Image align examples fix

examples/ImageAlign/depth_align.py

@@ -34,7 +34,6 @@ def getFps(self):
 device = dai.Device()
 
 calibrationHandler = device.readCalibration()
-rgbIntrinsics = calibrationHandler.getCameraIntrinsics(RGB_SOCKET, int(1920 / ISP_SCALE), int(1080 / ISP_SCALE))
 rgbDistortion = calibrationHandler.getDistortionCoefficients(RGB_SOCKET)
 distortionModel = calibrationHandler.getDistortionModel(RGB_SOCKET)
 if distortionModel != dai.CameraModel.Perspective:
@@ -160,6 +159,8 @@ def updateBlendWeights(percentRgb):
         if frameDepth is not None:
             cvFrame = frameRgb.getCvFrame()
 
+            rgbIntrinsics = calibrationHandler.getCameraIntrinsics(RGB_SOCKET, int(cvFrame.shape[1]), int(cvFrame.shape[0]))
+
             # Undistort the rgb frame
             cvFrameUndistorted = cv2.undistort(
                 cvFrame,
@@ -172,7 +173,7 @@ def updateBlendWeights(percentRgb):
             cv2.imshow("Depth aligned", alignedDepthColorized)
 
             blended = cv2.addWeighted(
-                cvFrame, rgbWeight, alignedDepthColorized, depthWeight, 0
+                cvFrameUndistorted, rgbWeight, alignedDepthColorized, depthWeight, 0
             )
             cv2.putText(
                 blended,

examples/ImageAlign/image_align.py

@@ -3,6 +3,7 @@
 import cv2
 import depthai as dai
 from datetime import timedelta
+import numpy as np
 
 # This is an interactive example that shows how two frame sources without depth information.
 FPS = 30.0
@@ -14,7 +15,16 @@
 COLOR_RESOLUTION = dai.ColorCameraProperties.SensorResolution.THE_1080_P
 LEFT_RIGHT_RESOLUTION = dai.MonoCameraProperties.SensorResolution.THE_720_P
 
+ISP_SCALE = 3
+
 device = dai.Device()
+
+calibrationHandler = device.readCalibration()
+rgbDistortion = calibrationHandler.getDistortionCoefficients(RGB_SOCKET)
+distortionModel = calibrationHandler.getDistortionModel(RGB_SOCKET)
+if distortionModel != dai.CameraModel.Perspective:
+    raise RuntimeError("Unsupported distortion model for RGB camera. This example supports only Perspective model.")
+
 pipeline = dai.Pipeline()
 
 # Define sources and outputs
@@ -32,7 +42,7 @@
 camRgb.setBoardSocket(RGB_SOCKET)
 camRgb.setResolution(COLOR_RESOLUTION)
 camRgb.setFps(FPS)
-camRgb.setIspScale(1, 3)
+camRgb.setIspScale(1, ISP_SCALE)
 
 out.setStreamName("out")
 
@@ -109,12 +119,20 @@ def updateDepthPlane(depth):
         # Colorize the aligned depth
         leftCv = leftAligned.getCvFrame()
 
+        rgbIntrinsics = calibrationHandler.getCameraIntrinsics(RGB_SOCKET, int(frameRgbCv.shape[1]), int(frameRgbCv.shape[0]))
+
+        cvFrameUndistorted = cv2.undistort(
+            frameRgbCv,
+            np.array(rgbIntrinsics),
+            np.array(rgbDistortion),
+        )
+
         if len(leftCv.shape) == 2:
             leftCv = cv2.cvtColor(leftCv, cv2.COLOR_GRAY2BGR)
-        if leftCv.shape != frameRgbCv.shape:
-            leftCv = cv2.resize(leftCv, (frameRgbCv.shape[1], frameRgbCv.shape[0]))
+        if leftCv.shape != cvFrameUndistorted.shape:
+            leftCv = cv2.resize(leftCv, (cvFrameUndistorted.shape[1], cvFrameUndistorted.shape[0]))
 
-        blended = cv2.addWeighted(frameRgbCv, rgbWeight, leftCv, leftWeight, 0)
+        blended = cv2.addWeighted(cvFrameUndistorted, rgbWeight, leftCv, leftWeight, 0)
         cv2.imshow(windowName, blended)
 
         key = cv2.waitKey(1)

examples/ImageAlign/thermal_align.py

@@ -40,6 +40,14 @@ def getFps(self):
     raise RuntimeError("No thermal camera found!")
 
