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Try to run both Depth and RGB on OAK-D(Gen2) at the same time.
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#!/usr/bin/env python3 | |
import cv2 | |
import depthai as dai | |
import numpy as np | |
# Start defining a pipeline | |
pipeline = dai.Pipeline() | |
# Define a source | |
cam_rgb = pipeline.createColorCamera() | |
cam_rgb.setPreviewSize(300, 300) | |
cam_rgb.setCamId(0) | |
cam_rgb.setResolution(dai.ColorCameraProperties.SensorResolution.THE_1080_P) | |
cam_rgb.setInterleaved(False) | |
cam_left = pipeline.createMonoCamera() | |
cam_left.setResolution(dai.MonoCameraProperties.SensorResolution.THE_720_P) | |
cam_left.setCamId(1) | |
cam_right = pipeline.createMonoCamera() | |
cam_right.setResolution(dai.MonoCameraProperties.SensorResolution.THE_720_P) | |
cam_right.setCamId(2) | |
# Create a node that will produce the depth map | |
depth = pipeline.createStereoDepth() | |
depth.setConfidenceThreshold(200) | |
cam_left.out.link(depth.left) | |
cam_right.out.link(depth.right) | |
# Create output | |
depthout = pipeline.createXLinkOut() | |
depthout.setStreamName("disparity") | |
depth.disparity.link(depthout.input) | |
rgbout = pipeline.createXLinkOut() | |
rgbout.setStreamName('rgb') | |
cam_rgb.preview.link(rgbout.input) | |
# Pipeline defined, now the device is assigned and pipeline is started | |
device = dai.Device(pipeline) | |
device.startPipeline() | |
# Output queue will be used to get the disparity frames and rgb frames from the outputs defined above | |
q_depth = device.getOutputQueue(name="disparity", maxSize=4, overwrite=True) | |
q_rgb = device.getOutputQueue(name="rgb", maxSize=4, overwrite=True) | |
f_color = None | |
f_depth = None | |
while True: | |
in_depth = q_depth.tryGet() | |
in_rgb = q_rgb.tryGet() | |
if in_rgb is not None: | |
shape = (3, in_rgb.getHeight(), in_rgb.getWidth()) | |
f_color = in_rgb.getData().reshape(shape).transpose(1, 2, 0).astype(np.uint8) | |
f_color = np.ascontiguousarray(f_color) | |
if f_color is not None: | |
cv2.imshow("color", f_color) | |
if in_depth is not None: | |
f_depth = in_depth.getData().reshape((in_depth.getHeight(), in_depth.getWidth())).astype(np.uint8) | |
f_depth = np.ascontiguousarray(f_depth) | |
f_depth = cv2.applyColorMap(f_depth, cv2.COLORMAP_JET) | |
if f_depth is not None: | |
cv2.imshow("disparity", f_depth) | |
if cv2.waitKey(1) == ord('q'): | |
break |
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