#!/usr/bin/env python3

import cv2

import depthai as dai

# Start defining a pipeline

pipeline = dai.Pipeline()

# Define a source - color camera

camRgb = pipeline.createColorCamera()

camRgb.setPreviewSize(300, 300)

camRgb.setBoardSocket(dai.CameraBoardSocket.RGB)

camRgb.setResolution(dai.ColorCameraProperties.SensorResolution.THE_1080_P)

camRgb.setInterleaved(False)

camRgb.setColorOrder(dai.ColorCameraProperties.ColorOrder.RGB)

# Create output

xoutRgb = pipeline.createXLinkOut()

xoutRgb.setStreamName("rgb")

camRgb.preview.link(xoutRgb.input)

# Pipeline defined, now the device is connected to

with dai.Device(pipeline) as device:

# Start pipeline

device.startPipeline()

# Output queue will be used to get the rgb frames from the output defined above

qRgb = device.getOutputQueue(name="rgb", maxSize=4, blocking=False)

while True:

inRgb = qRgb.get() # blocking call, will wait until a new data has arrived

# Retrieve 'bgr' (opencv format) frame

cv2.imshow("bgr", inRgb.getCvFrame())

if cv2.waitKey(1) == ord('q'):

break