 
+ISP_SCALE = 3
+
+calibrationHandler = device.readCalibration()
+rgbDistortion = calibrationHandler.getDistortionCoefficients(RGB_SOCKET)
+distortionModel = calibrationHandler.getDistortionModel(RGB_SOCKET)
+if distortionModel != dai.CameraModel.Perspective:
+    raise RuntimeError("Unsupported distortion model for RGB camera. This example supports only Perspective model.")
+
 pipeline = dai.Pipeline()
 
 # Define sources and outputs
@@ -57,7 +65,7 @@ def getFps(self):
 camRgb.setBoardSocket(RGB_SOCKET)
 camRgb.setResolution(COLOR_RESOLUTION)
 camRgb.setFps(FPS)
-camRgb.setIspScale(1,3)
+camRgb.setIspScale(1,ISP_SCALE)
 
 out.setStreamName("out")
 
@@ -132,6 +140,14 @@ def updateDepthPlane(depth):
         frameRgbCv = frameRgb.getCvFrame()
         fpsCounter.tick()
 
+        rgbIntrinsics = calibrationHandler.getCameraIntrinsics(RGB_SOCKET, int(frameRgbCv.shape[1]), int(frameRgbCv.shape[0]))
+
+        cvFrameUndistorted = cv2.undistort(
+            frameRgbCv,
+            np.array(rgbIntrinsics),
+            np.array(rgbDistortion),
+        )
+
         # Colorize the aligned depth
         thermalFrame = thermalAligned.getCvFrame().astype(np.float32)
         # Create a mask for nan values
@@ -143,7 +159,7 @@ def updateDepthPlane(depth):
         # Apply the mask back with black pixels (0)
         colormappedFrame[mask] = 0
 
-        blended = cv2.addWeighted(frameRgbCv, rgbWeight, colormappedFrame, thermalWeight, 0)
+        blended = cv2.addWeighted(cvFrameUndistorted, rgbWeight, colormappedFrame, thermalWeight, 0)
 
         cv2.putText(
             blended,

examples/ImageAlign/tof_align.py

@@ -29,8 +29,18 @@ def getFps(self):
         return (len(self.frameTimes) - 1) / (self.frameTimes[-1] - self.frameTimes[0])
 
 
+ISP_SCALE = 2
+
+device = dai.Device()
+
+calibrationHandler = device.readCalibration()
+rgbDistortion = calibrationHandler.getDistortionCoefficients(RGB_SOCKET)
+distortionModel = calibrationHandler.getDistortionModel(RGB_SOCKET)
+if distortionModel != dai.CameraModel.Perspective:
+    raise RuntimeError("Unsupported distortion model for RGB camera. This example supports only Perspective model.")
 
 pipeline = dai.Pipeline()
+
 # Define sources and outputs
 camRgb = pipeline.create(dai.node.ColorCamera)
 tof = pipeline.create(dai.node.ToF)
@@ -48,7 +58,7 @@ def getFps(self):
 camRgb.setBoardSocket(RGB_SOCKET)
 camRgb.setResolution(dai.ColorCameraProperties.SensorResolution.THE_800_P)
 camRgb.setFps(FPS)
-camRgb.setIspScale(1, 2)
+camRgb.setIspScale(1, ISP_SCALE)
 
 out.setStreamName("out")
 
@@ -109,7 +119,8 @@ def updateBlendWeights(percentRgb):
 
 
 # Connect to device and start pipeline
-with dai.Device(pipeline) as device:
+with device:
+    device.startPipeline(pipeline)
     queue = device.getOutputQueue("out", 8, False)
 
     # Configure windows; trackbar adjusts blending ratio of rgb/depth
@@ -138,6 +149,12 @@ def updateBlendWeights(percentRgb):
         # Blend when both received
         if frameDepth is not None:
             cvFrame = frameRgb.getCvFrame()
+            rgbIntrinsics = calibrationHandler.getCameraIntrinsics(RGB_SOCKET, int(cvFrame.shape[1]), int(cvFrame.shape[0]))
+            cvFrameUndistorted = cv2.undistort(
+                cvFrame,
+                np.array(rgbIntrinsics),
+                np.array(rgbDistortion),
+            )
             # Colorize the aligned depth
             alignedDepthColorized = colorizeDepth(frameDepth.getFrame())
             # Resize depth to match the rgb frame
@@ -153,7 +170,7 @@ def updateBlendWeights(percentRgb):
             cv2.imshow("depth", alignedDepthColorized)
 
             blended = cv2.addWeighted(
-                cvFrame, rgbWeight, alignedDepthColorized, depthWeight, 0
+                cvFrameUndistorted, rgbWeight, alignedDepthColorized, depthWeight, 0
             )
             cv2.imshow(rgbDepthWindowName, blended)