RGBD 自动创建

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1import depthai as dai
2from argparse import ArgumentParser
3
4# NOTE: Using autocreate takes over the cameras cannot be used in complex pipelines,
5# where cameras would be used in other nodes as well yet.
6
7parser = ArgumentParser()
8parser.add_argument("--webSocketPort", type=int, default=8765)
9parser.add_argument("--httpPort", type=int, default=8082)
10args = parser.parse_args()
11
12with dai.Pipeline() as p:
13    remoteConnector = dai.RemoteConnection(
14        webSocketPort=args.webSocketPort, httpPort=args.httpPort
15    )
16    rgbd = p.create(dai.node.RGBD).build(True, dai.node.StereoDepth.PresetMode.DEFAULT)
17    remoteConnector.addTopic("pcl", rgbd.pcl, "common")
18
19    p.start()
20    remoteConnector.registerPipeline(p)
21
22    while p.isRunning():
23        key = remoteConnector.waitKey(1)
24        if key == ord("q"):
25            print("Got q key from the remote connection!")
26            break