAPTIVE_THRESH + cv2.CALIB_CB_FAST_CHECK + cv2.CALIB_CB_NORMALIZE_IMAGE
+    # termination criteria
+    frame_l = cv2.cvtColor(frame_l, cv2.COLOR_RGB2GRAY)
+    frame_r = cv2.cvtColor(frame_r, cv2.COLOR_RGB2GRAY)
+    criteria = (cv2.TERM_CRITERIA_MAX_ITER +
+                    cv2.TERM_CRITERIA_EPS, 30, 0.001)
+    ret, corners_l =  cv2.findChessboardCorners(frame_l, (9, 6), chessboard_flags)
+    ret, corners_r =  cv2.findChessboardCorners(frame_r, (9, 6), chessboard_flags)
+    rt = cv2.cornerSubPix(frame_l, corners_l, (5, 5),
+                                      (-1, -1), criteria)
+    rt = cv2.cornerSubPix(frame_r, corners_r, (5, 5),
+                                      (-1, -1), criteria)
+
+    for left, right in zip(corners_l, corners_r):
+        if left[0][0] - right[0][0] < 0:
+            return False
+    return True
 
 def ts(packet):
     return packet.getMetadata().getTimestamp()
@@ -202,7 +211,7 @@ def get_pipeline(self):
         pipeline = None
 
         try:
-            device = depthai.Device("", False)
+            device = depthai.Device("", self.args['force_usb2'])
             pipeline = device.create_pipeline(self.config)
         except RuntimeError:
             raise RuntimeError("Unable to initialize device. Try to reset it")
@@ -265,6 +274,25 @@ def show(position, text):
         # cv2.imshow("right", info_frame)
         cv2.imshow("left + right",info_frame)
         cv2.waitKey(2000)
+
+    def show_failed_orientation(self):
+        width, height = int(self.width * self.output_scale_factor), int(self.height * self.output_scale_factor)
+        info_frame = np.zeros((height, width, 3), np.uint8)
+        print("py: Capture failed, Swap the camera's ")
+
+        def show(position, text):
+            cv2.putText(info_frame, text, position, cv2.FONT_HERSHEY_TRIPLEX, 0.7, (0, 255, 0))
+
+        show((60, int(height / 2 - 40)), "Calibration failed, Left and ")
+        show((60, int(height /2)), "right camera are swapped!")
+        show((60, int(height / 2 + 40)), "Fix \"swap_left_and_right_cameras\"")
+        show((60, int(height / 2 + 80)), "and start again")
+
+        # cv2.imshow("left", info_frame)
+        # cv2.imshow("right", info_frame)
+        cv2.imshow("left + right",info_frame)
+        cv2.waitKey(0)
+        raise Exception("Calibration failed, Left and right camera are swapped. Fix \"swap_left_and_right_cameras\" and start again!!")
 
     def capture_images(self):
         finished = False
@@ -308,9 +336,11 @@ def capture_images(self):
                         if packet.stream_name == 'left' and not tried_left:
                             captured_left = self.parse_frame(frame, packet.stream_name)
                             tried_left = True
+                            captured_left_frame = frame.copy()
                         elif packet.stream_name == 'right' and not tried_right:
                             captured_right = self.parse_frame(frame, packet.stream_name)
                             tried_right = True
+                            captured_right_frame = frame.copy()
 
                     has_success = (packet.stream_name == "left" and captured_left) or \
                                   (packet.stream_name == "right" and captured_right)
@@ -340,6 +370,9 @@ def capture_images(self):
                     frame_list.append(small_frame)
 
                     if captured_left and captured_right:
+                        print(f"Images captured --> {self.images_captured}")
+                        if not self.images_captured and not test_camera_orientation(captured_left_frame, captured_right_frame):
+                            self.show_failed_orientation()
                         self.images_captured += 1
                         self.images_captured_polygon += 1
                         capturing = False

