Fix pointcloud component

luxonis · Jun 27, 2024 · 7c91da6 · 7c91da6
1 parent 29ca479
commit 7c91da6
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Showing 5 changed files with 15 additions and 15 deletions.
diff --git a/depthai_sdk/examples/PointcloudComponent/pointcloud.py b/depthai_sdk/examples/PointcloudComponent/pointcloud.py
@@ -4,6 +4,6 @@
     color = oak.camera('color')
     stereo = oak.create_stereo()
     stereo.config_stereo(align=color)
-    pcl = oak.create_pointcloud(stereo=stereo, colorize=color)
+    pcl = oak.create_pointcloud(depth_input=stereo, colorize=color)
     oak.visualize(pcl, visualizer='depthai-viewer')
     oak.start(blocking=True)
diff --git a/depthai_sdk/setup.py b/depthai_sdk/setup.py
@@ -26,7 +26,9 @@
         "visualize": ['PySide2',
                       'Qt.py>=1.3.0',
                       'matplotlib==3.5.3; python_version <= "3.7"',
-                      'matplotlib==3.6.1; python_version > "3.7"'],
+                      'matplotlib==3.6.1; python_version > "3.7"',
+                      'depthai-viewer'
+                      ],
         "replay": ['mcap>=0.0.10',
                    'mcap-ros1-support==0.0.8',
                    'rosbags==0.9.11'],

diff --git a/depthai_sdk/src/depthai_sdk/__init__.py b/depthai_sdk/src/depthai_sdk/__init__.py
@@ -10,7 +10,7 @@
 from depthai_sdk.utils import _create_config, get_config_field, _sentry_before_send
 from depthai_sdk.visualize import *
 
-__version__ = '1.13.1'
+__version__ = '1.15'
 
 
 def __import_sentry(sentry_dsn: str) -> None:

diff --git a/depthai_sdk/src/depthai_sdk/components/pointcloud_component.py b/depthai_sdk/src/depthai_sdk/components/pointcloud_component.py
@@ -37,11 +37,11 @@ def __init__(self,
 
         # Depth aspect
         if depth_input is None:
-            stereo = StereoComponent(device, pipeline, replay=replay, args=args)
-            stereo.config_stereo(lr_check=True, subpixel=True, subpixel_bits=3, confidence=230)
-            stereo.node.initialConfig.setNumInvalidateEdgePixels(20)
+            depth_input = StereoComponent(device, pipeline, replay=replay, args=args)
+            depth_input.config_stereo(lr_check=True, subpixel=True, subpixel_bits=3, confidence=230)
+            depth_input.node.initialConfig.setNumInvalidateEdgePixels(20)
 
-            config = stereo.node.initialConfig.get()
+            config = depth_input.node.initialConfig.get()
             config.postProcessing.speckleFilter.enable = True
             config.postProcessing.speckleFilter.speckleRange = 50
             config.postProcessing.temporalFilter.enable = True
@@ -52,14 +52,14 @@ def __init__(self,
             config.postProcessing.thresholdFilter.maxRange = 20000  # 20m
             config.postProcessing.decimationFilter.decimationFactor = 2
             config.postProcessing.decimationFilter.decimationMode = dai.RawStereoDepthConfig.PostProcessing.DecimationFilter.DecimationMode.NON_ZERO_MEDIAN
-            stereo.node.initialConfig.set(config)
+            depth_input.node.initialConfig.set(config)
 
             if self.colorize_comp is not None:
                 # Align to colorize node
-                stereo.config_stereo(align=self.colorize_comp)
+                depth_input.config_stereo(align=self.colorize_comp)
 
         if isinstance(depth_input, StereoComponent):
-            depth_input = stereo.node
+            depth_input = depth_input.node
         elif isinstance(depth_input, ToFComponent):
             if depth_input._align is not None:
                 self.depth = depth_input._align.outputAligned

diff --git a/depthai_sdk/src/depthai_sdk/visualize/visualizers/viewer_visualizer.py b/depthai_sdk/src/depthai_sdk/visualize/visualizers/viewer_visualizer.py
@@ -29,7 +29,7 @@ def __init__(self, scale, fps):
 
         try:
             # timeout is optional, but it might be good to prevent the script from hanging if the module is large.
-            process = subprocess.Popen([sys.executable, "-m", "depthai_viewer"], stdout=subprocess.PIPE,
+            process = subprocess.Popen([sys.executable, "-m", "depthai_viewer", "--viewer-mode"], stdout=subprocess.PIPE,
                                        stderr=subprocess.PIPE)
             stdout, stderr = process.communicate(timeout=3)
 
@@ -65,10 +65,8 @@ def show(self, packet) -> None:
             viewer.log_imu(*packet.get_imu_vals())
         elif type(packet) == PointcloudPacket:
             if packet.colorize_frame is not None:
-                bgr_frame = packet.colorize_frame
-                rgb_frame = bgr_frame[..., ::-1]
-                frame = np.dstack((rgb_frame, np.full(bgr_frame.shape[:2], 255, dtype=np.uint8)))
-                viewer.log_image(f'color', frame)
+                rgb_frame = packet.colorize_frame[..., ::-1]
+                viewer.log_image(f'color', rgb_frame)
                 viewer.log_points(packet.name, packet.points.reshape(-1, 3) / 1000, colors=rgb_frame.reshape(-1, 3))
             else:
                 viewer.log_points(packet.name, packet.points.reshape(-1, 3) / 1000)