OAK-D Long Range Tractor pointcloud visualization with native Rerun (non-colorized pointclouds?)

tractor-visualization-rerun.py

from depthai_sdk import OakCamera
import cv2
import depthai as dai
import rerun as rr

# Run & initialize ReRun viewer
rr.init('Rerun Oak-D-LR', spawn=True)

# Download and run the tractor recording
with OakCamera(replay="tractor-oak-d-lr") as oak:
    oak.replay.set_fps(10)
    # cam_a = oak.create_camera('CAM_A')
    cam_b = oak.create_camera('CAM_B')
    cam_c = oak.create_camera('CAM_C')
    # Downscale the 1920x1200 frames to 1280x800
    oak.replay.resize('cam_c', (1280, 800))
    oak.replay.resize('cam_b', (1280, 800))

    nn = oak.create_nn('mobilenet-ssd', cam_c)

    stereo = oak.create_stereo(left=cam_b, right=cam_c)
    stereo.node.setOutputSize(640, 400)
    stereo.config_stereo(confidence=215, lr_check=True, extended=True, subpixel=True, subpixel_bits=5)
    stereo.config_stereo(align=cam_c)
    stereo.node.setDepthAlign(dai.CameraBoardSocket.CAM_C)

    # On-device post processing for stereo depth
    config = stereo.node.initialConfig.get()
    stereo.node.setPostProcessingHardwareResources(4, 4)
    config.postProcessing.speckleFilter.enable = True
    config.postProcessing.speckleFilter.speckleRange = 50
    config.postProcessing.temporalFilter.enable = False
    config.postProcessing.spatialFilter.enable = True
    config.postProcessing.spatialFilter.holeFillingRadius = 1
    config.postProcessing.spatialFilter.numIterations = 1
    config.postProcessing.thresholdFilter.minRange = 400
    config.postProcessing.thresholdFilter.maxRange = 15000
    config.postProcessing.brightnessFilter.maxBrightness = 255
    stereo.node.initialConfig.set(config)

    q = oak.queue([
        stereo.out.depth.set_name('depth'),
        stereo.out.rectified_right.set_name('rr'),
        nn.out.main.set_name('nn'),
    ]).configure_syncing(enable_sync=True, threshold_ms=250).get_queue()
    # oak.show_graph()
    oak.start()

    calibData = oak.device.readCalibration()
    intrinsics = calibData.getCameraIntrinsics(dai.CameraBoardSocket.CAM_C, dai.Size2f(640, 400))

    rr.log('LR', rr.ViewCoordinates.RDF, static=True)
    rr.log("LR/Color", rr.Transform3D(translation=[0,0,0], rotation=[1,0,0,0], from_parent=True), static=True)
    rr.log("LR/Color/Image", rr.Pinhole(width=640, height=400, image_from_camera=intrinsics), static=True)

    while oak.running():
        packets = q.get()
        depth = packets['depth']
        rr.log("Right", rr.Image(packets['rr'].frame))

        color = packets['nn'].frame
        color = cv2.pyrDown(color) # Downscale to match 640x400 depth frame

        rr.log("LR/Color/Image", rr.Image(color[:, :, ::-1])) # BGR to RGB
        rr.log("LR/Color/Image/Depth", rr.DepthImage(depth.frame, meter=1e3))

        oak.poll()