Hi, I was looking for functions in DepthAI core for following points: 1. To check if the stream has started. 2. To capture still images from the stream 3. To preview retrieved data 4. To convert depth image to 3D coordinates (PointCloud data) Could you please share examples (if any) to achieve above points.

Hi @"ManjiriNerurkar"#p5542 ! 1. On the host you can check whether any message has arrived from the OAK camera, using `queue.has()` 2. [Example here](https://docs.luxonis.com/projects/api/en/latest/samples/ColorCamera/rgb_camera_control/#rgb-camera-control), pressing `c` key will capture still img 3. Almost all examples showcase that.. Basic example [here](https://docs.luxonis.com/projects/api/en/latest/samples/ColorCamera/rgb_video/#rgb-video) 4. [Demo here](https://github.com/luxonis/depthai-experiments/tree/master/gen2-pointcloud) I hope this helps! Thanks, Erik

Hi @"erik"#p5547 !! Thank you for your assistance. It helped a lot. >1. To capture still images from the stream --> Where are the captured stills stored? >4. To convert depth image to 3D coordinates (PointCloud data) --> the demo shared has python code. Is this available in C++?

Functions in DepthAI core

ManjiriNerurkar

Hi,
I was looking for functions in DepthAI core for following points:

To check if the stream has started.
To capture still images from the stream
To preview retrieved data
To convert depth image to 3D coordinates (PointCloud data)

Could you please share examples (if any) to achieve above points.

erik

Hi ManjiriNerurkar !

On the host you can check whether any message has arrived from the OAK camera, using queue.has()
Example here, pressing c key will capture still img
Almost all examples showcase that.. Basic example here
Demo here

I hope this helps!
Thanks, Erik

ManjiriNerurkar

Hi erik !!

Thank you for your assistance. It helped a lot.

To capture still images from the stream
--> Where are the captured stills stored?

To convert depth image to 3D coordinates (PointCloud data)
--> the demo shared has python code. Is this available in C++?

erik

Hi ManjiriNerurkar ,

Where are the captured stills stored?

Nowhere. They are generated and you will get them from ColorCamera.still output. You can link the .still to XLinkOut to send them to host computer, and there you can eg. save them to a computer with cv2.imsave().

No, that demo is only available in python, but from depthai perspective it's exactly the same API, and I think the same applies for open3d as well.

Thanks, Erik