rgb_preview.cpp

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#include <iostream>
 
// Includes common necessary includes for development using depthai library
#include "depthai/depthai.hpp"
 
int main() {
    using namespace std;
    // Create pipeline
    dai::Pipeline pipeline;
 
    // Define source and output
    auto camRgb = pipeline.create<dai::node::ColorCamera>();
    auto xoutRgb = pipeline.create<dai::node::XLinkOut>();
 
    xoutRgb->setStreamName("rgb");
 
    // Properties
    camRgb->setPreviewSize(300, 300);
    camRgb->setBoardSocket(dai::CameraBoardSocket::CAM_A);
    camRgb->setResolution(dai::ColorCameraProperties::SensorResolution::THE_1080_P);
    camRgb->setInterleaved(false);
    camRgb->setColorOrder(dai::ColorCameraProperties::ColorOrder::RGB);
 
    // Linking
    camRgb->preview.link(xoutRgb->input);
 
    // Connect to device and start pipeline
    dai::Device device(pipeline, dai::UsbSpeed::SUPER);
 
    cout << "Connected cameras: " << device.getConnectedCameraFeatures() << endl;
 
    // Print USB speed
    cout << "Usb speed: " << device.getUsbSpeed() << endl;
 
    // Bootloader version
    if(device.getBootloaderVersion()) {
        cout << "Bootloader version: " << device.getBootloaderVersion()->toString() << endl;
    }
 
    // Device name
    cout << "Device name: " << device.getDeviceName() << " Product name: " << device.getProductName() << endl;
 
    // Output queue will be used to get the rgb frames from the output defined above
    auto qRgb = device.getOutputQueue("rgb", 4, false);
 
    while(true) {
        auto inRgb = qRgb->get<dai::ImgFrame>();
 
        // Retrieve 'bgr' (opencv format) frame
        cv::imshow("rgb", inRgb->getCvFrame());
 
        int key = cv::waitKey(1);
        if(key == 'q' || key == 'Q') {
            break;
        }
    }
    return 0;
}