# 单目预览 - 点阵投影器和照明LED交替 本示例将在红外照明LED和红外点阵投影器之间交替切换。默认情况下，示例脚本将以30FPS运行左右两个单色摄像头传感器，并在每一帧之间切换红外LED和点阵投影器——这意味着您将以15FPS获得LED照明帧，并以15FPS获得点阵投影器照明帧。 LED照明帧可用于在低光环境下的[AI视觉任务](https://docs.luxonis.com/software/perception/neural-networks.md#ai-vision-tasks)和计算机视觉算法（例如[Feature Tracker](https://docs.luxonis.com/software/depthai/examples/feature_tracker.md)）。点阵投影器照明帧用于[主动立体深度](https://docs.luxonis.com/hardware/platform/features/ir-perception/dot-projector.md)。 ## 演示 在视频中，我们大约有一秒钟同时禁用了投影器和LED，只是为了展示在几乎完全黑暗的环境中场景的样子。 ## 设置 请运行[安装脚本](https://github.com/luxonis/depthai-python/blob/main/examples/install_requirements.py)以下载所有必需的依赖项。请注意，此脚本必须在 git 上下文中运行，因此您需要先下载 [depthai-python](https://github.com/luxonis/depthai-python) 仓库，然后运行该脚本。 ```bash git clone https://github.com/luxonis/depthai-python.git cd depthai-python/examples python3 install_requirements.py ``` 更多信息，请参考[安装指南](https://docs.luxonis.com/software/depthai/manual-install.md)。 ## 源代码 #### Python ```python #!/usr/bin/env python3 import cv2 import depthai as dai if 1: # PoE config fps = 30 res = dai.MonoCameraProperties.SensorResolution.THE_400_P poolSize = 24 # default 3, increased to prevent desync else: # USB fps = 30 res = dai.MonoCameraProperties.SensorResolution.THE_720_P poolSize = 8 # default 3, increased to prevent desync # Create pipeline pipeline = dai.Pipeline() # Define sources and outputs monoL = pipeline.create(dai.node.MonoCamera) monoR = pipeline.create(dai.node.MonoCamera) monoL.setCamera("left") monoL.setResolution(res) monoL.setFps(fps) monoL.setNumFramesPool(poolSize) monoR.setCamera("right") monoR.setResolution(res) monoR.setFps(fps) monoR.setNumFramesPool(poolSize) xoutDotL = pipeline.create(dai.node.XLinkOut) xoutDotR = pipeline.create(dai.node.XLinkOut) xoutFloodL = pipeline.create(dai.node.XLinkOut) xoutFloodR = pipeline.create(dai.node.XLinkOut) xoutDotL.setStreamName('dot-left') xoutDotR.setStreamName('dot-right') xoutFloodL.setStreamName('flood-left') xoutFloodR.setStreamName('flood-right') streams = ['dot-left', 'dot-right', 'flood-left', 'flood-right'] # Script node for frame routing and IR dot/flood alternate script = pipeline.create(dai.node.Script) script.setProcessor(dai.ProcessorType.LEON_CSS) script.setScript(""" dotBright = 0.8 floodBright = 0.1 LOGGING = False # Set `True` for latency/timings debugging node.warn(f'IR drivers detected: {str(Device.getIrDrivers())}') flagDot = False while True: # Wait first for a frame event, received at MIPI start-of-frame event = node.io['event'].get() if LOGGING: tEvent = Clock.now() # Immediately reconfigure the IR driver. # Note the logic is inverted, as it applies for next frame Device.setIrLaserDotProjectorIntensity(0 if flagDot else dotBright) Device.setIrFloodLightIntensity(floodBright if flagDot else 0) if LOGGING: tIrSet = Clock.now() # Wait for the actual frames (after MIPI capture and ISP proc is done) frameL = node.io['frameL'].get() if LOGGING: tLeft = Clock.now() frameR = node.io['frameR'].get() if LOGGING: tRight = Clock.now() if LOGGING: latIR = (tIrSet - tEvent ).total_seconds() * 1000 latEv = (tEvent - event.getTimestamp() ).total_seconds() * 1000 latProcL = (tLeft - event.getTimestamp() ).total_seconds() * 1000 diffRecvRL = (tRight - tLeft ).total_seconds() * 1000 node.warn(f'T[ms] latEv:{latEv:5.3f} latIR:{latIR:5.3f} latProcL:{latProcL:6.3f} ' + f' diffRecvRL:{diffRecvRL:5.3f}') # Sync checks diffSeq = frameL.getSequenceNum() - event.getSequenceNum() diffTsEv = (frameL.getTimestamp() - event.getTimestamp()).total_seconds() * 1000 diffTsRL = (frameR.getTimestamp() - frameL.getTimestamp()).total_seconds() * 1000 if diffSeq or diffTsEv or (abs(diffTsRL) > 0.8): node.error(f'frame/event desync! Fr-Ev: {diffSeq} frames,' + f' {diffTsEv:.3f} ms; R-L: {diffTsRL:.3f} ms') # Route the frames to their respective outputs node.io['dotL' if flagDot else 