Feature/colorize depth frame

CMakeLists.txt

@@ -465,6 +465,7 @@ if(DEPTHAI_DYNAMIC_CALIBRATION_SUPPORT)
 endif()
 
 set(TARGET_OPENCV_SOURCES
+    src/opencv/ColorizeDepthFrame.cpp
     src/opencv/ImgFrame.cpp
     src/pipeline/node/host/Display.cpp
     src/pipeline/node/host/HostCamera.cpp

bindings/python/src/pipeline/datatype/ImgFrameBindings.cpp

@@ -8,6 +8,7 @@
 // depthai
 #include "depthai/common/ImgTransformations.hpp"
 #include "depthai/pipeline/datatype/ImgFrame.hpp"
+#include "depthai/utility/ColorizeDepthFrame.hpp"
 #include "ndarray_converter.h"
 // pybind
 #include <pybind11/cast.h>
@@ -324,4 +325,27 @@ void bind_imgframe(pybind11::module& m, void* pCallstack) {
     // add aliases dai.ImgFrame.Type and dai.ImgFrame.Specs
     // m.attr("ImgFrame").attr("Type") = m.attr("RawImgFrame").attr("Type");
     // m.attr("ImgFrame").attr("Specs") = m.attr("RawImgFrame").attr("Specs");
+
+#ifdef DEPTHAI_HAVE_OPENCV_SUPPORT
+    m.def(
+        "colorizeDepthFrame",
+        [](py::object frame, float minDepth, float maxDepth, int colormap, bool useLog) -> py::object {
+            if(py::isinstance<ImgFrame>(frame)) {
+                auto& img = frame.cast<ImgFrame&>();
+                return py::cast(dai::utility::colorizeDepthFrame(img, minDepth, maxDepth, static_cast<cv::ColormapTypes>(colormap), useLog));
+            }
+            if(py::isinstance<py::array>(frame)) {
+                auto mat = frame.cast<cv::Mat>();
+                return py::cast(dai::utility::colorizeDepthFrame(mat, minDepth, maxDepth, static_cast<cv::ColormapTypes>(colormap), useLog));
+            }
+            throw std::invalid_argument("colorizeDepthFrame expects an ImgFrame or a numpy array");
+        },
+        py::arg("frame"),
+        py::arg("minDepth") = 500.0f,
+        py::arg("maxDepth") = 12000.0f,
+        py::arg("colormap") = static_cast<int>(cv::COLORMAP_JET),
+          py::arg("useLog") = true,
+        "Colorize a single-channel depth frame. Depth values (including minDepth and maxDepth) are usually in millimeters. "
+        "If maxDepth <= minDepth (e.g. 0,0) the 3rd/95th percentile range is auto-computed from finite positive pixels.");
+#endif
 }

examples/cpp/AutoCalibration/auto_calibration_example.cpp

@@ -9,25 +9,6 @@
 
 #include "depthai/depthai.hpp"
 
-// Visualization helper
-void showDepth(const cv::Mat& depthFrame, const std::string& windowName = "Depth", int minDistance = 500, int maxDistance = 5000) {
-    if(maxDistance <= minDistance) return;
-
-    cv::Mat clipped = depthFrame.clone();
-    clipped.setTo(minDistance, depthFrame < minDistance);
-    clipped.setTo(maxDistance, depthFrame > maxDistance);
-
-    cv::Mat displayFrame;
-    double scale = 255.0 / (maxDistance - minDistance);
-    double offset = -minDistance * scale;
-    clipped.convertTo(displayFrame, CV_8UC1, scale, offset);
-
-    cv::Mat colorMap;
-    cv::applyColorMap(displayFrame, colorMap, cv::COLORMAP_TURBO);
-
-    cv::imshow(windowName, colorMap);
-}
-
 std::tuple<double, double, double> rotationMatrixToEulerAngles(const cv::Matx33d& rotationMatrix) {
     constexpr double kPi = 3.14159265358979323846;
     const double sy = std::sqrt(rotationMatrix(0, 0) * rotationMatrix(0, 0) + rotationMatrix(1, 0) * rotationMatrix(1, 0));
@@ -148,7 +129,7 @@ int main() {
         }
 
         auto depth = stereoOut->get<dai::ImgFrame>();
-        showDepth(depth->getCvFrame(), "Depth", 500, 5000);
+        cv::imshow("Depth", dai::utility::colorizeDepthFrame(*depth, 500.0f, 12000.0f, cv::COLORMAP_TURBO, true).getCvFrame());
 
         if(cv::waitKey(1) == 'q') break;
     }

examples/cpp/Depth/depth_rgb_align.cpp

@@ -66,62 +66,6 @@ class FPSCounter {
     std::deque<std::chrono::steady_clock::time_point> frameTimes;
 };
 
