# UVC 与视差 本示例演示如何将您的OAK设备用作UVC网络摄像头。UVC功能允许您在诸如OpenCV的cv2.VideoCapture()、原生相机应用等程序中将OAK设备作为常规网络摄像头使用。 ### 工作原理： [StereoDepth](https://docs.luxonis.com/software/depthai-components/nodes/stereo_depth.md)节点以UINT8格式输出图像数据。然而，[UVC](https://docs.luxonis.com/software/depthai-components/nodes/uvc.md)节点期望接收NV12格式的数据。为了桥接这一差异，使用一个中间节点[ImageManip](https://docs.luxonis.com/software/depthai-components/nodes/image_manip.md)将MonoCamera节点的GRAY8输出转换为NV12格式，然后传递给UVC节点进行流式传输。 这不适用于深度输出，因为深度是UINT16格式，无法转换为NV12。 如果启用亚像素视差功能，此示例将无法工作，因为该功能同样输出UINT16格式。 ### 类似示例： * [UVC 与彩色相机](https://docs.luxonis.com/software/depthai/examples/uvc_rgb.md) * [UVC 与单目相机](https://docs.luxonis.com/software/depthai/examples/uvc_mono.md) ## 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)。 ## 用于测试的代码 ```python import cv2 # 初始化VideoCapture对象，使用默认相机（相机索引0为网络摄像头） cap = cv2.VideoCapture(1) # 检查相机是否成功打开 if not cap.isOpened(): print("错误：无法打开相机。") exit() # 循环持续从相机获取帧 while True: ret, frame = cap.read() if not ret: print("错误：无法读取帧。") break cv2.imshow('视频流', frame) if cv2.waitKey(1) & 0xFF == ord('q'): break cap.release() cv2.destroyAllWindows() ``` ## 源代码 #### Python ```python #!/usr/bin/env python3 import time import depthai as dai pipeline = dai.Pipeline() # Define a source - two mono (grayscale) cameras mono_left = pipeline.createMonoCamera() mono_right = pipeline.createMonoCamera() mono_left.setResolution(dai.MonoCameraProperties.SensorResolution.THE_720_P) mono_left.setBoardSocket(dai.CameraBoardSocket.CAM_B) mono_right.setResolution(dai.MonoCameraProperties.SensorResolution.THE_720_P) mono_right.setBoardSocket(dai.CameraBoardSocket.CAM_C) # Create stereo depth stereo = pipeline.createStereoDepth() stereo.initialConfig.setConfidenceThreshold(255) stereo.setLeftRightCheck(True) # 0.190 values, better for visualization stereo.setExtendedDisparity(True) # Create an UVC (USB Video Class) output node uvc = pipeline.createUVC() # Manip for frame type conversion manip = pipeline.createImageManip() manip.initialConfig.setResize(1280, 720) manip.initialConfig.setFrameType(dai.RawImgFrame.Type.NV12) manip.initialConfig.setColormap(dai.Colormap.STEREO_TURBO, stereo.initialConfig.getMaxDisparity()) manip.setMaxOutputFrameSize(int(1280*720*1.5)) # Linking mono_left.out.link(stereo.left) mono_right.out.link(stereo.right) stereo.disparity.link(manip.inputImage) manip.out.link(uvc.input) # Note: if the pipeline is sent later to device (using startPipeline()), # it is important to pass the device config separately when creating the device config = dai.Device.Config() config.board.uvc = dai.BoardConfig.UVC(1280, 720) config.board.uvc.frameType = dai.ImgFrame.Type.NV12 # config.board.uvc.cameraName = "My Custom Cam" pipeline.setBoardConfig(config.board) # Standard UVC load with depthai with dai.Device(pipeline) as device: # Dot projector device.setIrLaserDotProjectorBrightness(765) print("\nDevice started, please keep this process running") print("and open an UVC viewer to check the camera stream.") print("\nTo close: Ctrl+C") # Doing nothing here, just keeping the host feeding the watchdog while True: try: time.sleep(0.1) except KeyboardInterrupt: break ``` ## 管道 ### examples/uvc_disparity.pipeline.json ```json { "pipeline": { "connections": [ { "node1Id": 0, "node1Output": "out", "node1OutputGroup": "", "node2Id": 2, "node2Input": "left", "node2InputGroup": "" }, { "node1Id": 1, "node1Output": "out", "node1OutputGroup": "", "node2Id": 2, "node2Input": "right", "node2InputGroup": "" }, { "node1Id": 2, "node1Output": "disparity", "node1OutputGroup": "", "node2Id": 4, "node2Input": "inputImage", "node2InputGroup": "" }, { "node1Id": 4, "node1Output": "out", "node1OutputGroup": "", "node2Id": 3, "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": "", "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": 3, "numFramesPoolRaw": 3, "rawPacked": null, "resolution": 0 } } ], [ 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": 2, "cameraName": "", "fps": 30.0, "imageOrientation": -1, "initialControl": { "aeLockMode": false, "aeMaxExposureTimeUs": 0, "aeRegion": { "height": 0, "priority": 0, 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"group": "", "id": 9, "name": "inputConfig", "queueSize": 4, "type": 3, "waitForMessage": false } ], [ [ "", "left" ], { "blocking": false, "group": "", "id": 10, "name": "left", "queueSize": 8, "type": 3, "waitForMessage": true } ], [ [ "", "debugExtDispLrCheckIt1" ], { "blocking": false, "group": "", "id": 22, "name": "debugExtDispLrCheckIt1", "queueSize": 8, "type": 0, "waitForMessage": false } ], [ [ "", "right" ], { "blocking": false, "group": "", "id": 11, "name": "right", "queueSize": 8, "type": 3, "waitForMessage": true } ], [ [ "", "syncedLeft" ], { "blocking": false, "group": "", "id": 12, "name": "syncedLeft", "queueSize": 8, "type": 0, "waitForMessage": false } ], [ [ "", "depth" ], { "blocking": false, "group": "", "id": 13, "name": "depth", "queueSize": 8, "type": 0, "waitForMessage": false } ], [ [ "", "disparity" ], { "blocking": false, "group": "", "id": 14, "name": "disparity", "queueSize": 8, "type": 0, "waitForMessage": false } ], [ [ "", "syncedRight" ], { 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"confidenceMap", "queueSize": 8, "type": 0, "waitForMessage": false } ], [ [ "", "outConfig" ], { "blocking": false, "group": "", "id": 18, "name": "outConfig", "queueSize": 8, "type": 0, "waitForMessage": false } ], [ [ "", "debugDispLrCheckIt1" ], { "blocking": false, "group": "", "id": 19, "name": "debugDispLrCheckIt1", "queueSize": 8, "type": 0, "waitForMessage": false } ] ], "name": "StereoDepth", "properties": { "alphaScaling": null, "baseline": null, "depthAlignCamera": -1, "depthAlignmentUseSpecTranslation": null, "disparityToDepthUseSpecTranslation": null, "enableRectification": true, "enableRuntimeStereoModeSwitch": false, "focalLength": null, "focalLengthFromCalibration": true, "height": null, "initialConfig": { "algorithmControl": { "centerAlignmentShiftFactor": null, "customDepthUnitMultiplier": 1000.0, "depthAlign": 0, "depthUnit": 2, "disparityShift": 0, "enableExtended": true, "enableLeftRightCheck": true, "enableSubpixel": false, "leftRightCheckThreshold": 10, "numInvalidateEdgePixels": 0, "subpixelFractionalBits": 3 }, "censusTransform": { "enableMeanMode": true, "kernelMask": 0, "kernelSize": -1, "threshold": 