Multiple devices

For many applications it's useful to have multiple OAK cameras running at the same time, as more cameras can perceive more (of the world around them). Examples here would include:

Box measurement app, multiple cameras from multiple different perspectives could provide better dimension estimation
People counter/tracker app, multiple cameras could count/track people across a large area (eg. shopping mall)
Attaching multiple cameras on front/back/left/right side of your robot for full 360° vision, so your robot can perceive the whole area around it regardless of how it's positioned.

This example shows how you can use multiple OAK cameras on a single host. The demo will find all devices connected to the host computer and display an RGB preview from each of the camera.An demo application that does object detection from multiple cameras can be found here.

Demo

Command Line

1Connected to  18443010F105060F00
2        >>> MXID: 18443010F105060F00
3        >>> Num of cameras: 3
4        >>> USB speed: UsbSpeed.SUPER
5        >>> Board name: DM9098
6        >>> Product name: OAK-D S2 FF
7    Connected to  1844301011F4C51200
8        >>> MXID: 1844301011F4C51200
9        >>> Num of cameras: 3
10        >>> USB speed: UsbSpeed.UNKNOWN
11        >>> Board name: NG9097
12        >>> Product name: OAK-D Pro PoE AF

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

Command Line

1git clone https://github.com/luxonis/depthai-python.git
2cd depthai-python/examples
3python3 install_requirements.py

For additional information, please follow the installation guide.

Source code

Python

C++

Python

GitHub

1#!/usr/bin/env python3
2
3import cv2
4import depthai as dai
5import contextlib
6
7def createPipeline():
8    # Start defining a pipeline
9    pipeline = dai.Pipeline()
10    # Define a source - color camera
11    camRgb = pipeline.create(dai.node.ColorCamera)
12
13    camRgb.setPreviewSize(300, 300)
14    camRgb.setBoardSocket(dai.CameraBoardSocket.CAM_A)
15    camRgb.setResolution(dai.ColorCameraProperties.SensorResolution.THE_1080_P)
16    camRgb.setInterleaved(False)
17
18    # Create output
19    xoutRgb = pipeline.create(dai.node.XLinkOut)
20    xoutRgb.setStreamName("rgb")
21    camRgb.preview.link(xoutRgb.input)
22
23    return pipeline
24
25
26with contextlib.ExitStack() as stack:
27    deviceInfos = dai.Device.getAllAvailableDevices()
28    usbSpeed = dai.UsbSpeed.SUPER
29    openVinoVersion = dai.OpenVINO.Version.VERSION_2021_4
30
31    qRgbMap = []
32    devices = []
33
34    for deviceInfo in deviceInfos:
35        deviceInfo: dai.DeviceInfo
36        device: dai.Device = stack.enter_context(dai.Device(openVinoVersion, deviceInfo, usbSpeed))
37        devices.append(device)
38        print("===Connected to ", deviceInfo.getMxId())
39        mxId = device.getMxId()
40        cameras = device.getConnectedCameras()
41        usbSpeed = device.getUsbSpeed()
42        eepromData = device.readCalibration2().getEepromData()
43        print("   >>> MXID:", mxId)
44        print("   >>> Num of cameras:", len(cameras))
45        print("   >>> USB speed:", usbSpeed)
46        if eepromData.boardName != "":
47            print("   >>> Board name:", eepromData.boardName)
48        if eepromData.productName != "":
49            print("   >>> Product name:", eepromData.productName)
50
51        pipeline = createPipeline()
52        device.startPipeline(pipeline)
53
54        # Output queue will be used to get the rgb frames from the output defined above
55        q_rgb = device.getOutputQueue(name="rgb", maxSize=4, blocking=False)
56        stream_name = "rgb-" + mxId + "-" + eepromData.productName
57        qRgbMap.append((q_rgb, stream_name))
58
59    while True:
60        for q_rgb, stream_name in qRgbMap:
61            if q_rgb.has():
62                cv2.imshow(stream_name, q_rgb.get().getCvFrame())
63
64        if cv2.waitKey(1) == ord('q'):
65            break

Pipeline

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Multiple devices

Demo

Setup

Source code

Python

Pipeline

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