Hey thanks for your reply @jakaskerl ,
well thats not so easy, because I sourced it out. But maybe a piece of my Pipeline function is enough to find the problem:
PIPE_SPEC = {
"monoRes": dai.MonoCameraProperties.SensorResolution.THE_800_P,
"rgbRes": dai.ColorCameraProperties.SensorResolution.THE_4_K,
"median_kernel": dai.MedianFilter.MEDIAN_OFF,
"fps": 30,
"rgb_iso": 800,
"rgb_exp": 200,
"mono_iso": "auto"
"mono_exp": "auto"
}
def define_pipeline(device: dai.Device, streams: list, **kwargs):
`pipeline = dai.Pipeline() # Initialsieren der Pipeline`
for key, value in kwargs.items():
PIPE_SPEC[key] = value
if "rgb" in streams:
camRgb = pipeline.create(dai.node.ColorCamera)
xoutRgb = pipeline.create(dai.node.XLinkOut)
xoutRgb.setStreamName("rgb")
# Properties for RGB
camRgb.setBoardSocket(dai.CameraBoardSocket.RGB)
camRgb.setResolution(PIPE_SPEC["rgbRes"])
camRgb.setIspScale(2,3)
#camRgb.setPreviewSize(1280,800)
camRgb.setInterleaved(False)
camRgb.setColorOrder(dai.ColorCameraProperties.ColorOrder.RGB)
camRgb.setFps(PIPE_SPEC["fps"])
if isinstance(PIPE_SPEC["rgb_exp"], int):
camRgb.initialControl.setManualExposure(exposureTimeUs=PIPE_SPEC["rgb_exp"],
sensitivityIso=PIPE_SPEC["rgb_iso"])
# Linking
camRgb.isp.link(xoutRgb.input)
monoLeft = pipeline.create(dai.node.MonoCamera)
monoRight = pipeline.create(dai.node.MonoCamera)
# Properties for Mono left
monoLeft.setResolution(PIPE_SPEC["monoRes"])
monoLeft.setBoardSocket(dai.CameraBoardSocket.LEFT)
# Properties for Mono right
monoRight.setResolution(PIPE_SPEC["monoRes"])
monoRight.setBoardSocket(dai.CameraBoardSocket.RIGHT)
h = monoRight.getResolutionHeight()
w = monoRight.getResolutionWidth()
if "monoL" in streams:
xoutMonoL = pipeline.create(dai.node.XLinkOut)
xoutMonoL.setStreamName("monoL")
monoLeft.setFps(PIPE_SPEC["fps"])
if isinstance(PIPE_SPEC["mono_exp"], int):
monoLeft.initialControl.setManualExposure(exposureTimeUs=PIPE_SPEC["mono_exp"],
sensitivityIso=PIPE_SPEC["mono_iso"])
# Linking
monoLeft.out.link(xoutMonoL.input)
if "monoR" in streams:
xoutMonoR = pipeline.create(dai.node.XLinkOut)
xoutMonoR.setStreamName("monoR")
monoRight.setFps(PIPE_SPEC["fps"])
if isinstance(PIPE_SPEC["mono_exp"], int):
monoRight.initialControl.setManualExposure(exposureTimeUs=PIPE_SPEC["mono_exp"],
sensitivityIso=PIPE_SPEC["mono_iso"])
# Linking
monoRight.out.link(xoutMonoR.input)
# Power Laser Dot Projector
device.setIrLaserDotProjectorBrightness(1200)
return pipeline, h, w
I hope this helps