ImageManip 缩放

1import depthai as dai
2import cv2
3
4pipeline = dai.Pipeline()
5device = pipeline.getDefaultDevice()
6
7camRgb = pipeline.create(dai.node.Camera).build(dai.CameraBoardSocket.CAM_A)
8manip = pipeline.create(dai.node.ImageManip)
9
10# GPU is not available on RVC2 and some RVC4 devices
11manip.setBackend(dai.node.ImageManip.Backend.GPU if device.hasGPU() else
12                 dai.node.ImageManip.Backend.CPU)
13
14manip.initialConfig.setOutputSize(300, 300, dai.ImageManipConfig.ResizeMode.STRETCH)
15
16camOut = camRgb.requestOutput((1920, 1080))
17camOut.link(manip.inputImage)
18
19manipQ = manip.out.createOutputQueue()
20camQ = camOut.createOutputQueue()
21
22pipeline.start()
23
24while True:
25    if manipQ.has():
26        cv2.imshow("Manip frame", manipQ.get().getCvFrame())
27    if camQ.has():
28        cv2.imshow("Camera frame", camQ.get().getCvFrame())
29    key = cv2.waitKey(1)
30    if key == ord('q'):
31        break

1#include <atomic>
2#include <csignal>
3
4#include "depthai/depthai.hpp"
5#include "depthai/pipeline/datatype/ImgFrame.hpp"
6#include "depthai/pipeline/node/Camera.hpp"
7#include "depthai/pipeline/node/ImageManip.hpp"
8
9std::atomic<bool> quitEvent(false);
10
11void signalHandler(int) {
12    quitEvent = true;
13}
14
15int main(int argc, char** argv) {
16    signal(SIGTERM, signalHandler);
17    signal(SIGINT, signalHandler);
18
19    std::shared_ptr<dai::Device> device = nullptr;
20    if(argc <= 1) {
21        device = std::make_shared<dai::Device>();
22    } else {
23        device = std::make_shared<dai::Device>(argv[1]);
24    }
25    dai::Pipeline pipeline(device);
26
27    auto camRgb = pipeline.create<dai::node::Camera>()->build(dai::CameraBoardSocket::CAM_A);
28    auto manip = pipeline.create<dai::node::ImageManip>();
29
30    // GPU is not available on RVC2 and some RVC4 devices
31    manip->setBackend(device->hasGPU() ? dai::node::ImageManip::Backend::GPU : dai::node::ImageManip::Backend::CPU);
32
33    // Resize to 400x400 and avoid stretching by cropping from the center
34    manip->initialConfig->setOutputSize(400, 400, dai::ImageManipConfig::ResizeMode::CENTER_CROP);
35    // Set output frame type
36    manip->initialConfig->setFrameType(dai::ImgFrame::Type::RGB888i);
37
38    camRgb->requestOutput((std::make_pair(1920, 1080)))->link(manip->inputImage);
39    auto outputQueue = manip->out.createOutputQueue();
40
41    pipeline.start();
42    while(pipeline.isRunning() && !quitEvent) {
43        auto imgFrame = outputQueue->get<dai::ImgFrame>();
44        cv::imshow("Resized Frame", imgFrame->getCvFrame());
45        int key = cv::waitKey(1);
46        if(key == 'q') {
47            break;
48        }
49    }
50
51    pipeline.stop();
52    pipeline.wait();
53
54    return 0;
55}