Queue for stream name doesn't exist

[maupwastaken]

Describe the bug When I am trying to use the ColorCamera Node to display a simple preview I get the error:

libc++abi: terminating due to uncaught exception of type std::runtime_error:
Queue for stream name 'camera' doesn't exist

Minimal Reproducible Example (link is dead) For my IDE I use CLion 2024.2 with C++23. My CMake File looks like this:

cmake_minimum_required(VERSION 3.29)
project(sarcat-oak-firmware)

set(CMAKE_CXX_STANDARD 23)

add_executable(sarcat-oak-firmware
        src/main.cpp
        src/sarcatOakFirmware.cpp)

include_directories(include)

find_package(depthai CONFIG REQUIRED)

find_package(OpenCV REQUIRED COMPONENTS core imgproc highgui)

target_link_libraries(sarcat-oak-firmware PRIVATE depthai::opencv ${OpenCV_LIBS})
target_include_directories(sarcat-oak-firmware PRIVATE ${OpenCV_INCLUDE_DIRS})

I am currently writing a library that serves the purpose of outputting a video stream from the device and implementing a yolov8 network. Currently I am struggling with the video stream.

main.cpp

#include "sarcatOakFirmware.hpp"

sarcatOakFirmware::Oak oak;

int main() {
    oak.start();

    sarcatOakFirmware::Camera camera(640, 640, "camera");

    camera.setVideoStream(true);
    std::cout << camera.display() << std::endl;

    return 0;
}

sarcatOakFirmware.hpp

#ifndef SARCAT_OAK_FIRMWARE_SARCATOAKFIRMWARE_HPP
#define SARCAT_OAK_FIRMWARE_SARCATOAKFIRMWARE_HPP

#include "depthai/depthai.hpp"
#include "opencv2/opencv.hpp"
#include <string>
#include <vector>
#include <memory>

using ERROR = int;

namespace internal {
    extern std::unique_ptr<dai::Pipeline> pipeline;
    extern std::unique_ptr<dai::Device> device;
    extern bool _camera;
}

namespace internal::camera {
    extern std::shared_ptr<dai::node::ColorCamera> _camera;
    extern std::shared_ptr<dai::node::XLinkOut> _cameraOutput;

    extern int _width;
    extern int _height;
    extern std::string _streamName;

    extern bool _isStreamingVideo;
    extern bool _isRecordingVideo;
}

namespace sarcatOakFirmware {
    class Oak {
    public:
        ERROR start();
    };

    class Camera {
    public:
        Camera(int width, int height, const std::string& streamName);
        ERROR setVideoStream(bool enaabled = false);
        ERROR setRecordVideo(bool enabled = false);
        ERROR display();
    };
}

#endif // SARCAT_OAK_FIRMWARE_SARCATOAKFIRMWARE_HPP

sarcatOakFirmware.cpp

#include "sarcatOakFirmware.hpp"

namespace internal {
    std::unique_ptr<dai::Pipeline> pipeline;
    std::unique_ptr<dai::Device> device;
    bool _camera = false;
}

namespace internal::camera{
    std::shared_ptr<dai::node::ColorCamera> _camera;
    std::shared_ptr<dai::node::XLinkOut> _cameraOutput;

    int _width = 0;
    int _height = 0;
    std::string _streamName;

    bool _isStreamingVideo = false;
    bool _isRecordingVideo = false;
}

ERROR sarcatOakFirmware::Oak::start() {
    internal::pipeline = std::make_unique<dai::Pipeline>();
    internal::device = std::make_unique<dai::Device>(*internal::pipeline, dai::UsbSpeed::HIGH);
    return 0;
}

sarcatOakFirmware::Camera::Camera(int width, int height, const std::string& streamName) {
    if (!internal::pipeline) {
        internal::pipeline = std::make_unique<dai::Pipeline>();
    }

    internal::camera::_camera = internal::pipeline->create<dai::node::ColorCamera>();
    internal::camera::_cameraOutput = internal::pipeline->create<dai::node::XLinkOut>();

    internal::camera::_camera->setPreviewSize(width, height);
    internal::camera::_camera->setBoardSocket(dai::CameraBoardSocket::CAM_A);
    internal::camera::_camera->setResolution(dai::ColorCameraProperties::SensorResolution::THE_1080_P);
    internal::camera::_camera->setInterleaved(true);
    internal::camera::_camera->setColorOrder(dai::ColorCameraProperties::ColorOrder::RGB);

    internal::camera::_cameraOutput->setStreamName(streamName);

    internal::camera::_camera->preview.link(internal::camera::_cameraOutput->input);

    internal::camera::_width = width;
    internal::camera::_height = height;
    internal::camera::_streamName = streamName;

    internal::camera::_isStreamingVideo = false;
    internal::camera::_isRecordingVideo = false;
}

ERROR sarcatOakFirmware::Camera::display() {
    if (internal::camera::_isStreamingVideo) {
        if (!internal::device) {
            std::cerr << "Device not initialized!" << std::endl;
            return -1;
        }

        std::cout << "Stream Started, press ESC to Exit!" << std::endl;

        auto cameraQueue = internal::device->getOutputQueue(internal::camera::_cameraOutput->getStreamName(), 8, false);
        while (true) {
            cv::Mat frame = cameraQueue->get<dai::ImgFrame>()->getCvFrame();
            cv::imshow(internal::camera::_streamName, frame);
            if (cv::waitKey(1) == 27) {
                break;
            }
        }
        return 0;
    }
    else {
        return -1;
    }
}

ERROR sarcatOakFirmware::Camera::setVideoStream(bool enabled) {
    internal::camera::_isStreamingVideo = enabled;
    return 0;
}

Expected behavior I should get a window that outputs a 640x640 preview of the Oak Camera.

Screenshots Pipeline Graph Couldn't figure out how to use the tool with c++

[moratom]

@maupwastaken thanks for the issue report!

Would you mind trying to do a simpler MRE where the code would be in a single file?