45、OAK基本接口学习笔记＆调用左右GAY相机和中间的RGB相机

基本思想：记录学习oak基本使用,学习demo和oak官方视频教程记录

一、读取左相机的灰度图

cmakelists.txt

cmake_minimum_required(VERSION 3.16)
project(depthai)
set(CMAKE_CXX_STANDARD 11)
find_package(OpenCV REQUIRED)
#message(STATUS ${OpenCV_INCLUDE_DIRS})
#添加头文件
include_directories(${OpenCV_INCLUDE_DIRS})
include_directories(${CMAKE_SOURCE_DIR}/include)
include_directories(${CMAKE_SOURCE_DIR}/include/utility)
#链接Opencv库
find_package(depthai CONFIG REQUIRED)
add_executable(depthai main.cpp include/utility/utility.cpp)
target_link_libraries(depthai ${OpenCV_LIBS}  depthai::opencv)

main.cpp

#include <chrono>

#include "utility.hpp"

#include "depthai/depthai.hpp"


int main(int argc, char** argv) {
    dai::Pipeline pipeline;
    auto mono=pipeline.create<dai::node::MonoCamera>();
    mono->setBoardSocket(dai::CameraBoardSocket::LEFT);

    auto xlinkOut=pipeline.create<dai::node::XLinkOut>();
    xlinkOut->setStreamName("left");

    mono->out.link(xlinkOut->input);

    dai::Device device(pipeline);
    auto queue=device.getOutputQueue("left");
    auto frame=queue->get<dai::ImgFrame>();
    auto image=frame->getCvFrame();
    cv::imwrite("a.jpg",image);

    return 0;
}

测试结果

 取帧显示

#include <chrono>

#include "utility.hpp"

#include "depthai/depthai.hpp"


int main(int argc, char** argv) {
    dai::Pipeline pipeline;
    //定义左相机
    auto mono=pipeline.create<dai::node::MonoCamera>();
    mono->setBoardSocket(dai::CameraBoardSocket::LEFT);
    //定义输出
    auto xlinkOut=pipeline.create<dai::node::XLinkOut>();
    xlinkOut->setStreamName("left");
    //相机和输出链接
    mono->out.link(xlinkOut->input);
    //结构推送相机
    dai::Device device(pipeline);
    //取帧显示
    auto queue=device.getOutputQueue("left");

    while(1){
        auto frame=queue->get<dai::ImgFrame>();
        auto image=frame->getCvFrame();
        cv::imshow("image",image);
        cv::waitKey(1);
        cv::imwrite("a.jpg",image);
    }


    return 0;
}

二、双目获取帧和彩色获取帧

#include <chrono>

#include "utility.hpp"

#include "depthai/depthai.hpp"


int main(int argc, char** argv) {
    dai::Pipeline pipeline;
    //定义左相机
    auto Leftmono=pipeline.create<dai::node::MonoCamera>();
    Leftmono->setBoardSocket(dai::CameraBoardSocket::LEFT);
    auto Rigthmono=pipeline.create<dai::node::MonoCamera>();
    Rigthmono->setBoardSocket(dai::CameraBoardSocket::RIGHT);
    //定义输出
    auto xlinkLeftOut=pipeline.create<dai::node::XLinkOut>();
    xlinkLeftOut->setStreamName("left");
    auto xlinkRightOut=pipeline.create<dai::node::XLinkOut>();
    xlinkRightOut->setStreamName("right");
    //相机和输出链接
    Leftmono->out.link(xlinkLeftOut->input);
    Rigthmono->out.link(xlinkRightOut->input);
    //结构推送相机
    dai::Device device(pipeline);
    //取帧显示
    auto Leftqueue=device.getOutputQueue("left",1);//maxsize 代表缓冲数据
    auto Rightqueue=device.getOutputQueue("right",1);//maxsize 代表缓冲数据
    while(1){

        auto Leftframe=Leftqueue->get<dai::ImgFrame>();
        auto Rightframe=Rightqueue->get<dai::ImgFrame>();
        auto Leftimage=Leftframe->getCvFrame();
        auto Rightimage=Rightframe->getCvFrame();
        cv::Mat result;
        cv::hconcat(Leftimage, Rightimage, result);

        cv::imshow("image",result);
        cv::waitKey(1);

    }

    return 0;
}

测试结果

彩色相机，这个例子官方demo是存在的

#include <chrono>

#include "utility.hpp"

#include "depthai/depthai.hpp"


int main(int argc, char** argv) {
    dai::Pipeline pipeline;
    //定义左相机
    auto mono=pipeline.create<dai::node::ColorCamera>();
    mono->setBoardSocket(dai::CameraBoardSocket::RGB);

    //定义输出
    auto xlinkOut=pipeline.create<dai::node::XLinkOut>();
    xlinkOut->setStreamName("rgb");

    //相机和输出链接
    mono->video.link(xlinkOut->input);
   ;
    //结构推送相机
    dai::Device device(pipeline);
    //取帧显示
    auto queue=device.getOutputQueue("rgb",1);//maxsize 代表缓冲数据
    while(1){

        auto frame=queue->get<dai::ImgFrame>();

        auto image=frame->getCvFrame();

        cv::imshow("image",image);
        cv::waitKey(1);

    }

参考：

​​OpenCV CEO教你用OAK（一）_哔哩哔哩_bilibili​​