Hello @jakaskerl
You are right, it does not. I tried to attempt to add synchronization functionality to the code, with no success unfortunately.
#!/usr/bin/env python3
import cv2
import depthai as dai
import numpy as np
import mediapipe as mp
from datetime import timedelta
# Initialize MediaPipe Hand solution
mp_hands = mp.solutions.hands
mp_drawing = mp.solutions.drawing_utils
hands = mp_hands.Hands(
max_num_hands=1,
min_detection_confidence=0.5,
min_tracking_confidence=0.5)
# Closer-in minimum depth, disparity range is doubled (from 95 to 190):
extended_disparity = False
# Better accuracy for longer distance, fractional disparity 32-levels:
subpixel = False
# Better handling for occlusions:
lr_check = True
# Create pipeline
pipeline = dai.Pipeline()
# Define sources and outputs
monoLeft = pipeline.create(dai.node.MonoCamera)
monoRight = pipeline.create(dai.node.MonoCamera)
depth = pipeline.create(dai.node.StereoDepth)
spatialLocationCalculator = pipeline.create(dai.node.SpatialLocationCalculator)
color = pipeline.create(dai.node.ColorCamera)
# Configure camera nodes
monoLeft.setResolution(dai.MonoCameraProperties.SensorResolution.THE_400_P)
monoLeft.setBoardSocket(dai.CameraBoardSocket.CAM_B)
monoRight.setResolution(dai.MonoCameraProperties.SensorResolution.THE_400_P)
monoRight.setBoardSocket(dai.CameraBoardSocket.CAM_C)
color.setBoardSocket(dai.CameraBoardSocket.CAM_A)
color.setResolution(dai.ColorCameraProperties.SensorResolution.THE_1080_P)
color.setPreviewSize(640, 400)
# Setup depth node
depth.setDefaultProfilePreset(dai.node.StereoDepth.PresetMode.HIGH_DENSITY)
depth.initialConfig.setMedianFilter(dai.MedianFilter.KERNEL_7x7)
depth.setLeftRightCheck(lr_check)
depth.setExtendedDisparity(extended_disparity)
depth.setSubpixel(subpixel)
depth.setDepthAlign(dai.CameraBoardSocket.CAM_A)
# Message Demultiplexer and sync
sync = pipeline.create(dai.node.Sync)
sync.setSyncThreshold(timedelta(milliseconds=100))
color.preview.link(sync.inputs['color'])
depth.disparity.link(sync.inputs['disparity'])
spatialLocationCalculator.out.link(sync.inputs['spatialData'])
# Create output queues
demux = pipeline.create(dai.node.MessageDemux)
sync.out.link(demux.input) # sync -> demux
xout = pipeline.create(dai.node.XLinkOut)
xout.setStreamName("disparity")
xoutSpatialData = pipeline.create(dai.node.XLinkOut)
xoutSpatialData.setStreamName("spatialData")
xoutColor = pipeline.create(dai.node.XLinkOut)
xoutColor.setStreamName("color")
demux.outputs['disparity'].link(xout.input)
demux.outputs['spatialData'].link(xoutSpatialData.input)
demux.outputs['color'].link(xoutColor.input)
# Linking
monoLeft.out.link(depth.left)
monoRight.out.link(depth.right)
depth.disparity.link(xout.input)
color.preview.link(xoutColor.input)
# SpatialLocationCalculator configuration
config = dai.SpatialLocationCalculatorConfigData()
config.depthThresholds.lowerThreshold = 100
config.depthThresholds.upperThreshold = 10000
# Define a ROI in normalized coordinates (the whole image here)
config.roi = dai.Rect(0, 0, 1, 1)
spatialLocationCalculator.initialConfig.addROI(config)
depth.depth.link(spatialLocationCalculator.inputDepth)
# Before the main loop, when setting up the pipeline
spatialConfigIn = pipeline.create(dai.node.XLinkIn)
spatialConfigIn.setStreamName("spatialConfig")
spatialConfigIn.out.link(spatialLocationCalculator.inputConfig)
# Link spatial location calculator output to the output stream
spatialLocationCalculator.out.link(xoutSpatialData.input)
# Connect to device and start pipeline
with dai.Device(pipeline) as device:
qDisparity = device.getOutputQueue(name="disparity", maxSize=4, blocking=False)
qSpatialData = device.getOutputQueue(name="spatialData", maxSize=4, blocking=False)
qColor = device.getOutputQueue(name="color", maxSize=4, blocking=False)
spatialConfigQueue = device.getInputQueue("spatialConfig")
while True:
incolor = qColor.get()
colorFrame = incolor.getCvFrame()
# Convert color frame to RGB (MediaPipe requirement)
colorFrameRgb = cv2.cvtColor(colorFrame, cv2.COLOR_BGR2RGB)
results = hands.process(colorFrameRgb)
# Convert back to BGR for OpenCV
colorFrame = cv2.cvtColor(colorFrameRgb, cv2.COLOR_RGB2BGR)
if results.multi_hand_landmarks:
for hand_landmarks in results.multi_hand_landmarks:
mp_drawing.draw_landmarks(
colorFrame, hand_landmarks, mp_hands.HAND_CONNECTIONS)
hand_mid_coord = hand_landmarks.landmark[mp_hands.HandLandmark.MIDDLE_FINGER_MCP]
# Convert normalized coordinates to pixel coordinates
x, y = int(hand_mid_coord.x * colorFrame.shape[1]), int(hand_mid_coord.y * colorFrame.shape[0])
# Define a ROI around the finger tip
roi = dai.Rect(hand_mid_coord.x - 0.01, hand_mid_coord.y - 0.01, 0.02, 0.02)
# Draw a rectangle around the ROI
cv2.rectangle(colorFrame, (int(roi.x * colorFrame.shape[1]), int(roi.y * colorFrame.shape[0])), (int((roi.x + roi.width) * colorFrame.shape[1]), int((roi.y + roi.height) * colorFrame.shape[0])), (0, 255, 0), 2)
# Prepare the ROI in normalized coordinates for SpatialLocationCalculator
roi = dai .Rect(roi.x, roi.y, roi.width, roi.height)
# Send the new ROI to the device
config = dai.SpatialLocationCalculatorConfig()
configdata = dai.SpatialLocationCalculatorConfigData()
configdata.roi = roi
config.addROI(configdata)
spatialConfigQueue.send(config)
# Retrieve and print spatial data for the ROI
spatialData = qSpatialData.get().getSpatialLocations()
for data in spatialData:
coords = data.spatialCoordinates
# Write the spatial coordinates on the frame on top left corner
cv2.putText(colorFrame, f"X: {coords.x:.2f} mm, Y: {coords.y:.2f} mm, Z: {coords.z:.2f} mm",
(10, 30), cv2.FONT_HERSHEY_SIMPLEX, 0.5, (0,255,0), 2)
# Display the frame
cv2.imshow("color", colorFrame)
if cv2.waitKey(1) == ord('q'):
break
# Release MediaPipe resources
hands.close()
It is giving me these errors
[1844301041AD8E0F00] [169.254.1.222] [1709516595.076] [host] [warning] Monitor thread (device: 1844301041AD8E0F00 [169.254.1.222]) - ping was missed, closing the device connection
[1844301041AD8E0F00] [169.254.1.222] [1709516608.446] [host] [warning] Device crashed. Crash dump saved to C:\Users\...\AppData\Local\Temp\1844301041AD8E0F00-depthai_crash_dump.json
depthai_crash_dump.json :
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The code I have managed working for hand tracking in the first post, works fine, but it is not synchronized. I would appreciate any hints for making me create a hand coordinate tracker.
