Merge pull request #806 from luxonis/apply_colordepth_update

bblazeva · web-flow · commit cb4bb2aca41d · 2026-03-11T11:14:36.000+01:00
Update ApplyColormap -&gt; ApplyDepthColormap
diff --git a/apps/default-app/main.py b/apps/default-app/main.py
@@ -1,7 +1,7 @@
 #!/usr/bin/env python3
 import cv2
 import depthai as dai
-from depthai_nodes.node import ApplyColormap
+from depthai_nodes.node import ApplyDepthColormap
 from typing import Optional
 from utils.arguments import initialize_argparser
 
@@ -10,7 +10,6 @@
 visualizer = dai.RemoteConnection(httpPort=8082)
 device = dai.Device(dai.DeviceInfo(args.device)) if args.device else dai.Device()
 
-STEREO_RESOLUTION = (800, 600)
 NN_DIMENSIONS = (512, 288)
 
 if not device.setIrLaserDotProjectorIntensity(1):
@@ -73,11 +72,22 @@
             right=right_cam.requestFullResolutionOutput(dai.ImgFrame.Type.NV12),
             presetMode=dai.node.StereoDepth.PresetMode.DEFAULT,
         )
-        stereo.setDepthAlign(dai.CameraBoardSocket.CAM_A)
-        if platform == dai.Platform.RVC2:
-            stereo.setOutputSize(*STEREO_RESOLUTION)
 
-        coloredDepth = pipeline.create(ApplyColormap).build(stereo.disparity)
+        # RVC4 does not support stereo.setDepthAlign, ImageAlign node used instead
+        if platform == dai.Platform.RVC4:
+            cam_out = cameraNode.requestOutput(
+                (640, 480), type=dai.ImgFrame.Type.NV12, enableUndistortion=True
+            )
+            align = pipeline.create(dai.node.ImageAlign)
+            stereo.depth.link(align.input)
+            cam_out.link(align.inputAlignTo)
+            coloredDepth = pipeline.create(ApplyDepthColormap).build(
+                align.outputAligned
+            )
+        else:
+            stereo.setDepthAlign(dai.CameraBoardSocket.CAM_A)
+            stereo.setOutputSize(800, 600)
+            coloredDepth = pipeline.create(ApplyDepthColormap).build(stereo.disparity)
         coloredDepth.setColormap(cv2.COLORMAP_JET)
         visualizer.addTopic("Depth", coloredDepth.out)
 
diff --git a/apps/default-app/requirements.txt b/apps/default-app/requirements.txt
@@ -1,4 +1,4 @@
-depthai==3.0.0
-depthai-nodes==0.3.4
+depthai==3.4.0
+depthai-nodes==0.4.0
 opencv-python-headless==4.10.0.84
 numpy>=1.22
diff --git a/apps/p2p-measurement/backend/src/main.py b/apps/p2p-measurement/backend/src/main.py
@@ -1,5 +1,5 @@
 import depthai as dai
-from depthai_nodes.node import ApplyColormap
+from depthai_nodes.node import ApplyDepthColormap
 import numpy as np
 import cv2
 
@@ -58,9 +58,8 @@
     stereo.depth.link(align.input)
     cam_out.link(align.inputAlignTo)
 
-    coloredDepth = pipeline.create(ApplyColormap).build(align.outputAligned)
+    coloredDepth = pipeline.create(ApplyDepthColormap).build(align.outputAligned)
     coloredDepth.setColormap(cv2.COLORMAP_JET)
-    coloredDepth.setDepthPreset()
 
     point_tracker = pipeline.create(
         PointTracker, frame_width=FRAME_WIDTH, frame_height=FRAME_HEIGHT
diff --git a/apps/p2p-measurement/backend/src/requirements.txt b/apps/p2p-measurement/backend/src/requirements.txt
@@ -1,5 +1,4 @@
-depthai==3.2.1
-#depthai-nodes==0.3.7
-depthai-nodes @ git+https://github.com/luxonis/depthai-nodes.git@c0f382fbe6514b62b8e98b6b805e5023c9c9438c   # depth visualization in ApplyColormap
+depthai==3.3.0
+depthai-nodes==0.4.0
 opencv-contrib-python==4.12.0.88
 numpy>=1.22
diff --git a/depth-measurement/calc-spatial-on-host/main.py b/depth-measurement/calc-spatial-on-host/main.py
@@ -4,7 +4,7 @@
 import depthai as dai
 from utils.roi_control import ROIControl
 from utils.arguments import initialize_argparser
-from depthai_nodes.node import ApplyColormap
+from depthai_nodes.node import ApplyDepthColormap
 from utils.measure_distance import MeasureDistance
 
