Merge pull request #556 from luxonis/multi_device_example

Added an example with multiple devices

examples/CMakeLists.txt

@@ -250,6 +250,7 @@ dai_add_example(mono_depth_mobilenetssd mixed/mono_depth_mobilenetssd.cpp ON)
 dai_add_example(rgb_encoding_mono_mobilenet mixed/rgb_encoding_mono_mobilenet.cpp ON)
 dai_add_example(rgb_encoding_mono_mobilenet_depth mixed/rgb_encoding_mono_mobilenet_depth.cpp ON)
 dai_add_example(rgb_encoding_mobilenet mixed/rgb_encoding_mobilenet.cpp ON)
+dai_add_example(multiple_devices mixed/multiple_devices.cpp OFF)
 
 target_compile_definitions(mono_depth_mobilenetssd PRIVATE BLOB_PATH="${mobilenet_blob}")
 target_compile_definitions(rgb_encoding_mono_mobilenet PRIVATE BLOB_PATH="${mobilenet_blob}")

examples/mixed/multiple_devices.cpp

@@ -0,0 +1,74 @@
+#include <chrono>
+#include <iostream>
+
+// Includes common necessary includes for development using depthai library
+#include "depthai/depthai.hpp"
+
+std::shared_ptr<dai::Pipeline> createPipeline() {
+    // Start defining a pipeline
+    auto pipeline = std::make_shared<dai::Pipeline>();
+    // Define a source - color camera
+    auto camRgb = pipeline->create<dai::node::ColorCamera>();
+
+    camRgb->setPreviewSize(300, 300);
+    camRgb->setBoardSocket(dai::CameraBoardSocket::RGB);
+    camRgb->setResolution(dai::ColorCameraProperties::SensorResolution::THE_1080_P);
+    camRgb->setInterleaved(false);
+
+    // Create output
+    auto xoutRgb = pipeline->create<dai::node::XLinkOut>();
+    xoutRgb->setStreamName("rgb");
+    camRgb->preview.link(xoutRgb->input);
+
+    return pipeline;
+}
+
+int main(int argc, char** argv) {
+    auto deviceInfoVec = dai::Device::getAllAvailableDevices();
+    const auto usbSpeed = dai::UsbSpeed::SUPER;
+    auto openVinoVersion = dai::OpenVINO::Version::VERSION_2021_4;
+
+    std::map<std::string, std::shared_ptr<dai::DataOutputQueue>> qRgbMap;
+    std::vector<std::shared_ptr<dai::Device>> devices;
+
+    for(auto& deviceInfo : deviceInfoVec) {
+        auto device = std::make_shared<dai::Device>(openVinoVersion, deviceInfo, usbSpeed);
+        devices.push_back(device);
+        std::cout << "===Connected to " << deviceInfo.getMxId() << std::endl;
+        auto mxId = device->getMxId();
+        auto cameras = device->getConnectedCameras();
+        auto usbSpeed = device->getUsbSpeed();
+        auto eepromData = device->readCalibration2().getEepromData();
+        std::cout << "   >>> MXID:" << mxId << std::endl;
+        std::cout << "   >>> Num of cameras:" << cameras.size() << std::endl;
+        std::cout << "   >>> USB speed:" << usbSpeed << std::endl;
+        if(eepromData.boardName != ""){
+            std::cout << "   >>> Board name:" << eepromData.boardName << std::endl;
+        }
+        if(eepromData.productName != ""){
+            std::cout << "   >>> Product name:" << eepromData.productName << std::endl;
+        }
+        auto pipeline = createPipeline();
+        device->startPipeline(*pipeline);
+
+        auto qRgb = device->getOutputQueue("rgb", 4, false);
+        std::string streamName = "rgb-" + eepromData.productName + mxId;
+        qRgbMap.insert({streamName, qRgb});
+    }
+    while(true) {
+        for(auto& element : qRgbMap) {
+            auto qRgb = element.second;
+            auto streamName = element.first;
+            auto inRgb = qRgb->tryGet<dai::ImgFrame>();
+            if(inRgb != nullptr) {
+                cv::imshow(streamName, inRgb->getCvFrame());
+            }
+        }
+
+        int key = cv::waitKey(1);
+        if(key == 'q' || key == 'Q') {
+            return 0;
+        }
+    }
+    return 0;
+}