From 284987f36a3b45c46d3091d8273ad03e896e9931 Mon Sep 17 00:00:00 2001 From: bblazeva Date: Sat, 10 Jan 2026 01:43:39 +0100 Subject: [PATCH 01/11] update ApplyColormap -> ApplyDepthColormap --- apps/default-app/main.py | 4 ++-- apps/default-app/requirements.txt | 5 +++-- apps/p2p-measurement/backend/src/main.py | 5 ++--- apps/p2p-measurement/backend/src/requirements.txt | 2 +- tutorials/camera-stereo-depth/main.py | 5 ++--- tutorials/camera-stereo-depth/requirements.txt | 4 ++-- 6 files changed, 12 insertions(+), 13 deletions(-) diff --git a/apps/default-app/main.py b/apps/default-app/main.py index 1bb7b9e9a..9161e890a 100644 --- 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 @@ -77,7 +77,7 @@ if platform == dai.Platform.RVC2: stereo.setOutputSize(*STEREO_RESOLUTION) - coloredDepth = pipeline.create(ApplyColormap).build(stereo.disparity) + 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 index e560419f4..f5f5d85e0 100644 --- a/apps/default-app/requirements.txt +++ b/apps/default-app/requirements.txt @@ -1,4 +1,5 @@ -depthai==3.0.0 -depthai-nodes==0.3.4 +depthai==3.2.0 +#depthai-nodes==0.3.4 +depthai-nodes @ git+https://github.com/luxonis/depthai-nodes.git@48ea1e179b4568e61b1b48e4b48d658fe9d6665b # depth visualization 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 index 5cf989720..3cd751655 100644 --- 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 index c03202ce6..00e88a3cc 100644 --- a/apps/p2p-measurement/backend/src/requirements.txt +++ b/apps/p2p-measurement/backend/src/requirements.txt @@ -1,5 +1,5 @@ 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-nodes @ git+https://github.com/luxonis/depthai-nodes.git@48ea1e179b4568e61b1b48e4b48d658fe9d6665b # depth visualization opencv-contrib-python==4.12.0.88 numpy>=1.22 \ No newline at end of file diff --git a/tutorials/camera-stereo-depth/main.py b/tutorials/camera-stereo-depth/main.py index 5f7d103e9..16650bade 100755 --- 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() @@ -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 index 0b6e816ee..fb867413a 100644 --- 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==3.2.0 +depthai-nodes @ git+https://github.com/luxonis/depthai-nodes.git@48ea1e179b4568e61b1b48e4b48d658fe9d6665b # depth visualization numpy>=1.22 opencv-python-headless~=4.10.0 \ No newline at end of file From a8e9061b350ee2f851bef6406a6a66a3cb55dfad Mon Sep 17 00:00:00 2001 From: bblazeva Date: Mon, 12 Jan 2026 11:07:31 +0100 Subject: [PATCH 02/11] update requirements (+ stereo-runtime-configuration, calc-spatial-on-host) --- apps/default-app/requirements.txt | 2 +- apps/p2p-measurement/backend/src/requirements.txt | 2 +- depth-measurement/calc-spatial-on-host/main.py | 4 ++-- depth-measurement/calc-spatial-on-host/requirements.txt | 4 ++-- depth-measurement/stereo-runtime-configuration/main.py | 4 ++-- .../stereo-runtime-configuration/requirements.txt | 6 +++--- tutorials/camera-stereo-depth/requirements.txt | 2 +- 7 files changed, 12 insertions(+), 12 deletions(-) diff --git a/apps/default-app/requirements.txt b/apps/default-app/requirements.txt index f5f5d85e0..43ffb882c 100644 --- a/apps/default-app/requirements.txt +++ b/apps/default-app/requirements.txt @@ -1,5 +1,5 @@ depthai==3.2.0 #depthai-nodes==0.3.4 -depthai-nodes @ git+https://github.com/luxonis/depthai-nodes.git@48ea1e179b4568e61b1b48e4b48d658fe9d6665b # depth