RGBD 自动创建

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    colorSockets = p.getDefaultDevice().getConnectedCameras(dai.CameraSensorType.COLOR)
17    colorSocket = colorSockets[0] if colorSockets else dai.CameraBoardSocket.CAM_A
18    color = p.create(dai.node.Camera).build(colorSocket)
19    depth = p.create(dai.node.Depth).build(dai.node.Depth.Algorithm.AUTO, None, (640, 400))
20    rgbd = p.create(dai.node.RGBD).build(color, depth)
21    remoteConnector.addTopic("pcl", rgbd.pcl, "common")
22
23    p.start()
24    remoteConnector.registerPipeline(p)
25
26    while p.isRunning():
27        key = remoteConnector.waitKey(1)
28        if key == ord("q"):
29            print("Got q key from the remote connection!")
30            break