 
@@ -28,7 +28,7 @@
         monoLeft, monoRight, presetMode=dai.node.StereoDepth.PresetMode.DEFAULT
     )
 
-    depth_color_transform = pipeline.create(ApplyColormap).build(stereo.disparity)
+    depth_color_transform = pipeline.create(ApplyDepthColormap).build(stereo.disparity)
     depth_color_transform.setColormap(cv2.COLORMAP_JET)
 
     measure_distance = pipeline.create(MeasureDistance).build(
diff --git a/depth-measurement/calc-spatial-on-host/oakapp.toml b/depth-measurement/calc-spatial-on-host/oakapp.toml
@@ -13,3 +13,12 @@ prepare_build_container = []
 build_steps = []
 
 entrypoint = ["bash", "-c", "python3 -u /app/main.py"]
+
+[base_image]
+api_url = "https://registry-1.docker.io"
+service = "registry.docker.io"
+oauth_url = "https://auth.docker.io/token"
+auth_type = "repository"
+auth_name = "luxonis/oakapp-base"
+image_name = "luxonis/oakapp-base"
+image_tag = "1.2.6"
diff --git a/depth-measurement/calc-spatial-on-host/requirements.txt b/depth-measurement/calc-spatial-on-host/requirements.txt
@@ -1,4 +1,4 @@
-depthai==3.0.0
-depthai-nodes==0.3.4
+depthai==3.4.0
+depthai-nodes==0.4.0
 opencv-python-headless==4.10.0.84
 numpy>=1.22
diff --git a/depth-measurement/stereo-runtime-configuration/main.py b/depth-measurement/stereo-runtime-configuration/main.py
@@ -1,6 +1,6 @@
 import cv2
 import depthai as dai
-from depthai_nodes.node import ApplyColormap
+from depthai_nodes.node import ApplyDepthColormap
 from utils.arguments import initialize_argparser
 from utils.stereo_config_controller import StereoConfigController
 
@@ -36,7 +36,7 @@
     stereo_controller = pipeline.create(StereoConfigController).build(preview=preview)
     stereo_controller.out_cfg.link(stereo.inputConfig)
 
-    depth_color = pipeline.create(ApplyColormap).build(arr=stereo.disparity)
+    depth_color = pipeline.create(ApplyDepthColormap).build(stereo.disparity)
     depth_color.setColormap(cv2.COLORMAP_JET)
 
     sync = pipeline.create(dai.node.Sync)
diff --git a/depth-measurement/stereo-runtime-configuration/oakapp.toml b/depth-measurement/stereo-runtime-configuration/oakapp.toml
@@ -13,3 +13,12 @@ prepare_build_container = []
 build_steps = []
 
 entrypoint = ["bash", "-c", "python3 -u /app/main.py"]
+
+[base_image]
+api_url = "https://registry-1.docker.io"
+service = "registry.docker.io"
+oauth_url = "https://auth.docker.io/token"
+auth_type = "repository"
+auth_name = "luxonis/oakapp-base"
+image_name = "luxonis/oakapp-base"
+image_tag = "1.2.6"
diff --git a/depth-measurement/stereo-runtime-configuration/requirements.txt b/depth-measurement/stereo-runtime-configuration/requirements.txt
@@ -1,3 +1,3 @@
-depthai==3.0.0
-depthai-nodes==0.3.4
-opencv-python-headless~=4.10.0
+depthai==3.4.0
+depthai-nodes==0.4.0
+opencv-python-headless~=4.10.0
diff --git a/neural-networks/depth-estimation/crestereo-stereo-matching/main.py b/neural-networks/depth-estimation/crestereo-stereo-matching/main.py
@@ -1,5 +1,6 @@
+import cv2
 import depthai as dai
-from depthai_nodes.node import ApplyColormap, ParsingNeuralNetwork
+from depthai_nodes.node import ApplyColormap, ApplyDepthColormap, ParsingNeuralNetwork
 from utils.arguments import initialize_argparser
 
