3.26. Gen2 灰度相机Preview流

这个例子展示了如何设置一个输出左右灰度相机图像的管道，通过 XLink 连接以实时传输这些图像到主机，并使用 OpenCV 显示这两个图像。

3.26.1. 展示

3.26.2. 设置

请运行以下命令来安装所需的依赖项

Warning

说明：此处安装的是第二代depthai库

python3 -m pip install --extra-index-url https://artifacts.luxonis.com/artifactory/luxonis-python-snapshot-local/ depthai==0.0.2.1+c9a19df719cb668e438d6eafd193cdf60a0d9354 numpy==1.19.5 opencv-python==4.5.1.48

有关更多信息，请参阅 Python API 安装指南

3.26.3. 源代码

以在 GitHub 上找到。国内用户也可以在 gitee 上找到。

import cv2
import depthai as dai
import numpy as np

# 定义管道
pipeline = dai.Pipeline()

# 创建左右两个灰度相机流
cam_left = pipeline.createMonoCamera()
cam_left.setBoardSocket(dai.CameraBoardSocket.LEFT)
cam_left.setResolution(dai.MonoCameraProperties.SensorResolution.THE_720_P)

cam_right = pipeline.createMonoCamera()
cam_right.setBoardSocket(dai.CameraBoardSocket.RIGHT)
cam_right.setResolution(dai.MonoCameraProperties.SensorResolution.THE_720_P)

# 创建输出流
xout_left = pipeline.createXLinkOut()
xout_left.setStreamName('left')
cam_left.out.link(xout_left.input)
xout_right = pipeline.createXLinkOut()
xout_right.setStreamName('right')
cam_right.out.link(xout_right.input)

# 管道已创建，现在将设备连接管道
with dai.Device(pipeline) as device:
    # 启动管道
    device.startPipeline()

    # 输出队列将用于从上面定义的输出中获取灰度帧
    q_left = device.getOutputQueue(name="left", maxSize=4, blocking=False)
    q_right = device.getOutputQueue(name="right", maxSize=4, blocking=False)

    frame_left = None
    frame_right = None

    while True:
        # 代替使用get的tryGet方法，它将返回可用数据，否则返回None
        in_left = q_left.tryGet()
        in_right = q_right.tryGet()

        if in_left is not None:
            # 如果左摄像机的数据不为空，则将一维数据转换为一帧
            frame_left = in_left.getData().reshape((in_left.getHeight(), in_left.getWidth())).astype(np.uint8)
            frame_left = np.ascontiguousarray(frame_left)

        if in_right is not None:
            # 如果右摄像机的数据不为空，则将一维数据转换为一帧
            frame_right = in_right.getData().reshape((in_right.getHeight(), in_right.getWidth())).astype(np.uint8)
            frame_right = np.ascontiguousarray(frame_right)

        # 使用OpenCV将图像显示出来
        if frame_left is not None:
            cv2.imshow("left", frame_left)
        if frame_right is not None:
            cv2.imshow("right", frame_right)

        # 按'q'退出程序
        if cv2.waitKey(1) == ord('q'):
            break