I'm trying to get a full resolution image from an Oak-D Lite using the C++ sdk.
I get something, but I'm not quite sure what. What do I need to change to get access to the RGB values? And what is the bit depth of the sensor? Can I access something better than RGB888 ? I noticed in the header that there was something called RAW16, how does the data look for that?
setType doesn't seem to do anything. I segfault if I read more bytes than getWidth()*getHeight()*1.5
I'll add some parts of the code I use below.
// Setup
std::shared_ptr<dai::Pipeline> pipeline;
std::shared_ptr<dai::node::ColorCamera> camRgb;
std::shared_ptr<dai::node::XLinkIn> controlIn;
std::shared_ptr<dai::node::XLinkOut> xoutStillRgb;
std::shared_ptr<dai::DataOutputQueue> qStillRgb;
std::shared_ptr<dai::DataInputQueue> controlQueue;
pipeline = std::make_shared<dai::Pipeline>();
camRgb = c.pipeline->create<dai::node::ColorCamera>();
//image
xoutStillRgb = c.pipeline->create<dai::node::XLinkOut>();
xoutStillRgb->setStreamName("still");
camRgb->setBoardSocket(dai::CameraBoardSocket::CAM_A);
camRgb->setResolution(dai::ColorCameraProperties::SensorResolution::THE_13_MP);
camRgb->setInterleaved(true);
camRgb->setColorOrder(dai::ColorCameraProperties::ColorOrder::RGB);
camRgb->still.link(c.xoutStillRgb->input);
// control
controlIn = c.pipeline->create<dai::node::XLinkIn>();
controlIn->setStreamName("control");
controlIn->out.link(c.camRgb->inputControl);
device = std::make_shared<dai::Device>(*c.pipeline, dai::UsbSpeed::SUPER);
qStillRgb = c.device->getOutputQueue("still");
controlQueue = c.device->getInputQueue("control");
//Get image
dai::CameraControl ctrl;
ctrl.setCaptureStill(true);
controlQueue->send(ctrl);
std::shared_ptr<dai::ImgFrame> inRgb = cam.qStillRgb->get<dai::ImgFrame>();
inRgb->setType(dai::RawImgFrame::Type::RGB888i); //this does nothing?
size_t im_w = inRgb->getWidth();
size_t im_h = inRgb->getHeight();
uint8_t* data_ptr = inRgb->getData().data();
