#!/usr/bin/env python3

import cv2

import depthai as dai

with dai.Device() as device:

pipeline = dai.Pipeline()

cams = device.getConnectedCameraFeatures()

sync = pipeline.create(dai.node.Sync)

for cam in cams:

print(str(cam), str(cam.socket), cam.socket)

cam_node = pipeline.create(dai.node.Camera)

cam_node.setBoardSocket(cam.socket)

cam_node.isp.link(sync.inputs[str(cam.socket)])

xout = pipeline.create(dai.node.XLinkOut)

xout.setStreamName('sync')

sync.out.link(xout.input)

# Start pipeline

device.startPipeline(pipeline)

q = device.getOutputQueue('sync', maxSize=10, blocking=False)

while not device.isClosed():

msgs = q.get()

for (name, imgFrame) in msgs:

print(f'Cam {name}, seq {imgFrame.getSequenceNum()}, tiemstamp {imgFrame.getTimestamp()}')

cv2.imshow(name, imgFrame.getCvFrame())

print('----')

if cv2.waitKey(1) == ord('q'):

break