 _, args = initialize_argparser()
@@ -87,12 +88,16 @@
     demux.outputs["right"].link(nn.inputs["right"])
 
     # color stereo disparity
-    disparity_coloring = pipeline.create(ApplyColormap).build(stereo.disparity)
-    disparity_coloring.setColormap(15)  # cv2.COLORMAP_PLASMA
+    disparity_coloring = pipeline.create(ApplyDepthColormap).build(stereo.disparity)
+    disparity_coloring.setColormap(cv2.COLORMAP_PLASMA)
+
+    # color nn output
+    nn_coloring = pipeline.create(ApplyColormap).build(nn.out)
+    nn_coloring.setColormap(cv2.COLORMAP_PLASMA)
 
     # visualization
     visualizer.addTopic("Stereo Disparity", disparity_coloring.out)
-    visualizer.addTopic("NN", nn.out)
+    visualizer.addTopic("NN", nn_coloring.out)
 
     print("Pipeline created.")
 
diff --git a/neural-networks/depth-estimation/crestereo-stereo-matching/oakapp.toml b/neural-networks/depth-estimation/crestereo-stereo-matching/oakapp.toml
@@ -14,4 +14,13 @@ build_steps = []
 
 depthai_models = { yaml_path = "./depthai_models" }
 
-entrypoint = ["bash", "-c", "python3 -u /app/main.py"]
+entrypoint = ["bash", "-c", "python3 -u /app/main.py"]
+
+[base_image]
+api_url = "https://registry-1.docker.io"
+service = "registry.docker.io"
+oauth_url = "https://auth.docker.io/token"
+auth_type = "repository"
+auth_name = "luxonis/oakapp-base"
+image_name = "luxonis/oakapp-base"
+image_tag = "1.2.5"
diff --git a/neural-networks/depth-estimation/crestereo-stereo-matching/requirements.txt b/neural-networks/depth-estimation/crestereo-stereo-matching/requirements.txt
@@ -1,4 +1,4 @@
-depthai==3.0.0
-depthai-nodes==0.3.4
+depthai==3.4.0
+depthai-nodes==0.4.0
 opencv-python-headless~=4.10.0
 numpy>=1.22
diff --git a/tutorials/camera-stereo-depth/main.py b/tutorials/camera-stereo-depth/main.py
@@ -1,6 +1,6 @@
 import depthai as dai
 from utils.arguments import initialize_argparser
-from depthai_nodes.node import ApplyColormap
+from depthai_nodes.node import ApplyDepthColormap
 import cv2
 
 _, args = initialize_argparser()
@@ -23,11 +23,11 @@
     color_output = color.requestOutput(
         color_resolution, dai.ImgFrame.Type.NV12, fps=args.fps_limit
     )
-    left_output = left.requestFullResolutionOutput(
-        dai.ImgFrame.Type.NV12, fps=args.fps_limit
+    left_output = left.requestOutput(
+        size=(640, 480), type=dai.ImgFrame.Type.NV12, fps=args.fps_limit
     )
-    right_output = right.requestFullResolutionOutput(
-        dai.ImgFrame.Type.NV12, fps=args.fps_limit
+    right_output = right.requestOutput(
+        size=(640, 480), type=dai.ImgFrame.Type.NV12, fps=args.fps_limit
     )
 
     stereo = pipeline.create(dai.node.StereoDepth).build(
@@ -40,8 +40,7 @@
     stereo.setExtendedDisparity(True)
     stereo.setLeftRightCheck(True)
 
-    depth_parser = pipeline.create(ApplyColormap).build(stereo.disparity)
-    # depth_parser.setMaxValue(int(stereo.initialConfig.getMaxDisparity())) # NOTE: Uncomment when DAI fixes a bug
+    depth_parser = pipeline.create(ApplyDepthColormap).build(stereo.disparity)
     depth_parser.setColormap(cv2.COLORMAP_JET)
 
     encoder = pipeline.create(dai.node.VideoEncoder)
diff --git a/tutorials/camera-stereo-depth/requirements.txt b/tutorials/camera-stereo-depth/requirements.txt
@@ -1,4 +1,4 @@
-depthai==3.0.0
-depthai-nodes==0.3.4
+depthai==3.4.0
+depthai-nodes==0.4.0
 numpy>=1.22
 opencv-python-headless~=4.10.0
