Prompt for Pipeline Visualization generation:
Based on this code for working with the OAK-D cameras:
{{ insert OAK-D pipeline code here }}
Create a python comment with an ASCII representation of the pipeline. Be sure
to only draw nodes created with pipeline.create and draw the arrows accordingly.
NOTE: Modified for ASCII alignment and removing duplicate Mono Camera left node.
+-------------------+ +------------------+ +-------------------+
| Color Camera | ---> | Video Encoder | ---> | XLinkOut ('rgb') |
| (camRgb) | | (videoEnc) | | (rgbEncOut) |
+-------------------+ +------------------+ +-------------------+
+-------------------+ +------------------+ +------------------+
| Mono Camera Right | ---> | Stereo Depth | <--- | Mono Camera Left |
| (monoRight) | | (depth) | | (monoLeft) |
+-------------------+ +------------------+ +------------------+
|
v
+-------------------+ +------------------+ +--------------------+
| Colormap | ---> | Video Encoder | ---> | XLinkOut ('depth') |
| (colormap) | | (videoEnc) | | (xout) |
+-------------------+ +------------------+ +--------------------+
| # Copied from https://github.com/tejashah88/blueos-oakd-extension/blob/5e8a4bdcd46e6bc60e3f3c501464d8046789abe6/src/oakd_pipeline.py | |
| # Create pipeline | |
| pipeline = dai.Pipeline() | |
| camRgb = pipeline.create(dai.node.ColorCamera) | |
| camRgb.setBoardSocket(dai.CameraBoardSocket.CAM_A) | |
| camRgb.setResolution(dai.ColorCameraProperties.SensorResolution.THE_1080_P) | |
| videoEnc = pipeline.create(dai.node.VideoEncoder) | |
| rgbEncOut = pipeline.create(dai.node.XLinkOut) | |
| rgbEncOut.setStreamName('rgb') | |
| videoEnc.setDefaultProfilePreset(25, dai.VideoEncoderProperties.Profile.H264_MAIN) | |
| camRgb.video.link(videoEnc.input) | |
| videoEnc.bitstream.link(rgbEncOut.input) | |
| # Create left/right mono cameras for Stereo depth | |
| monoLeft = pipeline.create(dai.node.MonoCamera) | |
| monoLeft.setResolution(dai.MonoCameraProperties.SensorResolution.THE_400_P) | |
| monoLeft.setCamera('left') | |
| monoRight = pipeline.create(dai.node.MonoCamera) | |
| monoRight.setResolution(dai.MonoCameraProperties.SensorResolution.THE_400_P) | |
| monoRight.setCamera('right') | |
| # Create a node that will produce the depth map | |
| depth = pipeline.create(dai.node.StereoDepth) | |
| depth.setDefaultProfilePreset(dai.node.StereoDepth.PresetMode.HIGH_DENSITY) | |
| depth.initialConfig.setMedianFilter(dai.MedianFilter.KERNEL_7x7) | |
| depth.setLeftRightCheck(True) | |
| depth.setExtendedDisparity(True) | |
| # NOTE: Subpixel disparity is of UINT16 format, which is unsupported by VideoEncoder | |
| depth.setSubpixel(False) | |
| monoLeft.out.link(depth.left) | |
| monoRight.out.link(depth.right) | |
| # Colormap | |
| colormap = pipeline.create(dai.node.ImageManip) | |
| colormap.initialConfig.setColormap(dai.Colormap.TURBO, depth.initialConfig.getMaxDisparity()) | |
| colormap.initialConfig.setFrameType(dai.ImgFrame.Type.NV12) | |
| videoEnc = pipeline.create(dai.node.VideoEncoder) | |
| # Depth resolution/FPS will be the same as mono resolution/FPS | |
| videoEnc.setDefaultProfilePreset(monoLeft.getFps(), dai.VideoEncoderProperties.Profile.H264_HIGH) | |
| # Link | |
| depth.disparity.link(colormap.inputImage) | |
| colormap.out.link(videoEnc.input) | |
| xout = pipeline.create(dai.node.XLinkOut) | |
| xout.setStreamName('depth') | |
| videoEnc.bitstream.link(xout.input) |