add sai pipeline

luxonis · Dec 22, 2023 · 1b7e899 · 1b7e899
1 parent 3c12edc
commit 1b7e899
Showing 1 changed file with 60 additions and 0 deletions.
diff --git a/robot_py/robot_py/robot/perception/pipeline.py b/robot_py/robot_py/robot/perception/pipeline.py
@@ -120,4 +120,64 @@ def rtabmap_pipeline():
         xout_right.setStreamName("right")
         xout_right.input.setBlocking(False)
         right.video.link(xout_right.input)
+        return pipeline
+
+def sai_pipeline():
+
+        pipeline = dai.Pipeline()
+
+        imu = pipeline.create(dai.node.IMU)
+        imu.enableIMUSensor(dai.IMUSensor.ACCELEROMETER_RAW, 400)
+        imu.enableIMUSensor(dai.IMUSensor.GYROSCOPE_RAW, 400)
+        imu.enableIMUSensor(dai.IMUSensor.ROTATION_VECTOR, 400)
+        imu.setBatchReportThreshold(1)
+        imu.setMaxBatchReports(10)
+        xout_imu = pipeline.create(dai.node.XLinkOut)
+        xout_imu.setStreamName("imu")
+        imu.out.link(xout_imu.input)
+
+        left = pipeline.create(dai.node.ColorCamera)
+        left.setBoardSocket(dai.CameraBoardSocket.CAM_B)
+        left.setResolution(dai.ColorCameraProperties.SensorResolution.THE_800_P)
+        left.setColorOrder(dai.ColorCameraProperties.ColorOrder.BGR)
+        left.setFps(30)
+        left.setVideoSize(640, 400)
+        left.setPreviewSize(416, 416)
+        left.setInterleaved(False)
+
+        right = pipeline.create(dai.node.ColorCamera)
+        right.setBoardSocket(dai.CameraBoardSocket.CAM_C)
+        right.setResolution(dai.ColorCameraProperties.SensorResolution.THE_800_P)
+        left.setColorOrder(dai.ColorCameraProperties.ColorOrder.BGR)
+        right.setFps(30)
+        right.setVideoSize(640, 400)
+        right.setInterleaved(False)
+
+
+        featureTracker = pipeline.create(dai.node.FeatureTracker)
+        featureTracker.setHardwareResources(2, 2)
+        featureTracker.setWaitForConfigInput(False)
+        xoutTrackedFeaturesRight = pipeline.create(dai.node.XLinkOut)
+        xoutTrackedFeaturesRight.setStreamName("trackedFeaturesRight")
+
+
+        stereo = pipeline.create(dai.node.StereoDepth)
+        left.video.link(stereo.left)
+        right.video.link(stereo.right)
+
+        xout_stereo = pipeline.create(dai.node.XLinkOut)
+        xout_stereo.setStreamName("stereo")
+        xout_stereo.input.setBlocking(False)
+        stereo.depth.link(xout_stereo.input)
+
+        xout_left = pipeline.create(dai.node.XLinkOut)
+        xout_left.setStreamName("left")
+        xout_left.input.setBlocking(False)
+        stereo.rectifiedLeft.link(xout_left.input)
+        xout_right = pipeline.create(dai.node.XLinkOut)
+        xout_right.setStreamName("right")
+        xout_right.input.setBlocking(False)
+        stereo.rectifiedRight.link(xout_right.input)
+        stereo.rectifiedRight.link(featureTracker.inputImage)
+        featureTracker.outputFeatures.link(xoutTrackedFeaturesRight.input)
         return pipeline