opencv_support.cpp

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#include <iostream>
 
// Includes common necessary includes for development using depthai library
#include "depthai/depthai.hpp"
 
// Include OpenCV
#include <opencv2/opencv.hpp>
 
int main() {
    // Create pipeline
    dai::Pipeline pipeline;
 
    // Define source and outputs
    auto camRgb = pipeline.create<dai::node::ColorCamera>();
    auto xoutVideo = pipeline.create<dai::node::XLinkOut>();
    auto xoutPreview = pipeline.create<dai::node::XLinkOut>();
 
    xoutVideo->setStreamName("video");
    xoutPreview->setStreamName("preview");
 
    // Properties
    camRgb->setPreviewSize(300, 300);
    camRgb->setBoardSocket(dai::CameraBoardSocket::CAM_A);
    camRgb->setResolution(dai::ColorCameraProperties::SensorResolution::THE_1080_P);
    camRgb->setInterleaved(true);
    camRgb->setColorOrder(dai::ColorCameraProperties::ColorOrder::BGR);
 
    // Linking
    camRgb->video.link(xoutVideo->input);
    camRgb->preview.link(xoutPreview->input);
 
    // Connect to device and start pipeline
    dai::Device device(pipeline);
 
    auto video = device.getOutputQueue("video");
    auto preview = device.getOutputQueue("preview");
 
    while(true) {
        auto videoFrame = video->get<dai::ImgFrame>();
        auto previewFrame = preview->get<dai::ImgFrame>();
 
        // Get BGR frame from NV12 encoded video frame to show with opencv
        cv::imshow("video", videoFrame->getCvFrame());
 
        // Show 'preview' frame as is (already in correct format, no copy is made)
        cv::imshow("preview", previewFrame->getFrame());
 
        int key = cv::waitKey(1);
        if(key == 'q' || key == 'Q') return 0;
    }
    return 0;
}