#!/usr/bin/env python3

import cv2

import depthai as dai

# Start defining a pipeline

pipeline = dai.Pipeline()

cam = pipeline.create(dai.node.ColorCamera)

# Not needed, you can display 1080P frames as well

cam.setIspScale(1,2)

# Script node

script = pipeline.create(dai.node.Script)

script.setScript("""

ctrl = CameraControl()

ctrl.setCaptureStill(True)

# Initially send still event

node.io['ctrl'].send(ctrl)

normal = True

while True:

frame = node.io['frames'].get()

if normal:

ctrl.setAutoExposureCompensation(3)

node.io['stream1'].send(frame)

normal = False

else:

ctrl.setAutoExposureCompensation(-3)

node.io['stream2'].send(frame)

normal = True

node.io['ctrl'].send(ctrl)

""")

cam.still.link(script.inputs['frames'])

# XLinkOut

xout1 = pipeline.create(dai.node.XLinkOut)

xout1.setStreamName('stream1')

script.outputs['stream1'].link(xout1.input)

xout2 = pipeline.create(dai.node.XLinkOut)

xout2.setStreamName('stream2')

script.outputs['stream2'].link(xout2.input)

script.outputs['ctrl'].link(cam.inputControl)

# Connect to device with pipeline

with dai.Device(pipeline) as device:

qStream1 = device.getOutputQueue("stream1")

qStream2 = device.getOutputQueue("stream2")

while True:

cv2.imshow('stream1', qStream1.get().getCvFrame())

cv2.imshow('stream2', qStream2.get().getCvFrame())

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

break