Blend 3 camera frames together

depthai_blend_3cam_frames.py

#!/usr/bin/env python3

import cv2
import numpy as np
import depthai as dai


# Optional. If set (True), the ColorCamera is downscaled from 1080p to 720p.
# Otherwise (False), the aligned depth is automatically upscaled to 1080p
downscaleColor = True
fps = 30
# The disparity is computed at this resolution, then upscaled to RGB resolution
monoResolution = dai.MonoCameraProperties.SensorResolution.THE_720_P

streams = ['left', 'right', 'rgb']

# Create pipeline
pipeline = dai.Pipeline()

# Define sources and outputs
camRgb = pipeline.create(dai.node.ColorCamera)
left = pipeline.create(dai.node.MonoCamera)
right = pipeline.create(dai.node.MonoCamera)

for stream in streams:
    xout = pipeline.create(dai.node.XLinkOut)
    xout.setStreamName(stream)
    if stream == 'left':
        left.out.link(xout.input)
    if stream == 'right':
        right.out.link(xout.input)
    elif stream == 'rgb':
        camRgb.video.link(xout.input)


#Properties
camRgb.setBoardSocket(dai.CameraBoardSocket.RGB)
camRgb.setResolution(dai.ColorCameraProperties.SensorResolution.THE_1080_P)
camRgb.setFps(fps)
camRgb.setIspScale(2, 3)

left.setResolution(monoResolution)
left.setBoardSocket(dai.CameraBoardSocket.LEFT)
left.setFps(fps)
right.setResolution(monoResolution)
right.setBoardSocket(dai.CameraBoardSocket.RIGHT)
right.setFps(fps)


with dai.Device(pipeline) as device:
    leftQ = device.getOutputQueue(name="left", maxSize=4, blocking=False)
    rightQ = device.getOutputQueue(name="right", maxSize=4, blocking=False)
    rgbQ = device.getOutputQueue(name="rgb", maxSize=4, blocking=False)

    while True:
        frameLeft = cv2.cvtColor(leftQ.get().getCvFrame(), cv2.COLOR_GRAY2BGR)
        frameRight = cv2.cvtColor(rightQ.get().getCvFrame(), cv2.COLOR_GRAY2BGR)
        frameRgb = rgbQ.get().getCvFrame()

        blended = cv2.addWeighted(frameRgb, 0.5, frameLeft, 0.5, 0)
        blended = cv2.addWeighted(blended, 0.66, frameRight, 0.33, 0)

        cv2.imshow('blended', blended)

        if cv2.waitKey(1) == ord('q'):
            break