Collision Avoidance

This example shows how to set up a depth based collision avoidance system for proximity. This can be used with supervised robotic operation where the goal is to limit the robot’s speed when a person is detected in front of it.

Note

Visualization in current example is done with blocking behavor. This means that the program will halt at oak.start() until the window is closed. This is done to keep the example simple. For more advanced usage, see Blocking behavior section.

Demo

Collision Avoidance Demo

Setup

Please run the install script to download all required dependencies. Please note that this script must be ran from git context, so you have to download the depthai repository first and then run the script

git clone https://github.com/luxonis/depthai.git
cd depthai/
python3 install_requirements.py

For additional information, please follow our installation guide.

Pipeline

Pipeline graph

Source Code

Python

Also available on GitHub.

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from depthai_sdk import OakCamera
from depthai_sdk.visualize.configs import StereoColor
from depthai_sdk.classes.packets import DisparityDepthPacket
from depthai_sdk.visualize.visualizers.opencv_visualizer import OpenCvVisualizer
import math
import depthai as dai
import cv2

# User-defined constants
WARNING = 1000 # 1m, orange
CRITICAL = 500 # 50cm, red

slc_data = []
fontType = cv2.FONT_HERSHEY_TRIPLEX

    

with OakCamera() as oak:
    stereo = oak.create_stereo('720p')
    # We don't need high fill rate, just very accurate depth, that's why we enable some filters, and
    # set the confidence threshold to 50
    config = stereo.node.initialConfig.get()
    config.postProcessing.brightnessFilter.minBrightness = 0
    config.postProcessing.brightnessFilter.maxBrightness = 255
    stereo.node.initialConfig.set(config)
    stereo.config_postprocessing(colorize=StereoColor.RGBD, colormap=cv2.COLORMAP_BONE)
    stereo.config_stereo(confidence=50, lr_check=True, extended=True)


    slc = oak.pipeline.create(dai.node.SpatialLocationCalculator)
    for x in range(15):
        for y in range(9):
            config = dai.SpatialLocationCalculatorConfigData()
            config.depthThresholds.lowerThreshold = 200
            config.depthThresholds.upperThreshold = 10000
            config.roi = dai.Rect(dai.Point2f((x+0.5)*0.0625, (y+0.5)*0.1), dai.Point2f((x+1.5)*0.0625, (y+1.5)*0.1))
            # TODO: change from median to 10th percentile once supported
            config.calculationAlgorithm = dai.SpatialLocationCalculatorAlgorithm.MEDIAN
            slc.initialConfig.addROI(config)

    stereo.depth.link(slc.inputDepth)

    slc_out = oak.pipeline.create(dai.node.XLinkOut)
    slc_out.setStreamName('slc')
    slc.out.link(slc_out.input)

    stereoQ = oak.queue(stereo.out.depth).get_queue()

    oak.start() # Start the pipeline (upload it to the OAK)

    slcQ = oak.device.getOutputQueue('slc') # Create output queue after calling start()
    vis = OpenCvVisualizer()
    while oak.running():
        oak.poll()
        packet: DisparityDepthPacket = stereoQ.get()
        slc_data = slcQ.get().getSpatialLocations()

        depthFrameColor = packet.get_colorized_frame(vis)

        for depthData in slc_data:
            roi = depthData.config.roi
            roi = roi.denormalize(width=depthFrameColor.shape[1], height=depthFrameColor.shape[0])

            xmin = int(roi.topLeft().x)
            ymin = int(roi.topLeft().y)
            xmax = int(roi.bottomRight().x)
            ymax = int(roi.bottomRight().y)

            coords = depthData.spatialCoordinates
            distance = math.sqrt(coords.x ** 2 + coords.y ** 2 + coords.z ** 2)

            if distance == 0: # Invalid
                continue

            if distance < CRITICAL:
                color = (0, 0, 255)
                cv2.rectangle(depthFrameColor, (xmin, ymin), (xmax, ymax), color, thickness=4)
                cv2.putText(depthFrameColor, "{:.1f}m".format(distance/1000), (xmin + 10, ymin + 20), fontType, 0.5, color)
            elif distance < WARNING:
                color = (0, 140, 255)
                cv2.rectangle(depthFrameColor, (xmin, ymin), (xmax, ymax), color, thickness=2)
                cv2.putText(depthFrameColor, "{:.1f}m".format(distance/1000), (xmin + 10, ymin + 20), fontType, 0.5, color)

        cv2.imshow('Frame', depthFrameColor)

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