device_queue_event.cpp

Go to the documentation of this file.

#include <iostream>
 
// Includes common necessary includes for development using depthai library
#include "depthai/depthai.hpp"
 
int main() {
    // Create pipeline
    dai::Pipeline pipeline;
 
    // Define sources and outputs
    auto camRgb = pipeline.create<dai::node::ColorCamera>();
    auto camMono = pipeline.create<dai::node::MonoCamera>();
    auto xoutRgb = pipeline.create<dai::node::XLinkOut>();
    auto xoutMono = pipeline.create<dai::node::XLinkOut>();
 
    xoutRgb->setStreamName("rgb");
    xoutMono->setStreamName("mono");
 
    // Properties
    camRgb->setInterleaved(true);
    camRgb->setPreviewSize(300, 300);
 
    // Linking
    camRgb->preview.link(xoutRgb->input);
    camMono->out.link(xoutMono->input);
 
    // Connect to device and start pipeline
    dai::Device device(pipeline);
 
    // Clear queue events
    device.getQueueEvents();
 
    while(true) {
        auto ev = device.getQueueEvent();
 
        if(ev == "rgb") {
            auto rgb = device.getOutputQueue(ev)->get<dai::ImgFrame>();
            cv::imshow("rgb", rgb->getFrame());
        } else if(ev == "mono") {
            auto mono = device.getOutputQueue(ev)->get<dai::ImgFrame>();
            cv::imshow("mono", mono->getFrame());
        }
 
        int key = cv::waitKey(1);
        if(key == 'q' || key == 'Q') {
            return 0;
        }
    }
    return 0;
}