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Merged
bblazeva merged 12 commits into from
Mar 11, 2026
Merged

Update ApplyColormap -> ApplyDepthColormap #806

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284987f
update ApplyColormap -> ApplyDepthColormap
bblazeva Jan 10, 2026
a8e9061
update requirements (+ stereo-runtime-configuration, calc-spatial-on-…
bblazeva Jan 12, 2026
9065c22
fix argument
bblazeva Jan 12, 2026
4e9d016
update base_image
bblazeva Jan 12, 2026
2eb9ca6
update requirements, add crestereo-stereo-matching
bblazeva Jan 13, 2026
c0e3438
update base image
bblazeva Jan 13, 2026
f387eab
update DAI and depthai-nodes version
bblazeva Mar 2, 2026
32e9752
decrease depth resolution to fix h264 lag, fix stereo alignment, upda…
bblazeva Mar 5, 2026
c3181d8
fix stereo align
bblazeva Mar 6, 2026
c0ca2c5
update requirements to DAI 3.4.0; default-app - fix for RVC2
bblazeva Mar 10, 2026
e94bb2f
ruff-format
bblazeva Mar 10, 2026
5b32dd3
Merge remote-tracking branch 'origin/main' into apply_colordepth_update
bblazeva Mar 10, 2026
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22 changes: 16 additions & 6 deletions apps/default-app/main.py
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Original file line number Diff line number Diff line change
@@ -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

Expand All @@ -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):
Expand Down Expand Up @@ -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)

Expand Down
4 changes: 2 additions & 2 deletions apps/default-app/requirements.txt
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@@ -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
5 changes: 2 additions & 3 deletions apps/p2p-measurement/backend/src/main.py
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@@ -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

Expand Down Expand Up @@ -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
Expand Down
5 changes: 2 additions & 3 deletions apps/p2p-measurement/backend/src/requirements.txt
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@@ -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
4 changes: 2 additions & 2 deletions depth-measurement/calc-spatial-on-host/main.py
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Expand Up @@ -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


Expand All @@ -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(
Expand Down
9 changes: 9 additions & 0 deletions depth-measurement/calc-spatial-on-host/oakapp.toml
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Expand Up @@ -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"
4 changes: 2 additions & 2 deletions depth-measurement/calc-spatial-on-host/requirements.txt
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@@ -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
4 changes: 2 additions & 2 deletions depth-measurement/stereo-runtime-configuration/main.py
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Original file line number Diff line number Diff line change
@@ -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

Expand Down Expand Up @@ -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)
Expand Down
9 changes: 9 additions & 0 deletions depth-measurement/stereo-runtime-configuration/oakapp.toml
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Expand Up @@ -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"
6 changes: 3 additions & 3 deletions depth-measurement/stereo-runtime-configuration/requirements.txt
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Original file line number Diff line number Diff line change
@@ -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
13 changes: 9 additions & 4 deletions neural-networks/depth-estimation/crestereo-stereo-matching/main.py
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Original file line number Diff line number Diff line change
@@ -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()
Expand Down Expand Up @@ -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.")

Expand Down
11 changes: 10 additions & 1 deletion neural-networks/depth-estimation/crestereo-stereo-matching/oakapp.toml
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Expand Up @@ -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"
4 changes: 2 additions & 2 deletions neural-networks/depth-estimation/crestereo-stereo-matching/requirements.txt
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Original file line number Diff line number Diff line change
@@ -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
13 changes: 6 additions & 7 deletions tutorials/camera-stereo-depth/main.py
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Original file line number Diff line number Diff line change
@@ -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()
Expand All @@ -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(
Expand All @@ -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)
Expand Down
4 changes: 2 additions & 2 deletions tutorials/camera-stereo-depth/requirements.txt
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@@ -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