-cv::Mat colorizeDepth(const cv::Mat& frameDepth) {
-    if(frameDepth.empty() || frameDepth.channels() != 1) {
-        return cv::Mat::zeros(frameDepth.size(), CV_8UC3);
-    }
-
-    cv::Mat depth32f;
-    frameDepth.convertTo(depth32f, CV_32F);
-
-    const cv::Mat nonZeroMask = depth32f != 0.0f;
-    const int nz = cv::countNonZero(nonZeroMask);
-    if(nz == 0) {
-        return cv::Mat::zeros(frameDepth.size(), CV_8UC3);
-    }
-
-    std::vector<float> values;
-    values.reserve(static_cast<size_t>(nz));
-    for(int r = 0; r < depth32f.rows; ++r) {
-        const float* d = depth32f.ptr<float>(r);
-        const uchar* m = nonZeroMask.ptr<uchar>(r);
-        for(int c = 0; c < depth32f.cols; ++c) {
-            if(m[c]) {
-                values.push_back(d[c]);
-            }
-        }
-    }
-
-    std::sort(values.begin(), values.end());
-    auto pct = [&](double p) {
-        const size_t idx = static_cast<size_t>(std::round((p / 100.0) * (values.size() - 1)));
-        return values[idx];
-    };
-
-    const float minDepth = pct(3.0);
-    const float maxDepth = pct(95.0);
-
-    cv::Mat logDepth;
-    depth32f.copyTo(logDepth);
-    logDepth.setTo(minDepth, ~nonZeroMask);
-    cv::log(logDepth, logDepth);
-
-    const float logMinDepth = std::log(minDepth);
-    const float logMaxDepth = std::log(maxDepth);
-
-    cv::min(logDepth, logMaxDepth, logDepth);
-    cv::max(logDepth, logMinDepth, logDepth);
-    logDepth = (logDepth - logMinDepth) * (255.0f / (logMaxDepth - logMinDepth));
-
-    cv::Mat depth8U;
-    logDepth.convertTo(depth8U, CV_8U);
-
-    cv::Mat depthFrameColor;
-    cv::applyColorMap(depth8U, depthFrameColor, cv::COLORMAP_JET);
-    depthFrameColor.setTo(cv::Scalar::all(0), ~nonZeroMask);
-    return depthFrameColor;
-}
-
 float rgbWeight = 0.4f;
 float depthWeight = 0.6f;
 
@@ -190,7 +134,7 @@ int main() {
 
         if(frameDepth != nullptr) {
             cv::Mat cvFrame = frameRgb->getCvFrame();
-            cv::Mat alignedDepthColorized = colorizeDepth(frameDepth->getFrame());
+            cv::Mat alignedDepthColorized = dai::utility::colorizeDepthFrame(*frameDepth, 500.0f, 12000.0f, cv::COLORMAP_JET, true).getCvFrame();
             cv::imshow("Depth aligned", alignedDepthColorized);
 
             if(cvFrame.channels() == 1) {

examples/cpp/Depth/unified_depth.cpp

@@ -30,62 +30,6 @@
 
 namespace {
 
-cv::Mat colorizeDepth(const cv::Mat& frameDepth) {
-    if(frameDepth.empty() || frameDepth.channels() != 1) {
-        return cv::Mat::zeros(frameDepth.size(), CV_8UC3);
-    }
-
-    cv::Mat depth32f;
-    frameDepth.convertTo(depth32f, CV_32F);
-
-    const cv::Mat nonZeroMask = depth32f != 0.0f;
-    const int nz = cv::countNonZero(nonZeroMask);
-    if(nz == 0) {
-        return cv::Mat::zeros(frameDepth.size(), CV_8UC3);
-    }
-
-    std::vector<float> values;
-    values.reserve(static_cast<size_t>(nz));
-    for(int r = 0; r < depth32f.rows; ++r) {
-        const float* d = depth32f.ptr<float>(r);
-        const uchar* m = nonZeroMask.ptr<uchar>(r);
-        for(int c = 0; c < depth32f.cols; ++c) {
-            if(m[c]) {
-                values.push_back(d[c]);
-            }
-        }
-    }
-
-    std::sort(values.begin(), values.end());
-    auto pct = [&](double p) {
-        const size_t idx = static_cast<size_t>(std::round((p / 100.0) * (values.size() - 1)));
-        return values[idx];
-    };
-
-    const float minDepth = pct(3.0);
-    const float maxDepth = pct(95.0);
-
-    cv::Mat logDepth;
-    depth32f.copyTo(logDepth);
-    logDepth.setTo(minDepth, ~nonZeroMask);
-    cv::log(logDepth, logDepth);
-
-    const float logMinDepth = std::log(minDepth);
-    const float logMaxDepth = std::log(maxDepth);
-
-    cv::min(logDepth, logMaxDepth, logDepth);
-    cv::max(logDepth, logMinDepth, logDepth);
-    logDepth = (logDepth - logMinDepth) * (255.0f / (logMaxDepth - logMinDepth));
-
-    cv::Mat depth8U;
-    logDepth.convertTo(depth8U, CV_8U);
-
-    cv::Mat depthFrameColor;
-    cv::applyColorMap(depth8U, depthFrameColor, cv::COLORMAP_JET);
-    depthFrameColor.setTo(cv::Scalar::all(0), ~nonZeroMask);
-    return depthFrameColor;
-}
-
 cv::Mat colorizeConfidence(const cv::Mat& frame) {
     if(frame.empty() || frame.channels() != 1) {
         return cv::Mat::zeros(frame.size(), CV_8UC3);
@@ -351,7 +295,7 @@ int main(int argc, char** argv) {
             auto confidenceFrame = confidenceQueue->get<dai::ImgFrame>();
 
