Added ToF configuration function, support ToF depth from pointcloud, pin numpy below 2.0, depthai-sdk to 1.15

Author: Erol444

depthai_sdk/requirements.txt

@@ -1,5 +1,5 @@
-numpy>=1.19; python_version < "3.7"
-numpy>=1.21; python_version >= "3.7"
+numpy>=1.19,<2.0.0; python_version < "3.7"
+numpy>=1.21,<2.0.0; python_version >= "3.7"
 opencv-contrib-python>4
 blobconverter>=1.4.1
 pytube>=12.1.0

depthai_sdk/setup.py

@@ -9,7 +9,7 @@
 
 setup(
     name='depthai-sdk',
-    version='1.13.1',
+    version='1.15.0',
     description='This package provides an abstraction of the DepthAI API library.',
     long_description=io.open("README.md", encoding="utf-8").read(),
     long_description_content_type="text/markdown",

depthai_sdk/src/depthai_sdk/classes/packets.py

@@ -234,6 +234,15 @@ def get_sequence_num(self) -> int:
     def get_timestamp(self) -> timedelta:
         return self.depth_map.getTimestampDevice()
 
+    def crop_points(self, bb: BoundingBox) -> np.ndarray:
+        """
+        Crop points to the bounding box
+
+        Returns: Cropped section of the point cloud
+        """
+        x1, y1, x2, y2 = bb.to_tuple(self.points.shape)
+        return self.points[y1:y2, x1:x2]
+
 
 class SpatialBbMappingPacket(DisparityDepthPacket):
     """

depthai_sdk/src/depthai_sdk/components/nn_component.py

@@ -551,7 +551,10 @@ def config_nn(self,
             self._change_resize_mode(self._ar_resize_mode)
 
         if conf_threshold is not None and self.is_detector():
-            self.node.setConfidenceThreshold(conf_threshold)
+            if 0 <= conf_threshold <= 1:
+                self.node.setConfidenceThreshold(conf_threshold)
+            else:
+                raise ValueError("Confidence threshold must be between 0 and 1!")
 
     def config_spatial(self,
                        bb_scale_factor: Optional[float] = None,

depthai_sdk/src/depthai_sdk/components/pointcloud_component.py

@@ -5,6 +5,7 @@
 from depthai_sdk.components.camera_component import CameraComponent
 from depthai_sdk.components.component import Component, ComponentOutput
 from depthai_sdk.components.stereo_component import StereoComponent
+from depthai_sdk.components.tof_component import ToFComponent
 from depthai_sdk.oak_outputs.xout.xout_base import XoutBase, StreamXout
 from depthai_sdk.oak_outputs.xout.xout_pointcloud import XoutPointcloud
 from depthai_sdk.replay import Replay
@@ -15,7 +16,7 @@ class PointcloudComponent(Component):
     def __init__(self,
                  device: dai.Device,
                  pipeline: dai.Pipeline,
-                 stereo: Union[None, StereoComponent, dai.node.StereoDepth, dai.Node.Output] = None,
+                 depth_input: Union[None, StereoComponent, ToFComponent, dai.node.StereoDepth, dai.Node.Output] = None,
                  colorize: Optional[CameraComponent] = None,
                  replay: Optional[Replay] = None,
                  args: Any = None):
@@ -28,15 +29,14 @@ def __init__(self,
         super().__init__()
         self.out = self.Out(self)
 
-        self.stereo_depth_node: dai.node.StereoDepth
-        self.depth: dai.Node.Output  # Depth node output
+        self.depth: dai.Node.Output  # depth output
 
         self.colorize_comp: Optional[CameraComponent] = colorize
 
         self._replay: Optional[Replay] = replay
 
         # Depth aspect
-        if stereo is None:
+        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)
@@ -58,15 +58,18 @@ def __init__(self,
                 # Align to colorize node
                 stereo.config_stereo(align=self.colorize_comp)
 
-        if isinstance(stereo, StereoComponent):
-            stereo = stereo.node
-
-        if isinstance(stereo, dai.node.StereoDepth):
-            self.stereo_depth_node = stereo
-            self.depth = stereo.depth
-        elif isinstance(stereo, dai.Node.Output):
-            self.stereo_depth_node = stereo.getParent()
-            self.depth = stereo
+        if isinstance(depth_input, StereoComponent):
+            depth_input = stereo.node
+        elif isinstance(depth_input, ToFComponent):
+            if depth_input._align is not None:
+                self.depth = depth_input._align.outputAligned
+            else:
+                self.depth = depth_input.node.depth
+
+        if isinstance(depth_input, dai.node.StereoDepth):
+            self.depth = depth_input.depth
+        elif isinstance(depth_input, dai.Node.Output):
+            self.depth = depth_input
 
     def config_postprocessing(self) -> None:
         """

depthai_sdk/src/depthai_sdk/components/tof_component.py

@@ -1,4 +1,4 @@
-from typing import List, Optional, Union
+from typing import List, Optional, Union, Tuple
 
 import depthai as dai
 
@@ -21,6 +21,7 @@ def __init__(
         pipeline: dai.Pipeline,
         source: Union[str, dai.CameraBoardSocket, None] = None,
         align_to: Optional[CameraComponent] = None,
+        fps: Optional[int] = None,
     ):
         super().__init__()
         self.out = self.Out(self)
@@ -40,17 +41,19 @@ def __init__(
         self.camera_node.setBoardSocket(source)
         self.camera_socket = source
 