depthai_demo.py

@@ -138,6 +138,9 @@ def print_packet_info(packet, stream_name):
             return
 
         def keypress_handler(self, key, stream_names):
+            cams = ['rgb', 'mono']
+            self.cam_idx = getattr(self, 'cam_idx', 0)  # default: 'rgb'
+            cam = cams[self.cam_idx]
             cam_c = depthai.CameraControl.CamId.RGB
             cam_l = depthai.CameraControl.CamId.LEFT
             cam_r = depthai.CameraControl.CamId.RIGHT
@@ -149,7 +152,7 @@ def keypress_handler(self, key, stream_names):
                 ord('f'): lambda: self.device.request_af_trigger(),
                 ord('1'): lambda: self.device.request_af_mode(depthai.AutofocusMode.AF_MODE_AUTO),
                 ord('2'): lambda: self.device.request_af_mode(depthai.AutofocusMode.AF_MODE_CONTINUOUS_VIDEO),
-                # 5,6,7,8,9,0: short example for using ISP 3A controls
+                # 5,6,7,8,9,0: short example for using ISP 3A controls for Mono cameras
                 ord('5'): lambda: self.device.send_camera_control(cam_l, cmd_ae_region, '0 0 200 200 1'),
                 ord('6'): lambda: self.device.send_camera_control(cam_l, cmd_ae_region, '1000 0 200 200 1'),
                 ord('7'): lambda: self.device.send_camera_control(cam_l, cmd_exp_comp, '-2'),
@@ -164,27 +167,35 @@ def keypress_handler(self, key, stream_names):
                     self.device.request_jpeg()
                 else:
                     print("'jpegout' stream not enabled. Try settings -s jpegout to enable it")
+            elif key == ord('s'):  # switch selected camera for manual exposure control
+                self.cam_idx = (self.cam_idx + 1) % len(cams)
+                print("======================= Current camera to control:", cams[self.cam_idx])
             # RGB manual focus/exposure controls:
             # Control:      key[dec/inc]  min..max
             # exposure time:     i   o    1..33333 [us]
             # sensitivity iso:   k   l    100..1600
             # focus:             ,   .    0..255 [far..near]
             elif key == ord('i') or key == ord('o') or key == ord('k') or key == ord('l'):
+                max_exp_us = int(1000*1000 / config['camera'][cam]['fps'])
                 self.rgb_exp = getattr(self, 'rgb_exp', 20000)  # initial
                 self.rgb_iso = getattr(self, 'rgb_iso', 800)  # initial
                 rgb_iso_step = 50
-                rgb_exp_step = 500
+                rgb_exp_step = max_exp_us // 20  # split in 20 steps
                 if key == ord('i'): self.rgb_exp -= rgb_exp_step
                 if key == ord('o'): self.rgb_exp += rgb_exp_step
                 if key == ord('k'): self.rgb_iso -= rgb_iso_step
                 if key == ord('l'): self.rgb_iso += rgb_iso_step
                 if self.rgb_exp < 1:     self.rgb_exp = 1
-                if self.rgb_exp > 33333: self.rgb_exp = 33333
+                if self.rgb_exp > max_exp_us: self.rgb_exp = max_exp_us
                 if self.rgb_iso < 100:   self.rgb_iso = 100
                 if self.rgb_iso > 1600:  self.rgb_iso = 1600
-                print("=================================== RGB set exposure:", self.rgb_exp, "iso:", self.rgb_iso)
+                print("===================================", cam, "set exposure:", self.rgb_exp, "iso:", self.rgb_iso)
                 exp_arg = str(self.rgb_exp) + ' ' + str(self.rgb_iso) + ' 33333'
-                self.device.send_camera_control(cam_c, cmd_set_exp, exp_arg)
+                if cam == 'rgb':
+                    self.device.send_camera_control(cam_c, cmd_set_exp, exp_arg)
+                elif cam == 'mono':
+                    self.device.send_camera_control(cam_l, cmd_set_exp, exp_arg)
+                    self.device.send_camera_control(cam_r, cmd_set_exp, exp_arg)
             elif key == ord(',') or key == ord('.'):
                 self.rgb_manual_focus = getattr(self, 'rgb_manual_focus', 200)  # initial
                 rgb_focus_step = 3

depthai_helpers/arg_manager.py

@@ -16,8 +16,8 @@ def _get_immediate_subdirectories(a_dir):
 