'floodL'].send(frameL) node.io['dotR' if flagDot else 'floodR'].send(frameR) flagDot = not flagDot """) # Linking monoL.frameEvent.link(script.inputs['event']) monoL.out.link(script.inputs['frameL']) monoR.out.link(script.inputs['frameR']) script.outputs['dotL'].link(xoutDotL.input) script.outputs['dotR'].link(xoutDotR.input) script.outputs['floodL'].link(xoutFloodL.input) script.outputs['floodR'].link(xoutFloodR.input) # Connect to device and start pipeline with dai.Device(pipeline) as device: queues = [device.getOutputQueue(name=s, maxSize=4, blocking=False) for s in streams] while True: for q in queues: pkt = q.tryGet() if pkt is not None: name = q.getName() frame = pkt.getCvFrame() cv2.imshow(name, frame) if cv2.waitKey(5) == ord('q'): break ``` #### C++ 开发中 ## 管道 ### examples/mono_preview_alternate_pro.pipeline.json ```json { "pipeline": { "connections": [ { "node1Id": 0, "node1Output": "frameEvent", "node1OutputGroup": "", "node2Id": 6, "node2Input": "event", "node2InputGroup": "io" }, { "node1Id": 0, "node1Output": "out", "node1OutputGroup": "", "node2Id": 6, "node2Input": "frameL", "node2InputGroup": "io" }, { "node1Id": 1, "node1Output": "out", "node1OutputGroup": "", "node2Id": 6, "node2Input": "frameR", "node2InputGroup": "io" }, { "node1Id": 6, "node1Output": "dotL", "node1OutputGroup": "io", "node2Id": 2, "node2Input": "in", "node2InputGroup": "" }, { "node1Id": 6, "node1Output": "dotR", "node1OutputGroup": "io", "node2Id": 3, "node2Input": "in", "node2InputGroup": "" }, { "node1Id": 6, "node1Output": "floodL", "node1OutputGroup": "io", "node2Id": 4, "node2Input": "in", "node2InputGroup": "" }, { "node1Id": 6, "node1Output": "floodR", "node1OutputGroup": "io", "node2Id": 5, "node2Input": "in", "node2InputGroup": "" } ], "globalProperties": { "calibData": null, "cameraTuningBlobSize": null, "cameraTuningBlobUri": "", "leonCssFrequencyHz": 700000000.0, "leonMssFrequencyHz": 700000000.0, "pipelineName": null, "pipelineVersion": null, "sippBufferSize": 18432, "sippDmaBufferSize": 16384, "xlinkChunkSize": -1 }, "nodes": [ [ 0, { "id": 0, "ioInfo": [ [ [ "", "inputControl" ], { "blocking": true, "group": "", "id": 1, "name": "inputControl", "queueSize": 8, "type": 3, "waitForMessage": false } ], [ [ "", "out" ], { "blocking": false, "group": "", "id": 2, "name": "out", "queueSize": 8, "type": 0, "waitForMessage": false } ], [ [ "", "raw" ], { "blocking": false, "group": "", "id": 3, "name": "raw", "queueSize": 8, "type": 0, "waitForMessage": false } ], [ [ "", "frameEvent" ], { "blocking": false, "group": "", "id": 4, "name": "frameEvent", "queueSize": 8, "type": 0, "waitForMessage": false } ] ], "name": "MonoCamera", "properties": { "boardSocket": -1, "cameraName": "left", "fps": 30.0, "imageOrientation": -1, "initialControl": { "aeLockMode": false, "aeMaxExposureTimeUs": 0, "aeRegion": { "height": 0, "priority": 0, "width": 0, "x": 0, "y": 0 }, "afRegion": { "height": 0, "priority": 0, "width": 0, "x": 0, "y": 0 }, "antiBandingMode": 0, "autoFocusMode": 3, "awbLockMode": false, "awbMode": 0, "brightness": 0, "captureIntent": 0, "chromaDenoise": 0, "cmdMask": 0, "contrast": 0, "controlMode": 0, "effectMode": 0, "expCompensation": 0, "expManual": { "exposureTimeUs": 0, "frameDurationUs": 0, "sensitivityIso": 0 }, "frameSyncMode": 0, "lensPosAutoInfinity": 0, "lensPosAutoMacro": 0, "lensPosition": 0, "lensPositionRaw": 0.0, "lowPowerNumFramesBurst": 0, "lowPowerNumFramesDiscard": 0, "lumaDenoise": 0, "saturation": 0, "sceneMode": 0, "sharpness": 0, "strobeConfig": { "activeLevel": 0, "enable": 0, "gpioNumber": 0 }, "strobeTimings": { "durationUs": 0, "exposureBeginOffsetUs": 0, "exposureEndOffsetUs": 0 }, "wbColorTemp": 0 }, "isp3aFps": 0, "numFramesPool": 24, "numFramesPoolRaw": 3, "rawPacked": null, "resolution": 2 } } ], [ 1, { "id": 1, "ioInfo": [ [ [ "", "inputControl" ], { "blocking": true, "group": "", "id": 5, "name": "inputControl", "queueSize": 8, "type": 3, "waitForMessage": false } ], [ [ "", "out" ], { "blocking": false, "group": "", "id": 6, "name": "out", "queueSize": 8, "type": 0, "waitForMessage": false } ], [ [ "", "raw" ], { "blocking": false, "group": "", "id": 7, "name": "raw", "queueSize": 8, "type": 0, "waitForMessage": false } ], [ [ "", "frameEvent" ], { "blocking": false, "group": "", "id": 8, "name": "frameEvent", "queueSize": 8, "type": 0, "waitForMessage": false } ] ], "name": "MonoCamera", "properties": { "boardSocket": -1, "cameraName": "right", "fps": 30.0, "imageOrientation": -1, "initialControl": { "aeLockMode": false, "aeMaxExposureTimeUs": 0, "aeRegion": { "height": 0, "priority": 0, "width": 0, "x": 0, "y": 0 }, "afRegion": { "height": 0, "priority": 0, "width": 0, "x": 0, "y": 0 }, "antiBandingMode": 0, "autoFocusMode": 3, "awbLockMode": false, "awbMode": 0, "brightness": 0, "captureIntent": 0, "chromaDenoise": 0, "cmdMask": 0, "contrast": 0, "controlMode": 0, "effectMode": 0, "expCompensation": 0, "expManual": { "exposureTimeUs": 0, "frameDurationUs": 0, "sensitivityIso": 0 }, "frameSyncMode": 0, "lensPosAutoInfinity": 0, "lensPosAutoMacro": 0, "lensPosition": 0, "lensPositionRaw": 0.0, "lowPowerNumFramesBurst": 0, "lowPowerNumFramesDiscard": 0, "lumaDenoise": 0, "saturation": 0, "sceneMode": 0, "sharpness": 0, "strobeConfig": { "activeLevel": 0, "enable": 0, "gpioNumber": 0 }, "strobeTimings": { "durationUs": 0, "exposureBeginOffsetUs": 0, "exposureEndOffsetUs": 0 }, "wbColorTemp": 0 }, "isp3aFps": 0, "numFramesPool": 24, "numFramesPoolRaw": 3, "rawPacked": null, "resolution": 2 } } ], [ 2, { "id": 2, "ioInfo": [ [ [ "", "in" ], { "blocking": true, "group": "", "id": 9, "name": "in", "queueSize": 8, "type": 3, "waitForMessage": true } ] ], "name": "XLinkOut", "properties": { "maxFpsLimit": -1.0, "metadataOnly": false, "streamName": "dot-left" } } ], [ 3, { "id": 3, "ioInfo": [ [ [ "", "in" ], { "blocking": true, "group": "", "id": 10, "name": "in", "queueSize": 8, "type": 3, "waitForMessage": true } ] ], "name": "XLinkOut", "properties": { "maxFpsLimit": -1.0, "metadataOnly": false, "streamName": "dot-right" } } ], [ 4, { "id": 4, "ioInfo": [ [ [ "", "in" ], { "blocking": true, "group": "", "id": 11, "name": "in", "queueSize": 8, "type": 3, "waitForMessage": true } ] ], "name": "XLinkOut", "properties": { "maxFpsLimit": -1.0, "metadataOnly": false, "streamName": "flood-left" } } ], [ 5, { "id": 5, "ioInfo": [ [ [ "", "in" ], { "blocking": true, "group": "", "id": 12, "name": "in", "queueSize": 8, "type": 3, "waitForMessage": true } ] ], "name": "XLinkOut", "properties": { "maxFpsLimit": -1.0, "metadataOnly": false, "streamName": "flood-right" } } ], [ 6, { "id": 6, "ioInfo": [ [ [ "io", "event" ], { "blocking": true, "group": "io", "id": 13, "name": "event", "queueSize": 8, "type": 3, "waitForMessage": false } ], [ [ "io", "frameL" ], { "blocking": true, "group": "io", "id": 14, "name": "frameL", "queueSize": 8, "type": 3, "waitForMessage": false } ], [ [ "io", "dotR" ], { "blocking": false, "group": "io", "id": 17, "name": "dotR", "queueSize": 8, "type": 0, "waitForMessage": false } ], [ [ "io", "frameR" ], { "blocking": true, "group": "io", "id": 15, "name": "frameR", "queueSize": 8, "type": 3, "waitForMessage": false } ], [ [ "io", "dotL" ], { "blocking": false, "group": "io", "id": 16, "name": "dotL", "queueSize": 8, "type": 0, "waitForMessage": false } ], [ [ "io", "floodL" ], { "blocking": false, "group": "io", "id": 18, "name": "floodL", "queueSize": 8, "type": 0, "waitForMessage": false } ], [ [ "io", "floodR" ], { "blocking": false, "group": "io", "id": 19, "name": "floodR", "queueSize": 8, "type": 0, "waitForMessage": false } ] ], "name": "Script", "properties": { "processor": 0, "scriptName": "