OpenCV support

This example shows API which exposes both numpy and OpenCV compatible image types for eaiser usage. It uses ColorCamera node to retrieve both BGR interleaved ‘preview’ and NV12 encoded ‘video’ frames. Both are displayed using functions getFrame and getCvFrame.

Demo

Setup

Please run the install script to download all required dependencies. Please note that this script must be ran from git context, so you have to download the depthai-python repository first and then run the script

git clone https://github.com/luxonis/depthai-python.git
cd depthai-python/examples
python3 install_requirements.py

For additional information, please follow installation guide

Source code

Python

C++

Also available on GitHub

 1
 2
 3
 4
 5
 6
 7
 8
 9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
#!/usr/bin/env python3

import cv2
import depthai as dai

# Create pipeline
pipeline = dai.Pipeline()

# Define source and outputs
camRgb = pipeline.create(dai.node.ColorCamera)
xoutVideo = pipeline.create(dai.node.XLinkOut)
xoutPreview = pipeline.create(dai.node.XLinkOut)

xoutVideo.setStreamName("video")
xoutPreview.setStreamName("preview")

# Properties
camRgb.setPreviewSize(300, 300)
camRgb.setBoardSocket(dai.CameraBoardSocket.RGB)
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
with dai.Device(pipeline) as device:

    video = device.getOutputQueue('video')
    preview = device.getOutputQueue('preview')

    while True:
        videoFrame = video.get()
        previewFrame = preview.get()

        # Get BGR frame from NV12 encoded video frame to show with opencv
        cv2.imshow("video", videoFrame.getCvFrame())
        # Show 'preview' frame as is (already in correct format, no copy is made)
        cv2.imshow("preview", previewFrame.getFrame())

        if cv2.waitKey(1) == ord('q'):
            break

Also available on GitHub

 1
 2
 3
 4
 5
 6
 7
 8
 9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
#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::RGB);
    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;
}

Got questions?

We’re always happy to help with code or other questions you might have.

Discord
Community Discord
forum
Discussion Forum
forum
Email Support