-        self.node = pipeline.create(dai.node.ToF)
+        if fps is not None:
+            self.camera_node.setFps(fps)
+
+        self.node: dai.node.ToF = pipeline.create(dai.node.ToF)
         self._control_in = pipeline.create(dai.node.XLinkIn)
         self.camera_node.raw.link(self.node.input)
         self._control_in.setStreamName(f"{self.node.id}_inputControl")
         self._control_in.out.link(self.node.inputConfig)
 
+        self._align_to_output: dai.Node.Output = None
+
         if align_to is not None:
-            self._align = pipeline.create(dai.node.ImageAlign)
-            self._align_to_output = align_to.node.isp
-            self.node.depth.link(self._align.input)
-            self._align_to_output.link(self._align.inputAlignTo)
+            self.set_align_to(align_to)
 
     def _find_tof(self, device: dai.Device) -> dai.CameraBoardSocket:
         # Use the first ToF sensor, usually, there will only be one
@@ -62,14 +65,34 @@ def _find_tof(self, device: dai.Device) -> dai.CameraBoardSocket:
             f"No ToF sensor found on this camera! {device.getConnectedCameraFeatures()}"
         )
 
-    def set_align_to(self, align_to: CameraComponent) -> None:
+    def set_align_to(self, align_to: CameraComponent, output_size: Optional[Tuple] = None) -> None:
         if self._align is None:
             self._align = self._pipeline.create(dai.node.ImageAlign)
             self.node.depth.link(self._align.input)
             if align_to.is_mono():
-                align_to.node.out.link(self._align.inputAlignTo)
+                self._align_to_output = align_to.node.out
             else:
-                align_to.node.isp.link(self._align.inputAlignTo)
+                self._align_to_output = align_to.node.isp
+
+            self._align_to_output.link(self._align.inputAlignTo)
+
+            if output_size is not None:
+                self._align.setOutputSize(*output_size)
+
+
+    def configure_tof(self,
+                        phaseShuffleTemporalFilter: bool = None,
+                        phaseUnwrappingLevel: int = None,
+                        phaseUnwrapErrorThreshold: int = None,
+                      ) -> None:
+        tofConfig = self.node.initialConfig.get()
+        if phaseShuffleTemporalFilter is not None:
+            tofConfig.enablePhaseShuffleTemporalFilter = phaseShuffleTemporalFilter
+        if phaseUnwrappingLevel is not None:
+            tofConfig.phaseUnwrappingLevel = phaseUnwrappingLevel
+        if phaseUnwrapErrorThreshold is not None:
+            tofConfig.phaseUnwrapErrorThreshold = phaseUnwrapErrorThreshold
+        self.node.initialConfig.set(tofConfig)
 
     def on_pipeline_started(self, device: dai.Device) -> None:
         self.control.set_input_queue(

depthai_sdk/src/depthai_sdk/oak_camera.py

@@ -390,14 +390,19 @@ def create_stereo(self,
         """
         return self.stereo(resolution, fps, left, right, encode)
 
-    def create_tof(self, source: Union[str, dai.CameraBoardSocket, None] = None, align_to: Optional[CameraComponent] = None) -> ToFComponent:
+    def create_tof(self,
+                   source: Union[str, dai.CameraBoardSocket, None] = None,
+                   fps: Optional[float] = None,
+                   align_to: Optional[CameraComponent] = None) -> ToFComponent:
         """
         Create ToF component.
 
         Args:
             source (str / dai.CameraBoardSocket): ToF camera source
+            fps (float): Sensor FPS
+            align_to (CameraComponent): Align ToF to this camera component
         """
-        comp = ToFComponent(self.device, self.pipeline, source, align_to)
+        comp = ToFComponent(self.device, self.pipeline, source, align_to, fps)
         self._components.append(comp)
         return comp
 
@@ -410,7 +415,7 @@ def create_imu(self) -> IMUComponent:
         return comp
 
     def create_pointcloud(self,
-                          stereo: Union[None, StereoComponent, dai.node.StereoDepth, dai.Node.Output] = None,
+                          depth_input: Union[None, StereoComponent, ToFComponent, dai.node.StereoDepth, dai.Node.Output] = None,
                           colorize: Union[None, CameraComponent, dai.node.MonoCamera, dai.node.ColorCamera, dai.Node.Output, bool] = None,
                           ) -> PointcloudComponent:
 
@@ -427,7 +432,7 @@ def create_pointcloud(self,
         comp = PointcloudComponent(
             self.device,
             self.pipeline,
-            stereo=stereo,
+            depth_input=depth_input,
             colorize=colorize,
             replay=self.replay,
             args=self._args,