python调用OAK相机实现人脸检测的简单demo

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于 2023-09-20 16:35:27 发布 · 485 阅读

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#数码相机

本文介绍了如何在OAK-D-Pro设备上使用DepthAI进行环境配置，包括配置MonoCamera和StereoDepth，以及利用预训练模型进行人脸检测和深度测量。提供了test_depthai.py和test_model_depthai.py代码示例，展示了如何实现实时的图像处理和结果展示。

基本思想：学习oak双目相机的使用复现官网demo和简单的人脸检测

前言：

设备型号：OAK-D-Pro

一、环境配置参考

台式机ubuntu系统调用OAK相机_MFT小白的博客-优快云博客

二、测试

2.1 test_depthai.py

按下 t 键可实现图像切换，观察视差。

import depthai as dai
import cv2
import numpy as np


# # 实例化管道对象
# pipeline = dai.Pipeline()

# mono = pipeline.createMonoCamera()
# mono.setBoardSocket(dai.CameraBoardSocket.LEFT)

# xout = pipeline.createXLinkOut()
# xout.setStreamName("left")
# mono.out.link(xout.input)

# with dai.Device(pipeline) as device:
#     queue = device.getOutputQueue(name="left")
#     frame = queue.get()
#     imOut = frame.getCvFrame()
#     cv2.imshow("imOut", imOut)
#     cv2.waitKey()

def getFrame(queue):
    # Get frame from queue
    frame = queue.get()
    # Convert frame to OpenCV format and return
    return frame.getCvFrame()


def getMonoCamera(pipeline, isLeft):

    # Configure mono camera
    mono = pipeline.createMonoCamera()

    # Set Camera Resolution
    mono.setResolution(dai.MonoCameraProperties.SensorResolution.THE_400_P)

    if isLeft:
        # Get left camera
        mono.setBoardSocket(dai.CameraBoardSocket.LEFT)

    else :
        # Get right camera
        mono.setBoardSocket(dai.CameraBoardSocket.RIGHT)

    return mono


def getStereoPair(pipeline, monoLeft, monoRight):

    # Configure stereo pair for depth estimation
    stereo = pipeline.createStereoDepth()

    # Checks occluded pixels and marks them as invalid
    stereo.setLeftRightCheck(True)

    # Configure left and right cameras to work as a stereo pair
    monoLeft.out.link(stereo.left)
    monoRight.out.link(stereo.right)

    return stereo


def mouseCallback(event, x, y, flags, param):
    global mouseX, mouseY
    if event == cv2.EVENT_LBUTTONDOWN:
        mouseX = x
        mouseY = y


if __name__ == '__main__':
    
    # pipeline = dai.Pipeline()

    # # Set up left and right cameras
    # monoLeft = getMonoCamera(pipeline, isLeft = True)
    # monoRight = getMonoCamera(pipeline, isLeft = False)

    # # Set output Xlink for left camera
    # xoutLeft = pipeline.createXLinkOut()

    # xoutLeft.setStreamName("left")


    # # Set output Xlink for right camera
    # xoutRight = pipeline.createXLinkOut()

    # xoutRight.setStreamName("right")

    # # Attach cameras to output Xlink

    # monoLeft.out.link(xoutLeft.input)

    # monoRight.out.link(xoutRight.input)
    
    
    mouseX = 0
    mouseY = 640

    # Start defining a pipeline
    pipeline = dai.Pipeline()

    # Set up left and right cameras
    monoLeft = getMonoCamera(pipeline,

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