             if(depthFrame != nullptr) {
-                cv::imshow("depth", colorizeDepth(depthFrame->getFrame()));
+                cv::imshow("depth", dai::utility::colorizeDepthFrame(*depthFrame, 500.0f, 12000.0f, cv::COLORMAP_JET, true).getCvFrame());
             }
             if(confidenceFrame != nullptr) {
                 cv::imshow("confidence", colorizeConfidence(confidenceFrame->getFrame()));

examples/cpp/DetectionNetwork/detection_network_remap.cpp

@@ -1,84 +1,17 @@
-#include <algorithm>  // Required for std::sort and std::unique
-#include <cmath>      // Required for std::log, std::isnan, std::isinf
 #include <csignal>
 #include <iostream>
 #include <opencv2/opencv.hpp>
 #include <string>
 #include <vector>
 
 #include "depthai/depthai.hpp"
-#include "xtensor/containers/xadapt.hpp"
-#include "xtensor/core/xmath.hpp"
 
 std::atomic<bool> quitEvent(false);
 
 void signalHandler(int) {
     quitEvent = true;
 }
 
-cv::Mat colorizeDepth(cv::Mat frameDepth) {
-    cv::Mat invalidMask = frameDepth == 0;
-    cv::Mat depthFrameColor;
-
-    try {
-        cv::Mat frameDepthFloat;
-        frameDepth.convertTo(frameDepthFloat, CV_32F);
-        xt::xtensor<float, 2> depth =
-            xt::adapt((float*)frameDepthFloat.data, {static_cast<size_t>(frameDepthFloat.rows), static_cast<size_t>(frameDepthFloat.cols)});
-
-        // Get valid depth values (non-zero)
-        std::vector<float> validDepth;
-        validDepth.reserve(depth.size());
-        std::copy_if(depth.begin(), depth.end(), std::back_inserter(validDepth), [](float x) { return x != 0; });
-
-        if(validDepth.size() == 0) {
-            return cv::Mat::zeros(frameDepth.rows, frameDepth.cols, CV_8UC3);
-        }
-
-        // Calculate percentiles
-        std::sort(validDepth.begin(), validDepth.end());
-        float minDepth = validDepth[static_cast<size_t>(validDepth.size() * 0.03)];
-        float maxDepth = validDepth[static_cast<size_t>(validDepth.size() * 0.95)];
-
-        // Take log of depth values
-        auto logDepth = xt::eval(xt::log(depth));
-        float logMinDepth = std::log(minDepth);
-        float logMaxDepth = std::log(maxDepth);
-
-        // Replace invalid values with logMinDepth using a naive implementation
-        auto logDepthData = logDepth.data();
-        auto depthData = depth.data();
-        const size_t size = depth.size();
-        for(size_t i = 0; i < size; i++) {
-            if(std::isnan(logDepthData[i]) || std::isinf(logDepthData[i]) || depthData[i] == 0.0f) {
-                logDepthData[i] = logMinDepth;
-            }
-        }
-
-        // Clip values
-        logDepth = xt::clip(logDepth, logMinDepth, logMaxDepth);
-
-        // Normalize to 0-255 range
-        auto normalizedDepth = (logDepth - logMinDepth) / (logMaxDepth - logMinDepth) * 255.0f;
-
-        // Convert to CV_8UC1
-        cv::Mat depthMat(frameDepth.rows, frameDepth.cols, CV_8UC1);
-        std::transform(normalizedDepth.begin(), normalizedDepth.end(), depthMat.data, [](float x) { return static_cast<uchar>(x); });
-
-        // Apply colormap
-        cv::applyColorMap(depthMat, depthFrameColor, cv::COLORMAP_JET);
-
-        // Set invalid pixels to black
-        depthFrameColor.setTo(cv::Scalar(0, 0, 0), invalidMask);
-
-    } catch(const std::exception& e) {
-        std::cerr << "Error in colorizeDepth: " << e.what() << std::endl;
-        return cv::Mat::zeros(frameDepth.rows, frameDepth.cols, CV_8UC3);
-    }
-
-    return depthFrameColor;
-}
-
 // Helper function to display frames with detections
 void displayFrame(const std::string& name,
                   std::shared_ptr<dai::ImgFrame> frame,
@@ -88,7 +21,7 @@ void displayFrame(const std::string& name,
     cv::Mat cvFrame;
 
