ibaiGorordo’s gists

ibaiGorordo / depthai_ImgAlign

Created June 18, 2024 08:07

	#!/usr/bin/env python3

	import cv2
	import numpy as np
	import depthai as dai
	from datetime import timedelta


	def getMesh(calibData, camSocket, ispSize):
	M1 = np.array(calibData.getCameraIntrinsics(camSocket, ispSize[0], ispSize[1]))

ibaiGorordo / depthai_setDepthAlign.py

Created June 18, 2024 08:05

	#!/usr/bin/env python3

	import cv2
	import numpy as np
	import depthai as dai
	from datetime import timedelta


	def getMesh(calibData, camSocket, ispSize):
	M1 = np.array(calibData.getCameraIntrinsics(camSocket, ispSize[0], ispSize[1]))

ibaiGorordo / depthai_stereo_from_host_images.py

Last active August 5, 2022 04:04

Perform stereo depth estimation using the depthai API on images from the host computer in Python.

	import depthai as dai
	import cv2
	import numpy as np

	from imread_from_url import imread_from_url

	def add_host_depth(pipeline):

	monoLeftNode = pipeline.create(dai.node.XLinkIn)
	monoRightNode = pipeline.create(dai.node.XLinkIn)

ibaiGorordo / depthai-android.Dockerfile

Last active July 7, 2022 12:15

Dockerfile for building the depthai-core library for Android

	#
	# Run in the terminal

	# - Build:
	# ```
	# docker build . -t depthai-builder -f depthai-android.Dockerfile
	# ```

	# - Create and Copy the prebuilt libraries into the host computer
	# ```

ibaiGorordo / replace_onnx_input.py

Last active April 3, 2022 02:43

Python script for replacing a combined input into two inputs and adding a concatenate node at the beginning using ONNX graph surgeon

	import onnx_graphsurgeon as gs
	import numpy as np
	import onnx

	@gs.Graph.register()
	def replace_input(self, new_inputs, old_input_name):

	tensors = self.tensors()

	# Create concat node to combine the new inputs

ibaiGorordo / onnx_create_concat.py

Created April 2, 2022 07:38

Python script for creating a model that concatenates two inputs along the channel axis using ONNX graph surgeon

	import onnx_graphsurgeon as gs
	import numpy as np
	import onnx

	left_rect_img = gs.Variable(name="left_rect", dtype=np.float32, shape=(1, 3, 240, 320))
	right_rect_img = gs.Variable(name="right_rect", dtype=np.float32, shape=(1, 3, 240, 320))
	concat_img = gs.Variable(name="concat_img", dtype=np.float32, shape=(1, 6, 240, 320))
	concat_node = gs.Node(op="Concat", attrs={"axis": 1}, inputs=[left_rect_img, right_rect_img], outputs=[concat_img])

	graph = gs.Graph(nodes=[concat_node], inputs=[left_rect_img, right_rect_img], outputs=[concat_img])

ibaiGorordo / split_onnx_model.py

Created April 2, 2022 02:29

Python script for splitting an ONNX model (HITNET Sceneflow in this case) into two parts

	import onnx
	import numpy as np
	import onnx_graphsurgeon as gs

	def split_model(onnx_model, input_names, output_names):
	graph = gs.import_onnx(onnx_model)
	tensors = graph.tensors()

	graph.inputs = [tensors[input_name] for input_name in input_names]
	graph.outputs = [tensors[output_name] for output_name in output_names]

ibaiGorordo / convert_old_zoo_download.py

Last active March 27, 2022 00:43

	from tempfile import mkstemp
	from shutil import move, copymode
	from os import fdopen, remove
	import os
	import re

	def has_old_style(file_path):

	pattern = "CODE="

ibaiGorordo / replace_depthai_createNode_calls.py

Created March 2, 2022 14:37

Replace the depthai pipeline.createNode() calls with create([node])

	from tempfile import mkstemp
	from shutil import move, copymode
	from os import fdopen, remove
	import os

	# Ref: https://github.com/luxonis/depthai-python/blob/main/src/pipeline/PipelineBindings.cpp
	pattern_replacement = { "createXLinkIn()" : "create(dai.node.XLinkIn)",
	"createXLinkOut()" : "create(dai.node.XLinkOut)",
	"createNeuralNetwork()" : "create(dai.node.NeuralNetwork)",
	"createColorCamera()" : "create(dai.node.ColorCamera)",

ibaiGorordo / replace_depthai_pipeline_create.py

Created March 1, 2022 04:44

Replaces the old pipeline.create with the new create functions.

	from tempfile import mkstemp
	from shutil import move, copymode
	from os import fdopen, remove
	import os

	# Ref: https://github.com/luxonis/depthai-python/blob/main/src/pipeline/PipelineBindings.cpp
	pattern_replacement = { "create(dai.node.XLinkIn)" : "createXLinkIn()",
	"create(dai.node.XLinkOut)" : "createXLinkOut()",
	"create(dai.node.NeuralNetwork)" : "createNeuralNetwork()",
	"create(dai.node.ColorCamera)" : "createColorCamera()",

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