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33 lines
1.0 KiB
Python
33 lines
1.0 KiB
Python
import depthai as dai
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import numpy as np
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from camera.base_camera import Camera
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class OakCamera(Camera):
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def __init__(self, resolution=(640, 480), fps=30, mirror=False):
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self.pipeline = dai.Pipeline()
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cam = self.pipeline.create(dai.node.ColorCamera)
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cam.setPreviewSize(resolution[0], resolution[1])
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cam.setInterleaved(False)
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cam.setFps(fps)
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cam.setColorOrder(dai.ColorCameraProperties.ColorOrder.BGR)
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xout = self.pipeline.create(dai.node.XLinkOut)
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xout.setStreamName("preview")
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cam.preview.link(xout.input)
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self.device = dai.Device(self.pipeline)
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self.q = self.device.getOutputQueue(name="preview", maxSize=4, blocking=False)
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self.mirror = mirror
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def get_frame(self):
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in_frame = self.q.tryGet()
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if in_frame is None:
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return None
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frame = in_frame.getCvFrame()
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if self.mirror:
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frame = cv2.flip(frame, 1)
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return frame
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def release(self):
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self.device.close()
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