     if(frame->getType() == dai::ImgFrame::Type::RAW16) {
-        cvFrame = colorizeDepth(frame->getFrame());
+        cvFrame = dai::utility::colorizeDepthFrame(*frame, 500.0f, 12000.0f, cv::COLORMAP_JET, true).getCvFrame();
     } else {
         cvFrame = frame->getCvFrame();
     }
@@ -167,7 +100,7 @@ int main() {
 
     auto qRgb = detectionNetwork->passthrough.createOutputQueue();
     auto qDet = detectionNetwork->out.createOutputQueue();
-    auto qDepth = stereo->disparity.createOutputQueue();
+    auto qDepth = stereo->depth.createOutputQueue();
 
     pipeline.start();
 
@@ -194,4 +127,4 @@ int main() {
     }
 
     return 0;
-}
+}

examples/cpp/DynamicCalibration/README.md

@@ -47,11 +47,11 @@ This folder contains minimal, end-to-end **C++** examples that use **`dai::node:
 **Flow:**
 1. Create mono cameras → request **full-res NV12** (unrectified) → link to:
    - `DynamicCalibration.left/right`
-   - `StereoDepth.left/right` (for live disparity view)
+   - `StereoDepth.left/right` (for live depth view)
 2. Start the pipeline, give AE a moment to settle.
 3. **Start calibration** by sending `DynamicCalibrationControl::Commands::StartCalibration{}`.
 4. In the loop:
-   - Show `left`, `right`, and `disparity`.
+   - Show `left`, `right`, and `depth`.
    - Poll `coverageOutput` for progress.
    - Poll `calibrationOutput` for a result.
 5. When a result arrives:
@@ -110,10 +110,10 @@ This folder contains minimal, end-to-end **C++** examples that use **`dai::node:
 **File:** `calibration_integration.cpp`
 
 **What it does:**  
-Runs one loop that periodically refreshes coverage, executes calibration, and applies a new calibration automatically when the returned metrics indicate drift — while showing `left`, `right`, and a colorized `disparity` preview.
+Runs one loop that periodically refreshes coverage, executes calibration, and applies a new calibration automatically when the returned metrics indicate drift — while showing `left`, `right`, and a colorized `depth` preview.
 
 **Flow:**
-1. Create mono cameras → request **full-res NV12** (unrectified) → link to `dai::node::DynamicCalibration` and `dai::node::StereoDepth` for live disparity. Read the device’s current calibration as the baseline.
+1. Create mono cameras → request **full-res NV12** (unrectified) → link to `dai::node::DynamicCalibration` and `dai::node::StereoDepth` for live depth. Read the device’s current calibration as the baseline.
 2. On a fixed interval (e.g., ~3 seconds), send on the control queue:
    - `DynamicCalibrationControl::Commands::LoadImage{}` to compute coverage on the current frames, and
    - `DynamicCalibrationControl::Commands::Calibrate{true}` to compute a new candidate calibration and return metrics on `calibrationOutput`.
@@ -125,7 +125,7 @@ Runs one loop that periodically refreshes coverage, executes calibration, and ap
 5. Exit on `q` keypress or window close.
 
 **Notes & defaults:**
-- Disparity preview can be auto-scaled to the observed maximum; zero disparity can be rendered black for clarity.
+- Depth preview uses the shared colorization helper with a 500–12000 mm range and logarithmic scaling.
 - The 0.05 px Sampson threshold is a simple heuristic — tune to your tolerance and noise profile.
 
 **Example console output:**
@@ -146,7 +146,7 @@ Mono CAM_B ──▶ [Camera] ── NV12 (full-res) ──▶ DynamicCalibratio
 
 Mono CAM_C ──▶ [Camera] ── NV12 (full-res) ──▶ DynamicCalibration.right
                   │
-                  └───────────▶ StereoDepth.right ──▶ disparity
+                  └───────────▶ StereoDepth.right ──▶ depth
 ```
 
 ---
@@ -230,7 +230,7 @@ If you previously read fields from `CalibrationQuality::qualityData`, read the s
 - **No quality data returned**  
   Ensure the target is sharp, well-lit, and covers diverse parts of the image. Increase lighting or steady the rig.
 
-- **Disparity looks worse after apply**  
+- **Depth preview looks worse after apply**
   Collect more diverse samples (tilt/translate the target), or try a performance mode tuned for robustness. Clean lenses; verify focus.
 
 - **Nothing happens after StartCalibration**