visualization +depthai-nodes @ git+https://github.com/luxonis/depthai-nodes.git@973d4017bea6e1289324aea75b069e4222e79d98 # depth visualization opencv-python-headless==4.10.0.84 numpy>=1.22 diff --git a/apps/p2p-measurement/backend/src/requirements.txt b/apps/p2p-measurement/backend/src/requirements.txt index 00e88a3cc..ac8f3db41 100644 --- a/apps/p2p-measurement/backend/src/requirements.txt +++ b/apps/p2p-measurement/backend/src/requirements.txt @@ -1,5 +1,5 @@ depthai==3.2.1 #depthai-nodes==0.3.7 -depthai-nodes @ git+https://github.com/luxonis/depthai-nodes.git@48ea1e179b4568e61b1b48e4b48d658fe9d6665b # depth visualization +depthai-nodes @ git+https://github.com/luxonis/depthai-nodes.git@973d4017bea6e1289324aea75b069e4222e79d98 # depth visualization opencv-contrib-python==4.12.0.88 numpy>=1.22 \ No newline at end of file diff --git a/depth-measurement/calc-spatial-on-host/main.py b/depth-measurement/calc-spatial-on-host/main.py index fb0855fbe..accec61ad 100755 --- 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/requirements.txt b/depth-measurement/calc-spatial-on-host/requirements.txt index cf3ffa17a..12fade133 100644 --- 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==3.2.0 +depthai-nodes @ git+https://github.com/luxonis/depthai-nodes.git@973d4017bea6e1289324aea75b069e4222e79d98 # depth visualization opencv-python-headless==4.10.0.84 numpy>=1.22 \ No newline at end of file diff --git a/depth-measurement/stereo-runtime-configuration/main.py b/depth-measurement/stereo-runtime-configuration/main.py index 84727ec28..ba7d8ed27 100644 --- 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(arr=stereo.disparity) depth_color.setColormap(cv2.COLORMAP_JET) sync = pipeline.create(dai.node.Sync) diff --git a/depth-measurement/stereo-runtime-configuration/requirements.txt b/depth-measurement/stereo-runtime-configuration/requirements.txt index a82162f68..476482bdd 100644 --- 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==3.2.0 +depthai-nodes @ git+https://github.com/luxonis/depthai-nodes.git@973d4017bea6e1289324aea75b069e4222e79d98 # depth visualization +opencv-python-headless~=4.10.0 \ No newline at end of file diff --git a/tutorials/camera-stereo-depth/requirements.txt b/tutorials/camera-stereo-depth/requirements.txt index fb867413a..07ea26b6a 100644 --- a/tutorials/camera-stereo-depth/requirements.txt +++ b/tutorials/camera-stereo-depth/requirements.txt @@ -1,4 +1,4 @@ depthai==3.2.0 -depthai-nodes @ git+https://github.com/luxonis/depthai-nodes.git@48ea1e179b4568e61b1b48e4b48d658fe9d6665b # depth visualization +depthai-nodes @ git+https://github.com/luxonis/depthai-nodes.git@973d4017bea6e1289324aea75b069e4222e79d98 # depth visualization numpy>=1.22 opencv-python-headless~=4.10.0 \ No newline at end of file From 9065c22264955e0f24426cafb4df41db96498bd2 Mon Sep 17 00:00:00 2001 From: bblazeva Date: Mon, 12 Jan 2026 11:26:26 +0100 Subject: [PATCH 03/11] fix argument --- depth-measurement/stereo-runtime-configuration/main.