update pimpl

examples/cpp/HostNodes/rgbd.cpp

@@ -17,7 +17,7 @@ class RerunNode : public dai::NodeCRTP<dai::node::ThreadedHostNode, RerunNode> {
         rec.log_static("world", rerun::ViewCoordinates::FLU);
         rec.log("world/ground", rerun::Boxes3D::from_half_sizes({{3.f, 3.f, 0.00001f}}));
         while(isRunning()) {
-            auto pclIn = inputPCL.tryGet<dai::PointCloudData>();
+            auto pclIn = inputPCL.get<dai::PointCloudData>();
             if(pclIn != nullptr) {
                 std::vector<rerun::Position3D> points;
                 std::vector<rerun::Color> colors;
@@ -40,8 +40,6 @@ int main() {
     dai::Pipeline pipeline;
     // Define sources and outputs
     int fps = 30;
-    int width = 640;
-    int height = 400;
     // Define sources and outputs
     auto left = pipeline.create<dai::node::MonoCamera>();
     auto right = pipeline.create<dai::node::MonoCamera>();
@@ -65,9 +63,11 @@ int main() {
     stereo->setRectifyEdgeFillColor(0);  // black, to better see the cutout
     stereo->enableDistortionCorrection(true);
     stereo->initialConfig.setLeftRightCheckThreshold(10);
-    stereo->setDepthAlign(dai::StereoDepthProperties::DepthAlign::CENTER);
+    rgbd->setOutputMeters(true);
+    rgbd->setGPUDevice(1);
+    rgbd->useGPU();
 
-    auto *out = color->requestOutput(std::pair<int, int>(1280, 720));
+    auto *out = color->requestOutput(std::pair<int, int>(1280, 720), dai::ImgFrame::Type::RGB888i);
     left->out.link(stereo->left);
     right->out.link(stereo->right);
 

examples/cpp/Visualizer/visualizer_rgbd.cpp

@@ -25,8 +25,6 @@ int main() {
     dai::Pipeline pipeline;
     // Define sources and outputs
     int fps = 30;
-    int width = 640;
-    int height = 400;
     // Define sources and outputs
     auto left = pipeline.create<dai::node::MonoCamera>();
     auto right = pipeline.create<dai::node::MonoCamera>();
@@ -50,7 +48,9 @@ int main() {
     stereo->enableDistortionCorrection(true);
     stereo->initialConfig.setLeftRightCheckThreshold(10);
 
-    auto *out = color->requestOutput(std::pair<int, int>(1280, 720));
+    rgbd->setGPUDevice(1);
+    rgbd->useGPU();
+    auto *out = color->requestOutput(std::pair<int, int>(1280, 720), dai::ImgFrame::Type::RGB888i);
     left->out.link(stereo->left);
     right->out.link(stereo->right);
 
@@ -59,6 +59,7 @@ int main() {
 
     remoteConnector.addTopic("pcl", rgbd->pcl);
     pipeline.start();
+    remoteConnector.registerPipeline(pipeline);
     auto device = pipeline.getDefaultDevice();
     device->setIrLaserDotProjectorIntensity(0.7);
     // Main loop

include/depthai/pipeline/node/host/RGBD.hpp

@@ -42,6 +42,7 @@ class RGBD : public NodeCRTP<ThreadedHostNode, RGBD> {
     void useCpuMt();
     void useGPU();
     void setGPUDevice(uint32_t deviceIndex);
+    void setCPUThreadNum(uint32_t numThreads);
     void printDevices();
    private:
     class Impl;

shaders/rgbd2pointcloud.comp

@@ -6,25 +6,16 @@ layout(std430, binding = 0) buffer DepthBuffer {
     float depth[];
 };
 
-// Binding 1: RGB input (float array, assume each pixel has 3 floats: R,G,B)
-layout(std430, binding = 1) buffer RGBBuffer {
-    float rgb[];
-};
-
 // Binding 2: Intrinsics buffer [fx, fy, cx, cy, scale, width, height]
-layout(std430, binding = 2) buffer IntrinsicsBuffer {
+layout(std430, binding = 1) buffer IntrinsicsBuffer {
     float intrinsics[];
 };
 
 // Binding 3: Output XYZ buffer (float array, 3 floats per pixel)
-layout(std430, binding = 3) buffer XYZBuffer {
+layout(std430, binding = 2) buffer XYZBuffer {
     float xyz[];
 };
 
-// Binding 4: Output RGB buffer (float array, 3 floats per pixel)
-layout(std430, binding = 4) buffer OutRGBBuffer {
-    float outRgb[];
-};
 
 void main() {
     uint i = gl_GlobalInvocationID.x;
@@ -52,9 +43,5 @@ void main() {
     xyz[i * 3 + 1] = y;
     xyz[i * 3 + 2] = z;
 
-    // Copy RGB directly
-    outRgb[i * 3 + 0] = rgb[i * 3 + 0];
-    outRgb[i * 3 + 1] = rgb[i * 3 + 1];
-    outRgb[i * 3 + 2] = rgb[i * 3 + 2];
 }
 

src/pipeline/datatype/PointCloudData.cpp

@@ -40,21 +40,16 @@ std::vector<Point3fRGB> PointCloudData::getPointsRGB() {
 void PointCloudData::setPoints(const std::vector<Point3f>& points) {
     auto size = points.size();
     std::vector<uint8_t> data(size * sizeof(Point3f));
-    auto* dataPtr = reinterpret_cast<Point3f*>(data.data());
-    for(unsigned int i = 0; i < size; i++) {
-        dataPtr[i] = points[i];
-    }
-    setData(data);
+    std::memcpy(data.data(), points.data(), size * sizeof(Point3f));
+    setData(std::move(data));
+    setColor(false);
 }
 
 void PointCloudData::setPointsRGB(const std::vector<Point3fRGB>& points) {
     auto size = points.size();
     std::vector<uint8_t> data(size * sizeof(Point3fRGB));
-    auto* dataPtr = reinterpret_cast<Point3fRGB*>(data.data());
-    for(unsigned int i = 0; i < size; i++) {
-        dataPtr[i] = points[i];
-    }
-    setData(data);
+    std::memcpy(data.data(), points.data(), size * sizeof(Point3fRGB));
+    setData(std::move(data));
     setColor(true);
 }