.. _examples_point_clouds/visualizer:

Example: point_clouds/visualizer.py
===================================

.. code-block:: python

	# Copyright (c) 2024 Justin Davis (davisjustin302@gmail.com)
	#
	# MIT License
	"""Example showcasing how to use the PointCloudVisualizer abstraction."""
	
	from __future__ import annotations
	
	import cv2
	import depthai as dai
	from oakutils.calibration import get_camera_calibration
	from oakutils.nodes import create_color_camera, create_stereo_depth, create_xout
	from oakutils.point_clouds import (
	    PointCloudVisualizer,
	    filter_point_cloud,
	    get_point_cloud_from_rgb_depth_image,
	)
	
	pipeline = dai.Pipeline()
	pcv = PointCloudVisualizer()
	calibration = get_camera_calibration(
	    rgb_size=(1920, 1080),
	    mono_size=(640, 400),
	    is_primary_mono_left=True,  # make sure to set primary to same as align_socket
	)
	
	# create the color camera node
	cam = create_color_camera(pipeline, preview_size=(640, 480))
	stereo, left, right = create_stereo_depth(pipeline)
	
	xout_rgb = create_xout(pipeline, cam.video, "rgb")
	xout_depth = create_xout(pipeline, stereo.depth, "depth")
	
	with dai.Device(pipeline) as device:
	    rgb_q: dai.DataOutputQueue = device.getOutputQueue("rgb")
	    depth_q: dai.DataOutputQueue = device.getOutputQueue("depth")
	
	    counter = 0  # maintain a counter since always updating the visual is expensive
	    update_rate = 3
	    while True:
	        in_rgb = rgb_q.get()
	        in_depth = depth_q.get()
	        rgb_frame = in_rgb.getCvFrame()
	        depth_frame = in_depth.getFrame()
	
	        counter += 1
	        if counter == update_rate:
	            point_cloud = get_point_cloud_from_rgb_depth_image(
	                rgb_frame,
	                depth_frame,
	                calibration.primary.pinhole,
	            )
	            point_cloud = filter_point_cloud(
	                point_cloud,
	                voxel_size=0.01,
	                nb_neighbors=60,
	                std_ratio=0.1,
	                downsample_first=False,
	            )
	            pcv.update(point_cloud)
	            counter = 0
	
	        cv2.imshow("rgb", rgb_frame)
	        cv2.imshow("depth", depth_frame)
	        if cv2.waitKey(1) == ord("q"):
	            break
	    pcv.stop()