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/depth-measurement/stereo-runtime-configuration/main.py b/depth-measurement/stereo-runtime-configuration/main.py index ba7d8ed27..8c1baff5c 100644 --- a/depth-measurement/stereo-runtime-configuration/main.py +++ b/depth-measurement/stereo-runtime-configuration/main.py @@ -36,7 +36,7 @@ stereo_controller = pipeline.create(StereoConfigController).build(preview=preview) stereo_controller.out_cfg.link(stereo.inputConfig) - depth_color = pipeline.create(ApplyDepthColormap).build(arr=stereo.disparity) + depth_color = pipeline.create(ApplyDepthColormap).build(stereo.disparity) depth_color.setColormap(cv2.COLORMAP_JET) sync = pipeline.create(dai.node.Sync) From 4e9d016858b10a10904da210394767d529c5d693 Mon Sep 17 00:00:00 2001 From: bblazeva Date: Mon, 12 Jan 2026 13:01:43 +0100 Subject: [PATCH 04/11] update base_image --- depth-measurement/calc-spatial-on-host/oakapp.toml | 9 +++++++++ .../stereo-runtime-configuration/oakapp.toml | 9 +++++++++ 2 files changed, 18 insertions(+) diff --git a/depth-measurement/calc-spatial-on-host/oakapp.toml b/depth-measurement/calc-spatial-on-host/oakapp.toml index f656231f6..e3ef3bc1a 100644 --- 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" \ No newline at end of file diff --git a/depth-measurement/stereo-runtime-configuration/oakapp.toml b/depth-measurement/stereo-runtime-configuration/oakapp.toml index 158cb23ab..0c05f6202 100644 --- 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" \ No newline at end of file From 2eb9ca661af0cabd9989eefa573cca26b5899770 Mon Sep 17 00:00:00 2001 From: bblazeva Date: Tue, 13 Jan 2026 16:35:31 +0100 Subject: [PATCH 05/11] update requirements, add crestereo-stereo-matching --- apps/default-app/requirements.txt | 2 +- apps/p2p-measurement/backend/src/requirements.txt | 2 +- .../calc-spatial-on-host/requirements.txt | 2 +- .../stereo-runtime-configuration/requirements.txt | 2 +- .../crestereo-stereo-matching/main.py | 13 +++++++++---- .../crestereo-stereo-matching/requirements.txt | 4 ++-- tutorials/camera-stereo-depth/requirements.txt | 2 +- 7 files changed, 16 insertions(+), 11 deletions(-) diff --git a/apps/default-app/requirements.txt b/apps/default-app/requirements.txt index 43ffb882c..aebb35789 100644 --- a/apps/default-app/requirements.txt +++ b/apps/default-app/requirements.txt @@ -1,5 +1,5 @@ depthai==3.2.0 #depthai-nodes==0.3.4 -depthai-nodes @ git+https://github.com/luxonis/depthai-nodes.git@973d4017bea6e1289324aea75b069e4222e79d98 # depth visualization +depthai-nodes @ git+https://github.com/luxonis/depthai-nodes.git@1b1dd7953feeaff1ca1a8c2234c532704b167d5f # depth visualization opencv-python-headless==4.10.0.84 numpy>=1.22 diff --git a/apps/p2p-measurement/backend/src/requirements.txt b/apps/p2p-measurement/backend/src/requirements.txt index ac8f3db41..4a967ba9d 100644 --- a/apps/p2p-measurement/backend/src/requirements.txt +++ b/apps/p2p-measurement/backend/src/requirements.txt @@ -1,5 +1,5 @@ depthai==3.2.1 #depthai-nodes==0.3.7 -depthai-nodes @ git+https://github.com/luxonis/depthai-nodes.git@973d4017bea6e1289324aea75b069e4222e79d98 # depth visualization +depthai-nodes @ git+https://github.com/luxonis/depthai-nodes.git@1b1dd7953feeaff1ca1a8c2234c532704b167d5f # depth visualization opencv-contrib-python==4.12.0.88 numpy>=1.22 \ No newline at end of file diff --git a/depth-measurement/calc-spatial-on-host/requirements.txt b/depth-measurement/calc-spatial-on-host/requirements.txt index 12fade133..6c7929658 100644 --- a/depth-measurement/calc-spatial-on-host/requirements.txt +++ b/depth-measurement/calc-spatial-on-host/requirements.txt @@ -1,4 +1,4 @@ depthai==3.2.0 -depthai-nodes @ git+https://github.com/luxonis/depthai-nodes.git@973d4017bea6e1289324aea75b069e4222e79d98 # depth visualization +depthai-nodes @ git+https://github.com/luxonis/depthai-nodes.git@1b1dd7953feeaff1ca1a8c2234c532704b167d5f # depth visualization opencv-python-headless==4.10.0.84 numpy>=1.22 \ No newline at end of file diff --git a/depth-measurement/stereo-runtime-configuration/requirements.txt b/depth-measurement/stereo-runtime-configuration/requirements.txt index 476482bdd..def47c983 100644 --- a/depth-measurement/stereo-runtime-configuration/requirements.txt +++ b/depth-measurement/stereo-runtime-configuration/requirements.txt @@ -1,3 +1,3 @@ depthai==3.2.0 -depthai-nodes @ git+https://github.com/luxonis/depthai-nodes.git@973d4017bea6e1289324aea75b069e4222e79d98 # depth visualization +depthai-nodes @ git+https://github.com/luxonis/depthai-nodes.git@1b1dd7953feeaff1ca1a8c2234c532704b167d5f # depth visualization opencv-python-headless~=4.10.0 \ No newline at end of file diff --git a/neural-networks/depth-estimation/crestereo-stereo-matching/main.py b/neural-networks/depth-estimation/crestereo-stereo-matching/main.py index c15397f73..8a16ecc0f 100644 --- 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/requirements.txt b/neural-networks/depth-estimation/crestereo-stereo-matching/requirements.txt index df8d7aa85..54b9d5b6e 100644 --- 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==3.2.0 +depthai-nodes @ git+https://github.com/luxonis/depthai-nodes.git@1b1dd7953feeaff1ca1a8c2234c532704b167d5f # depth visualization opencv-python-headless~=4.10.0 numpy>=1.22 \ No newline at end of file diff --git a/tutorials/camera-stereo-depth/requirements.txt b/tutorials/camera-stereo-depth/requirements.txt index 07ea26b6a..3add494dd 100644 --- a/tutorials/camera-stereo-depth/requirements.txt +++ b/tutorials/camera-stereo-depth/requirements.txt @@ -1,4 +1,4 @@ depthai==3.2.0 -depthai-nodes @ git+https://github.com/luxonis/depthai-nodes.git@973d4017bea6e1289324aea75b069e4222e79d98 # depth visualization +depthai-nodes @ git+https://github.com/luxonis/depthai-nodes.git@1b1dd7953feeaff1ca1a8c2234c532704b167d5f # depth visualization numpy>=1.22 opencv-python-headless~=4.10.0 \ No newline at end of file From c0e3438a864d7eaf5380c9cf91696a9c4fbec3bd Mon Sep 17 00:00:00 2001 From: bblazeva Date: Tue, 13 Jan 2026 16:44:27 +0100 Subject: [PATCH 06/11] update base image --- .../crestereo-stereo-matching/oakapp.toml | 11 ++++++++++- 1 file changed, 10 insertions(+), 1 deletion(-) diff --git a/neural-networks/depth-estimation/crestereo-stereo-matching/oakapp.toml b/neural-networks/depth-estimation/crestereo-stereo-matching/oakapp.toml index 67505976f..934da188e 100644 --- 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"] \ No newline at end of file +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" \ No newline at end of file From f387eabcbcebacdb2f1f8a6b4b821a1e007f1d2b Mon Sep 17 00:00:00 2001 From: bblazeva Date: Mon, 2 Mar 2026 15:17:47 +0100 Subject: [PATCH 07/11] update DAI and depthai-nodes version --- apps/p2p-measurement/backend/src/requirements.txt | 5 ++--- depth-measurement/calc-spatial-on-host/requirements.txt | 4 ++-- .../stereo-runtime-configuration/requirements.txt | 4 ++-- .../crestereo-stereo-matching/requirements.txt | 4 ++-- 4 files changed, 8 insertions(+), 9 deletions(-) diff --git a/apps/p2p-measurement/backend/src/requirements.txt b/apps/p2p-measurement/backend/src/requirements.txt index 4a967ba9d..d82bea69b 100644 --- 