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Depthai v3 - stereo images #1041

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Merged
tajgr merged 2 commits into from
Mar 3, 2026
Merged

Depthai v3 - stereo images #1041

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a72d89b
add switch is_color
tajgr Feb 27, 2026
b665bf7
Add stereo_images option, ver0
tajgr Feb 27, 2026
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55 changes: 37 additions & 18 deletions osgar/drivers/oak_camera_v3.py
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Original file line number Diff line number Diff line change
Expand Up @@ -47,6 +47,10 @@ def __init__(self, config, bus):
'nn_mask:gz',
'pose3d', 'gridmap',
'redroad:gz', 'robotourist:gz')

self.is_color = config.get('is_color', False)
self.is_depth = config.get('is_depth', False)
self.is_stereo_images = config.get('is_stereo_images', False)
self.fps = config.get('fps', 10)

color_resolution_value = config.get("color_resolution", "THE_1080_P")
Expand All @@ -59,7 +63,6 @@ def __init__(self, config, bus):
self.video_encoder = get_video_encoder(config.get('video_encoder', 'mjpeg'))
self.video_encoder_h264_bitrate = config.get('h264_bitrate', 0) # 0 = automatic

self.is_depth = config.get('is_depth', False)
self.is_slam = config.get('is_slam', False)
self.is_visual_odom = config.get('is_visual_odom', False)

Expand Down Expand Up @@ -93,6 +96,7 @@ class VideoPublisher(dai.node.HostNode):
def __init__(self, *args, **kwargs):
dai.node.HostNode.__init__(self, *args, **kwargs)
self.bus = None
self.stream_type = None

def build(self, *args):
self.link_args(*args)
Expand All @@ -102,31 +106,46 @@ def process(self, frame):
seq_num = frame.getSequenceNum() # for sync of various outputs
dt = frame.getTimestamp() # datetime.timedelta
timestamp_us = ((dt.days * 24 * 3600 + dt.seconds) * 1000000 + dt.microseconds)
self.bus.publish("color_seq", [seq_num, timestamp_us])
self.bus.publish("color", frame.getData().tobytes())
self.bus.publish(f"{self.stream_type}_seq", [seq_num, timestamp_us])
self.bus.publish(self.stream_type, frame.getData().tobytes())


with dai.Pipeline() as pipeline:
# Define source and output
cam_rgb = pipeline.create(dai.node.Camera).build(dai.CameraBoardSocket.CAM_A)
if self.is_color:
cam_rgb = pipeline.create(dai.node.Camera).build(dai.CameraBoardSocket.CAM_A)

# should frameRate = fps?? should this be limited on input?
output = cam_rgb.requestOutput(self.color_resolution, type=dai.ImgFrame.Type.NV12, fps=self.fps)
encoded = pipeline.create(dai.node.VideoEncoder).build(output,
frameRate=self.fps,
profile=self.video_encoder)
saver = pipeline.create(VideoPublisher).build(encoded.out)
saver.bus = self.bus
# should frameRate = fps?? should this be limited on input?
output = cam_rgb.requestOutput(self.color_resolution, type=dai.ImgFrame.Type.NV12, fps=self.fps)
encoded = pipeline.create(dai.node.VideoEncoder).build(output,
frameRate=self.fps,
profile=self.video_encoder)
saver = pipeline.create(VideoPublisher).build(encoded.out)
saver.bus = self.bus
saver.stream_type = "color"

if self.is_depth:

if self.is_depth or self.is_stereo_images:
mono_left = pipeline.create(dai.node.Camera).build(dai.CameraBoardSocket.CAM_B)
mono_right = pipeline.create(dai.node.Camera).build(dai.CameraBoardSocket.CAM_C)
stereo = pipeline.create(dai.node.StereoDepth)
mono_left_out = mono_left.requestOutput(self.mono_resolution, fps=self.fps)
mono_right_out = mono_right.requestOutput(self.mono_resolution, fps=self.fps)
mono_left_out.link(stereo.left)
mono_right_out.link(stereo.right)
depth_queue = stereo.depth.createOutputQueue(blocking=False)

# type=dai.ImgFrame.Type.NV12 ??
mono_left_out = mono_left.requestOutput(self.mono_resolution, type=dai.ImgFrame.Type.NV12, fps=self.fps)
mono_right_out = mono_right.requestOutput(self.mono_resolution, type=dai.ImgFrame.Type.NV12, fps=self.fps)
if self.is_depth:
stereo = pipeline.create(dai.node.StereoDepth)
mono_left_out.link(stereo.left)
mono_right_out.link(stereo.right)
depth_queue = stereo.depth.createOutputQueue(blocking=False)

if self.is_stereo_images:
for mono_out, stream_type in zip([mono_left_out, mono_right_out], ['left_im', 'right_im']):
mono_encoded = pipeline.create(dai.node.VideoEncoder).build(mono_out,
frameRate=self.fps,
profile=self.video_encoder)
mono_saver = pipeline.create(VideoPublisher).build(mono_encoded.out)
mono_saver.bus = self.bus
mono_saver.stream_type = stream_type

# copy from basalt_vio.py
imu = pipeline.create(dai.node.IMU)
Expand Down