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#include <opencv2/gapi.hpp>
#include <opencv2/gapi/core.hpp>
#include <opencv2/gapi/cpu/core.hpp>
#include <opencv2/gapi/gframe.hpp>
#include <opencv2/gapi/media.hpp>
#include <opencv2/gapi/oak/oak.hpp>
#include <opencv2/gapi/streaming/format.hpp> // BGR accessor
#include <opencv2/highgui.hpp> // CommandLineParser
const std::string keys =
"{ h help | | Print this help message }"
"{ output | output.png | Path to the output file }";
int main(int argc, char *argv[]) {
cv::CommandLineParser cmd(argc, argv, keys);
if (cmd.has("help")) {
cmd.printMessage();
return 0;
}
const std::string output_name = cmd.get<std::string>("output");
std::vector<int> h = {1, 0, -1,
2, 0, -2,
1, 0, -1};
std::vector<int> v = { 1, 2, 1,
0, 0, 0,
-1, -2, -1};
cv::Mat hk(3, 3, CV_32SC1, h.data());
cv::Mat vk(3, 3, CV_32SC1, v.data());
// Heterogeneous pipeline:
// OAK camera -> Sobel -> streaming accessor (CPU)
cv::GFrame in;
cv::GFrame sobel = cv::gapi::oak::sobelXY(in, hk, vk);
// Default camera and then sobel work only with nv12 format
cv::GMat out = cv::gapi::streaming::Y(sobel);
auto args = cv::compile_args(cv::gapi::oak::ColorCameraParams{},
cv::gapi::oak::kernels());
auto pipeline = cv::GComputation(cv::GIn(in), cv::GOut(out)).compileStreaming(std::move(args));
// Graph execution /////////////////////////////////////////////////////////
cv::Mat out_mat(1920, 1080, CV_8UC1);
pipeline.setSource(cv::gapi::wip::make_src<cv::gapi::oak::ColorCamera>());
pipeline.start();
// pull 1 frame
pipeline.pull(cv::gout(out_mat));
cv::imwrite(output_name, out_mat);
std::cout << "Pipeline finished: " << output_name << " file has been written." << std::endl;
}
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