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@1b1dd7953feeaff1ca1a8c2234c532704b167d5f # depth visualization +depthai==3.3.0 +depthai-nodes==0.4.0 opencv-contrib-python==4.12.0.88 numpy>=1.22 \ No newline at end of file diff --git a/depth-measurement/calc-spatial-on-host/requirements.txt b/depth-measurement/calc-spatial-on-host/requirements.txt index 6c7929658..91e851566 100644 --- a/depth-measurement/calc-spatial-on-host/requirements.txt +++ b/depth-measurement/calc-spatial-on-host/requirements.txt @@ -1,4 +1,4 @@ -depthai==3.2.0 -depthai-nodes @ git+https://github.com/luxonis/depthai-nodes.git@1b1dd7953feeaff1ca1a8c2234c532704b167d5f # depth visualization +depthai==3.3.0 +depthai-nodes==0.4.0 opencv-python-headless==4.10.0.84 numpy>=1.22 \ No newline at end of file diff --git a/depth-measurement/stereo-runtime-configuration/requirements.txt b/depth-measurement/stereo-runtime-configuration/requirements.txt index def47c983..15f9dc25c 100644 --- a/depth-measurement/stereo-runtime-configuration/requirements.txt +++ b/depth-measurement/stereo-runtime-configuration/requirements.txt @@ -1,3 +1,3 @@ -depthai==3.2.0 -depthai-nodes @ git+https://github.com/luxonis/depthai-nodes.git@1b1dd7953feeaff1ca1a8c2234c532704b167d5f # depth visualization +depthai==3.3.0 +depthai-nodes==0.4.0 opencv-python-headless~=4.10.0 \ No newline at end of file diff --git a/neural-networks/depth-estimation/crestereo-stereo-matching/requirements.txt b/neural-networks/depth-estimation/crestereo-stereo-matching/requirements.txt index 54b9d5b6e..77fbe7cf7 100644 --- 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==3.2.0 -depthai-nodes @ git+https://github.com/luxonis/depthai-nodes.git@1b1dd7953feeaff1ca1a8c2234c532704b167d5f # depth visualization +depthai==3.3.0 +depthai-nodes==0.4.0 opencv-python-headless~=4.10.0 numpy>=1.22 \ No newline at end of file From 32e97525d0e54ea7de6aac9a8a5ffad4fb1f1208 Mon Sep 17 00:00:00 2001 From: bblazeva Date: Thu, 5 Mar 2026 20:14:26 +0100 Subject: [PATCH 08/11] decrease depth resolution to fix h264 lag, fix stereo alignment, update req --- apps/default-app/main.py | 18 +++++++++++------- apps/default-app/requirements.txt | 5 ++--- tutorials/camera-stereo-depth/main.py | 8 ++++---- tutorials/camera-stereo-depth/requirements.txt | 4 ++-- 4 files changed, 19 insertions(+), 16 deletions(-) diff --git a/apps/default-app/main.py b/apps/default-app/main.py index 9161e890a..cb1f58194 100644 --- a/apps/default-app/main.py +++ b/apps/default-app/main.py @@ -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): @@ -69,15 +68,20 @@ left_cam = pipeline.create(dai.node.Camera).build(cam_mono_1) right_cam = pipeline.create(dai.node.Camera).build(cam_mono_2) stereo = pipeline.create(dai.node.StereoDepth).build( - left=left_cam.requestFullResolutionOutput(dai.ImgFrame.Type.NV12), - right=right_cam.requestFullResolutionOutput(dai.ImgFrame.Type.NV12), + left=left_cam.requestOutput(size=(640, 480), type=dai.ImgFrame.Type.NV12), + right=right_cam.requestOutput(size=(640, 480), type=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) + cam_out = cameraNode.requestOutput((640, 480), type=dai.ImgFrame.Type.NV12) + align = pipeline.create(dai.node.ImageAlign) - coloredDepth = pipeline.create(ApplyDepthColormap).build(stereo.disparity) + if platform == dai.Platform.RVC4: + stereo.depth.link(align.input) + cam_out.link(align.inputAlignTo) + else: + cam_out.link(stereo.inputAlignTo) + + coloredDepth = pipeline.create(ApplyDepthColormap).build(align.outputAligned) coloredDepth.setColormap(cv2.COLORMAP_JET) visualizer.addTopic("Depth", coloredDepth.out) diff --git a/apps/default-app/requirements.txt b/apps/default-app/requirements.txt index aebb35789..4b3cf6ce1 100644 --- a/apps/default-app/requirements.txt +++ b/apps/default-app/requirements.txt @@ -1,5 +1,4 @@ -depthai==3.2.0 -#depthai-nodes==0.3.4 -depthai-nodes @ git+https://github.com/luxonis/depthai-nodes.git@1b1dd7953feeaff1ca1a8c2234c532704b167d5f # depth visualization +depthai==3.3.0 +depthai-nodes==0.4.0 opencv-python-headless==4.10.0.84 numpy>=1.22 diff --git a/tutorials/camera-stereo-depth/main.py b/tutorials/camera-stereo-depth/main.py index 16650bade..1684f9120 100755 --- a/tutorials/camera-stereo-depth/main.py +++ b/tutorials/camera-stereo-depth/main.py @@ -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( diff --git a/tutorials/camera-stereo-depth/requirements.txt b/tutorials/camera-stereo-depth/requirements.txt index 3add494dd..d2c95b4e1 100644 --- a/tutorials/camera-stereo-depth/requirements.txt +++ b/tutorials/camera-stereo-depth/requirements.txt @@ -1,4 +1,4 @@ -depthai==3.2.0 -depthai-nodes @ git+https://github.com/luxonis/depthai-nodes.git@1b1dd7953feeaff1ca1a8c2234c532704b167d5f # depth visualization +depthai==3.3.0 +depthai-nodes==0.4.0 numpy>=1.22 opencv-python-headless~=4.10.0 \ No newline at end of file From c3181d893c5ebf9b66d1f3fa02903ad6456eef56 Mon Sep 17 00:00:00 2001 From: bblazeva Date: Fri, 6 Mar 2026 12:11:33 +0100 Subject: [PATCH 09/11] fix stereo align --- apps/default-app/main.py | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/apps/default-app/main.py b/apps/default-app/main.py index cb1f58194..bcb5e071b 100644 --- a/apps/default-app/main.py +++ b/apps/default-app/main.py @@ -73,15 +73,15 @@ presetMode=dai.node.StereoDepth.PresetMode.DEFAULT, ) cam_out = cameraNode.requestOutput((640, 480), type=dai.ImgFrame.Type.NV12) - align = pipeline.create(dai.node.ImageAlign) if platform == dai.Platform.RVC4: + align = pipeline.create(dai.node.ImageAlign) stereo.depth.link(align.input) cam_out.link(align.inputAlignTo) + coloredDepth = pipeline.create(ApplyDepthColormap).build(align.outputAligned) else: cam_out.link(stereo.inputAlignTo) - - coloredDepth = pipeline.create(ApplyDepthColormap).build(align.outputAligned) + coloredDepth = pipeline.create(ApplyDepthColormap).build(stereo.depth) coloredDepth.setColormap(cv2.COLORMAP_JET) visualizer.addTopic("Depth", coloredDepth.out) From c0ca2c50d4212be8fa6404529eea8b30a724ea2b Mon Sep 17 00:00:00 2001 From: bblazeva Date: Tue, 10 Mar 2026 20:48:43 +0100 Subject: [PATCH 10/11] update requirements to DAI 3.4.0; default-app - fix for RVC2 --- apps/default-app/main.py | 14 +++++++++----- apps/default-app/requirements.txt | 2 +- .../calc-spatial-on-host/requirements.txt | 2 +- .../stereo-runtime-configuration/requirements.txt | 2 +- .../crestereo-stereo-matching/requirements.txt | 2 +- tutorials/camera-stereo-depth/requirements.txt | 2 +- 6 files changed, 14 insertions(+), 10 deletions(-) diff --git a/apps/default-app/main.py b/apps/default-app/main.py index bcb5e071b..b95728782 100644 --- a/apps/default-app/main.py +++ b/apps/default-app/main.py @@ -68,20 +68,24 @@ left_cam = pipeline.create(dai.node.Camera).build(cam_mono_1) right_cam = pipeline.create(dai.node.Camera).build(cam_mono_2) stereo = pipeline.create(dai.node.StereoDepth).build( - left=left_cam.requestOutput(size=(640, 480), type=dai.ImgFrame.Type.NV12), - right=right_cam.requestOutput(size=(640, 480), type=dai.ImgFrame.Type.NV12), + left=left_cam.requestFullResolutionOutput(dai.ImgFrame.Type.NV12), + right=right_cam.requestFullResolutionOutput(dai.ImgFrame.Type.NV12), presetMode=dai.node.StereoDepth.PresetMode.DEFAULT, ) - cam_out = cameraNode.requestOutput((640, 480), type=dai.ImgFrame.Type.NV12) + # 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: - cam_out.link(stereo.inputAlignTo) - coloredDepth = pipeline.create(ApplyDepthColormap).build(stereo.depth) + 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 index 4b3cf6ce1..dd5f4c32d 100644 --- a/apps/default-app/requirements.txt +++ b/apps/default-app/requirements.txt @@ -1,4 +1,4 @@ -depthai==3.3.0 +depthai==3.4.0 depthai-nodes==0.4.0 opencv-python-headless==4.10.0.84 numpy>=1.22 diff --git a/depth-measurement/calc-spatial-on-host/requirements.txt b/depth-measurement/calc-spatial-on-host/requirements.txt index 91e851566..f5f5d5946 100644 --- a/depth-measurement/calc-spatial-on-host/requirements.txt +++ b/depth-measurement/calc-spatial-on-host/requirements.txt @@ -1,4 +1,4 @@ -depthai==3.3.0 +depthai==3.4.0 depthai-nodes==0.4.0 opencv-python-headless==4.10.0.84 numpy>=1.22 \ No newline at end of file diff --git a/depth-measurement/stereo-runtime-configuration/requirements.txt b/depth-measurement/stereo-runtime-configuration/requirements.txt index 15f9dc25c..8f057f10a 100644 --- a/depth-measurement/stereo-runtime-configuration/requirements.txt +++ b/depth-measurement/stereo-runtime-configuration/requirements.txt @@ -1,3 +1,3 @@ -depthai==3.3.0 +depthai==3.4.0 depthai-nodes==0.4.0 opencv-python-headless~=4.10.0 \ No newline at end of file diff --git a/neural-networks/depth-estimation/crestereo-stereo-matching/requirements.txt b/neural-networks/depth-estimation/crestereo-stereo-matching/requirements.txt index 77fbe7cf7..1d4d576f6 100644 --- 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==3.3.0 +depthai==3.4.0 depthai-nodes==0.4.0 opencv-python-headless~=4.10.0 numpy>=1.22 \ No newline at end of file diff --git a/tutorials/camera-stereo-depth/requirements.txt b/tutorials/camera-stereo-depth/requirements.txt index d2c95b4e1..ae2be002e 100644 --- a/tutorials/camera-stereo-depth/requirements.txt +++ b/tutorials/camera-stereo-depth/requirements.txt @@ -1,4 +1,4 @@ -depthai==3.3.0 +depthai==3.4.0 depthai-nodes==0.4.0 numpy>=1.22 opencv-python-headless~=4.10.0 \ No newline at end of file From e94bb2f67cec4c07bed6edabddb512ce6714d601 Mon Sep 17 00:00:00 2001 From: bblazeva Date: Tue, 10 Mar 2026 20:49:31 +0100 Subject: [PATCH 11/11] ruff-format --- apps/default-app/main.py | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/apps/default-app/main.py b/apps/default-app/main.py index b95728782..222c4f66a 100644 --- a/apps/default-app/main.py +++ b/apps/default-app/main.py @@ -81,7 +81,9 @@ align = pipeline.create(dai.node.ImageAlign) stereo.depth.link(align.input) cam_out.link(align.inputAlignTo) - coloredDepth = pipeline.create(ApplyDepthColormap).build(align.outputAligned) + coloredDepth = pipeline.create(ApplyDepthColormap).build( + align.outputAligned + ) else: stereo.setDepthAlign(dai.CameraBoardSocket.CAM_A) stereo.setOutputSize(800, 600)