# OpenCV 支持 本示例展示了同时支持 NumPy 和 OpenCV 兼容图像类型的 API，以便于使用。它使用 ColorCamera 节点来获取 BGR 交错格式的 'preview' 帧和 NV12 编码的 'video' 帧。两者均通过 getFrame 和 getCvFrame 函数显示。 ## 演示 ## 安装 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 # Create pipeline pipeline = dai.Pipeline() # Define source and outputs camRgb = pipeline.create(dai.node.ColorCamera) xoutVideo = pipeline.create(dai.node.XLinkOut) xoutPreview = pipeline.create(dai.node.XLinkOut) xoutVideo.setStreamName("video") xoutPreview.setStreamName("preview") # Properties camRgb.setPreviewSize(300, 300) camRgb.setBoardSocket(dai.CameraBoardSocket.CAM_A) camRgb.setResolution(dai.ColorCameraProperties.SensorResolution.THE_1080_P) camRgb.setInterleaved(True) camRgb.setColorOrder(dai.ColorCameraProperties.ColorOrder.BGR) # Linking camRgb.video.link(xoutVideo.input) camRgb.preview.link(xoutPreview.input) # Connect to device and start pipeline with dai.Device(pipeline) as device: video = device.getOutputQueue('video') preview = device.getOutputQueue('preview') while True: videoFrame = video.get() previewFrame = preview.get() # Get BGR frame from NV12 encoded video frame to show with opencv cv2.imshow("video", videoFrame.getCvFrame()) # Show 'preview' frame as is (already in correct format, no copy is made) cv2.imshow("preview", previewFrame.getFrame()) if cv2.waitKey(1) == ord('q'): break ``` #### C++ ```cpp #include // Includes common necessary includes for development using depthai library #include "depthai/depthai.hpp" // Include OpenCV #include int main() { // Create pipeline dai::Pipeline pipeline; // Define source and outputs auto camRgb = pipeline.create(); auto xoutVideo = pipeline.create(); auto xoutPreview = pipeline.create(); xoutVideo->setStreamName("video"); xoutPreview->setStreamName("preview"); // Properties camRgb->setPreviewSize(300, 300); camRgb->setBoardSocket(dai::CameraBoardSocket::CAM_A); camRgb->setResolution(dai::ColorCameraProperties::SensorResolution::THE_1080_P); camRgb->setInterleaved(true); camRgb->setColorOrder(dai::ColorCameraProperties::ColorOrder::BGR); // Linking camRgb->video.link(xoutVideo->input); camRgb->preview.link(xoutPreview->input); // Connect to device and start pipeline dai::Device device(pipeline); auto video = device.getOutputQueue("video"); auto preview = device.getOutputQueue("preview"); while(true) { auto videoFrame = video->get(); auto previewFrame = preview->get(); // Get BGR frame from NV12 encoded video frame to show with opencv cv::imshow("video", videoFrame->getCvFrame()); // Show 'preview' frame as is (already in correct format, no copy is made) cv::imshow("preview", previewFrame->getFrame()); int key = cv::waitKey(1); if(key == 'q' || key == 'Q') return 0; } return 0; } ``` ## 管道 ### examples/opencv_support.pipeline.json ```json { "pipeline": { "connections": [ { "node1Id": 0, "node1Output": "video", "node1OutputGroup": "", "node2Id": 1, "node2Input": "in", "node2InputGroup": "" }, { "node1Id": 0, "node1Output": "preview", "node1OutputGroup": "", "node2Id": 2, "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": [ [ [ "", "inputConfig" ], { "blocking": false, "group": "", "id": 1, "name": "inputConfig", "queueSize": 8, "type": 3, "waitForMessage": false } ], [ [ "", "raw" ], { "blocking": false, "group": "", "id": 6, "name": "raw", "queueSize": 8, "type": 0, "waitForMessage": false } ], [ [ "", "still" ], { "blocking": false, "group": "", "id": 7, "name": "still", "queueSize": 8, "type": 0, "waitForMessage": false } ], [ [ "", "inputControl" ], { "blocking": true, "group": "", "id": 2, "name": "inputControl", "queueSize": 8, "type": 3, "waitForMessage": false } ], [ [ "", "video" ], { "blocking": false, "group": "", "id": 3, "name": "video", "queueSize": 8, "type": 0, "waitForMessage": false } ], [ [ "", "isp" ], { "blocking": false, "group": "", "id": 4, "name": "isp", "queueSize": 8, "type": 0, "waitForMessage": false } ], [ [ "", "preview" ], { "blocking": false, "group": "", "id": 5, "name": "preview", "queueSize": 8, "type": 0, "waitForMessage": false } ], [ [ "", "frameEvent" ], { "blocking": false, "group": "", "id": 8, "name": "frameEvent", "queueSize": 8, "type": 0, "waitForMessage": false } ] ], "name": "ColorCamera", "properties": { "boardSocket": 0, "cameraName": "", "colorOrder": 0, "fp16": false, "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 }, "interleaved": true, "isp3aFps": 0, "ispScale": { "horizDenominator": 0, "horizNumerator": 0, "vertDenominator": 0, "vertNumerator": 0 }, "numFramesPoolIsp": 3, "numFramesPoolPreview": 4, "numFramesPoolRaw": 3, "numFramesPoolStill": 4, "numFramesPoolVideo": 4, "previewHeight": 300, "previewKeepAspectRatio": true, "previewWidth": 300, "rawPacked": null, "resolution": 0, "sensorCropX": -1.0, "sensorCropY": -1.0, "stillHeight": -1, "stillWidth": -1, "videoHeight": -1, "videoWidth": -1 } } ], [ 1, { "id": 1, "ioInfo": [ [ [ "", "in" ], { "blocking": true, "group": "", "id": 9, "name": "in", "queueSize": 8, "type": 3, "waitForMessage": true } ] ], "name": "XLinkOut", "properties": { "maxFpsLimit": -1.0, "metadataOnly": false, "streamName": "video" } } ], [ 2, { "id": 2, "ioInfo": [ [ [ "", "in" ], { "blocking": true, "group": "", "id": 10, "name": "in", "queueSize": 8, "type": 3, "waitForMessage": true } ] ], "name": "XLinkOut", "properties": { "maxFpsLimit": -1.0, "metadataOnly": false, "streamName": "preview" } } ] ] } } ``` ### 需要帮助？ 请前往 [OAKChina 官网](https://www.oakchina.cn/) 获取技术支持或解答您的任何疑问。