0 }, "costAggregation": { "divisionFactor": 1, "horizontalPenaltyCostP1": 250, "horizontalPenaltyCostP2": 500, "verticalPenaltyCostP1": 250, "verticalPenaltyCostP2": 500 }, "costMatching": { "confidenceThreshold": 255, "disparityWidth": 1, "enableCompanding": false, "invalidDisparityValue": 0, "linearEquationParameters": { "alpha": 0, "beta": 2, "threshold": 127 } }, "postProcessing": { "bilateralSigmaValue": 0, "brightnessFilter": { "maxBrightness": 256, "minBrightness": 0 }, "decimationFilter": { "decimationFactor": 1, "decimationMode": 0 }, "median": 5, "spatialFilter": { "alpha": 0.5, "delta": 0, "enable": false, "holeFillingRadius": 2, "numIterations": 1 }, "speckleFilter": { "enable": false, "speckleRange": 50 }, "temporalFilter": { "alpha": 0.4000000059604645, "delta": 0, "enable": false, "persistencyMode": 3 }, "thresholdFilter": { "maxRange": 65535, "minRange": 0 } } }, "mesh": { "meshLeftUri": "", "meshRightUri": "", "meshSize": null, "stepHeight": 16, "stepWidth": 16 }, "numFramesPool": 3, "numPostProcessingMemorySlices": -1, "numPostProcessingShaves": -1, "outHeight": null, "outKeepAspectRatio": true, "outWidth": null, "rectificationUseSpecTranslation": null, "rectifyEdgeFillColor": 0, "useHomographyRectification": null, "width": null } } ], [ 3, { "id": 3, "ioInfo": [ [ [ "", "in" ], { "blocking": true, "group": "", "id": 25, "name": "in", "queueSize": 8, "type": 3, "waitForMessage": true } ] ], "name": "UVC", "properties": { "gpioInit": [], "gpioStreamOff": [], "gpioStreamOn": [] } } ], [ 4, { "id": 4, "ioInfo": [ [ [ "", "inputConfig" ], { "blocking": true, "group": "", "id": 26, "name": "inputConfig", "queueSize": 8, "type": 3, "waitForMessage": false } ], [ [ "", "inputImage" ], { "blocking": true, "group": "", "id": 27, "name": "inputImage", "queueSize": 8, "type": 3, "waitForMessage": true } ], [ [ "", "out" ], { "blocking": false, "group": "", "id": 28, "name": "out", "queueSize": 8, "type": 0, "waitForMessage": false } ] ], "name": "ImageManip", "properties": { "initialConfig": { "cropConfig": { "cropRatio": 1.0, "cropRect": { "xmax": 0.0, "xmin": 0.0, "ymax": 0.0, "ymin": 0.0 }, "cropRotatedRect": { "angle": 0.0, "center": { "x": 0.0, "y": 0.0 }, "size": { "height": 0.0, "width": 0.0 } }, "enableCenterCropRectangle": false, "enableRotatedRect": false, "normalizedCoords": true, "widthHeightAspectRatio": 1.0 }, "enableCrop": false, "enableFormat": true, "enableResize": true, "formatConfig": { "colormap": 3, "colormapMax": 190, "colormapMin": 0, "flipHorizontal": false, "flipVertical": false, "type": 22 }, "interpolation": -1, "resizeConfig": { "bgBlue": 0, "bgGreen": 0, "bgRed": 0, "enableRotation": false, "enableWarp4pt": false, "enableWarpMatrix": false, "height": 720, "keepAspectRatio": true, "lockAspectRatioFill": false, "normalizedCoords": true, "rotationAngleDeg": 0.0, "warpBorderReplicate": false, "warpFourPoints": [], "warpMatrix3x3": [], "width": 1280 }, "reusePreviousImage": false, "skipCurrentImage": false }, "meshHeight": 0, "meshUri": "", "meshWidth": 0, "numFramesPool": 4, "outputFrameSize": 1382400 } } ] ] } } ``` ### 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。