 _stream_choices = ("metaout", "previewout", "jpegout", "left", "right", "depth", "disparity", "disparity_color",
                    "meta_d2h", "object_tracker", "rectified_left", "rectified_right", "color")
-_CNN_choices = _get_immediate_subdirectories(consts.resource_paths.nn_resource_path)
 _CNN2_choices = ['landmarks-regression-retail-0009', 'facial-landmarks-35-adas-0002', 'emotions-recognition-retail-0003']
+_CNN_choices = [item for item in _get_immediate_subdirectories(consts.resource_paths.nn_resource_path) if item not in _CNN2_choices]
 
 def _stream_type(option):
     max_fps = None
@@ -100,7 +100,7 @@ def parse_args(self):
         parser.add_argument("-cs", "--color_scale", default=1.0, type=float,
                             help="Scale factor for 'color' stream preview window. Default: %(default)s")
 
-        parser.add_argument("-monor", "--mono_resolution", default=720, type=int,  choices=[400, 720, 800],
+        parser.add_argument("-monor", "--mono_resolution", default=400, type=int,  choices=[400, 720, 800],
                             help="Mono cam res height: (1280x)720, (1280x)800 or (640x)400 - binning. Default: %(default)s")
 
         parser.add_argument("-monof", "--mono_fps", default=30.0, type=float,
@@ -115,21 +115,7 @@ def parse_args(self):
 
         parser.add_argument("-lrc", "--stereo_lr_check", default=False, action="store_true",
                         help="Enable stereo 'Left-Right check' feature.")
-        parser.add_argument("-fv", "--field-of-view", default=None, type=float,
-                            help="Horizontal field of view (HFOV) for the stereo cameras in [deg]. Default: 71.86deg.")
 
-        parser.add_argument("-rfv", "--rgb-field-of-view", default=None, type=float,
-                            help="Horizontal field of view (HFOV) for the RGB camera in [deg]. Default: 68.7938deg.")
-
-        parser.add_argument("-b", "--baseline", default=None, type=float,
-                            help="Left/Right camera baseline in [cm]. Default: 9.0cm.")
-
-        parser.add_argument("-r", "--rgb-baseline", default=None, type=float,
-                            help="Distance the RGB camera is from the Left camera. Default: 2.0cm.")
-
-        parser.add_argument("-w", "--no-swap-lr", dest="swap_lr", default=None, action="store_false",
-                            help="Do not swap the Left and Right cameras.")
-
         parser.add_argument("-e", "--store-eeprom", default=False, action="store_true",
                             help="Store the calibration and board_config (fov, baselines, swap-lr) in the EEPROM onboard")
 
@@ -207,17 +193,12 @@ def parse_args(self):
         argcomplete.autocomplete(parser)
 
         options = parser.parse_args()
-        any_options_set = any([options.field_of_view, options.rgb_field_of_view, options.baseline, options.rgb_baseline,
-                               options.swap_lr])
-        if (options.board is not None) and any_options_set:
-            parser.error("[-brd] is mutually exclusive with [-fv -rfv -b -r -w]")
-
-        # Set some defaults after the above check
-        if not options.board:
-            options.field_of_view = 71.86
-            options.rgb_field_of_view = 68.7938
-            options.baseline = 9.0
-            options.rgb_baseline = 2.0
-            options.swap_lr = True
+
+        # Set some extra defaults, `-brd` would override them
+        options.field_of_view = 71.86
+        options.rgb_field_of_view = 68.7938
+        options.baseline = 7.5
+        options.rgb_baseline = 3.75
+        options.swap_lr = True
 
         return options

depthai_helpers/calibration_utils.py

@@ -17,12 +17,12 @@ def setPolygonCoordinates(height, width):
     slope = 150
 
     p_coordinates = [
+            [[margin,margin], [margin, height-margin], [width-margin, height-margin], [width-margin, margin]],
+
             [[margin,0], [margin,height], [width//2, height-slope], [width//2, slope]],
             [[horizontal_shift, 0], [horizontal_shift, height], [width//2 + horizontal_shift, height-slope], [width//2 + horizontal_shift, slope]],
             [[horizontal_shift*2-margin, 0], [horizontal_shift*2-margin, height], [width//2 + horizontal_shift*2-margin, height-slope], [width//2 + horizontal_shift*2-margin, slope]],
 
-            [[margin,margin], [margin, height-margin], [width-margin, height-margin], [width-margin, margin]],
-
             [[width-margin, 0], [width-margin, height], [width//2, height-slope], [width//2, slope]],
             [[width-horizontal_shift, 0], [width-horizontal_shift, height], [width//2-horizontal_shift, height-slope], [width//2-horizontal_shift, slope]],
             [[width-horizontal_shift*2+margin, 0], [width-horizontal_shift*2+margin, height], [width//2-horizontal_shift*2+margin, height-slope], [width//2-horizontal_shift*2+margin, slope]],

depthai_helpers/projector_3d.py

@@ -1,7 +1,15 @@
 #!/usr/bin/env python3
+import traceback
+import sys
+
+try:
+    import open3d as o3d
+except ImportError:
+    traceback.print_exc()
+    print("Importing open3d failed, please run the following command or visit https://pypi.org/project/open3d/")
+    print()
+    print(sys.executable  + " -m pip install open3d")
 
-import numpy as np
-import open3d as o3d
 
 class PointCloudVisualizer():
     def __init__(self, intrinsic_matrix, width, height):

depthai_helpers/version_check.py

@@ -22,7 +22,6 @@ def get_version_from_requirements():
 def check_depthai_version():
     version_required = get_version_from_requirements()
     if version_required is not None:
-        print('Depthai version required:  ', version_required)
         if depthai.__version__.endswith('+dev'):
             print('Depthai development version found, skipping check.')
         elif version_required != depthai.__version__:

install_requirements.py

@@ -15,3 +15,7 @@
 # temporary workaroud for issue between main and develop
 subprocess.check_call([*pip_call, "uninstall", "depthai", "--yes"])
 subprocess.check_call([*pip_install, "-r", "requirements.txt"])
+try:
+    subprocess.check_call([*pip_install, "-r", "requirements-optional.txt"])
+except subprocess.CalledProcessError as ex:
+    print(f"Optional dependencies were not installed (exit code {ex.returncode})")

requirements-optional.txt

@@ -0,0 +1 @@
+open3d==0.10.0.0; platform_machine != "armv7l" and python_version < "3.9"

requirements.txt

@@ -2,9 +2,8 @@ numpy==1.19.5
 opencv-python==4.5.1.48
 requests==2.24.0
 argcomplete==1.12.1
-open3d==0.10.0.0; platform_machine != "armv7l" and python_version < "3.9"
 pyyaml==5.3.1
-depthai==0.4.0.0
+depthai==0.4.1.1
 
-#--extra-index-url https://artifacts.luxonis.com/artifactory/luxonis-python-snapshot-local/
-#depthai==0.3.0.0+cd9672d8a8eb48811889241a131a655caa2aeee7
+# --extra-index-url https://artifacts.luxonis.com/artifactory/luxonis-python-snapshot-local/
+# depthai==0.4.1.1+91ba9cbf941592371a7246887a491f0c82632e9d