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Merge pull request #937 from luxonis/release_v2.24.0.0
Release v2.24.0.0
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Submodule depthai-core
updated
43 files
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,57 @@ | ||
| import depthai as dai | ||
| import time | ||
| from datetime import timedelta | ||
|
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| pipeline = dai.Pipeline() | ||
|
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| script1 = pipeline.create(dai.node.Script) | ||
| script1.setScript(""" | ||
| from time import sleep | ||
| while True: | ||
| sleep(1) | ||
| b = Buffer(512) | ||
| b.setData(bytes(4 * [i for i in range(0, 128)])) | ||
| b.setTimestamp(Clock.now()) | ||
| node.io['out'].send(b) | ||
| """) | ||
|
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| script2 = pipeline.create(dai.node.Script) | ||
| script2.setScript(""" | ||
| from time import sleep | ||
| while True: | ||
| sleep(0.3) | ||
| b = Buffer(512) | ||
| b.setData(bytes(4 * [i for i in range(128, 256)])) | ||
| b.setTimestamp(Clock.now()) | ||
| node.io['out'].send(b) | ||
| """) | ||
|
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| sync = pipeline.create(dai.node.Sync) | ||
| sync.setSyncThresholdMs(timedelta(milliseconds=100)) | ||
|
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| demux = pipeline.create(dai.node.MessageDemux) | ||
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| xout1 = pipeline.create(dai.node.XLinkOut) | ||
| xout1.setStreamName("xout1") | ||
| xout2 = pipeline.create(dai.node.XLinkOut) | ||
| xout2.setStreamName("xout2") | ||
|
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| script1.outputs["out"].link(sync.inputs["s1"]) | ||
| script2.outputs["out"].link(sync.inputs["s2"]) | ||
| sync.out.link(demux.input) | ||
| demux.outputs["s1"].link(xout1.input) | ||
| demux.outputs["s2"].link(xout2.input) | ||
|
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| with dai.Device(pipeline) as device: | ||
| print("Start") | ||
| q1 = device.getOutputQueue("xout1", maxSize=10, blocking=True) | ||
| q2 = device.getOutputQueue("xout2", maxSize=10, blocking=True) | ||
| while True: | ||
| bufS1 = q1.get() | ||
| bufS2 = q2.get() | ||
| print(f"Buffer 1 timestamp: {bufS1.getTimestamp()}") | ||
| print(f"Buffer 2 timestamp: {bufS2.getTimestamp()}") | ||
| print("----------") | ||
| time.sleep(0.2) |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,49 @@ | ||
| import depthai as dai | ||
| import numpy as np | ||
| import cv2 | ||
| from datetime import timedelta | ||
|
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| pipeline = dai.Pipeline() | ||
|
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| monoLeft = pipeline.create(dai.node.MonoCamera) | ||
| monoRight = pipeline.create(dai.node.MonoCamera) | ||
| color = pipeline.create(dai.node.ColorCamera) | ||
| stereo = pipeline.create(dai.node.StereoDepth) | ||
| sync = pipeline.create(dai.node.Sync) | ||
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| xoutGrp = pipeline.create(dai.node.XLinkOut) | ||
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| xoutGrp.setStreamName("xout") | ||
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| monoLeft.setResolution(dai.MonoCameraProperties.SensorResolution.THE_400_P) | ||
| monoLeft.setCamera("left") | ||
| monoRight.setResolution(dai.MonoCameraProperties.SensorResolution.THE_400_P) | ||
| monoRight.setCamera("right") | ||
|
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| stereo.setDefaultProfilePreset(dai.node.StereoDepth.PresetMode.HIGH_ACCURACY) | ||
|
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| color.setCamera("color") | ||
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| sync.setSyncThreshold(timedelta(milliseconds=50)) | ||
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| monoLeft.out.link(stereo.left) | ||
| monoRight.out.link(stereo.right) | ||
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| stereo.disparity.link(sync.inputs["disparity"]) | ||
| color.video.link(sync.inputs["video"]) | ||
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| sync.out.link(xoutGrp.input) | ||
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| disparityMultiplier = 255.0 / stereo.initialConfig.getMaxDisparity() | ||
| with dai.Device(pipeline) as device: | ||
| queue = device.getOutputQueue("xout", 10, False) | ||
| while True: | ||
| msgGrp = queue.get() | ||
| for name, msg in msgGrp: | ||
| frame = msg.getCvFrame() | ||
| if name == "disparity": | ||
| frame = (frame * disparityMultiplier).astype(np.uint8) | ||
| frame = cv2.applyColorMap(frame, cv2.COLORMAP_JET) | ||
| cv2.imshow(name, frame) | ||
| if cv2.waitKey(1) == ord("q"): | ||
| break |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,59 @@ | ||
| import depthai as dai | ||
| import numpy as np | ||
| import cv2 | ||
| from datetime import timedelta | ||
|
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| device = dai.Device() | ||
|
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| imuType = device.getConnectedIMU() | ||
| imuFirmwareVersion = device.getIMUFirmwareVersion() | ||
| print(f"IMU type: {imuType}, firmware version: {imuFirmwareVersion}") | ||
|
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| if imuType != "BNO086": | ||
| print("Rotation vector output is supported only by BNO086!") | ||
| exit(0) | ||
|
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| pipeline = dai.Pipeline() | ||
|
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| color = pipeline.create(dai.node.ColorCamera) | ||
| imu = pipeline.create(dai.node.IMU) | ||
| sync = pipeline.create(dai.node.Sync) | ||
| xoutImu = pipeline.create(dai.node.XLinkOut) | ||
| xoutImu.setStreamName("imu") | ||
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| xoutGrp = pipeline.create(dai.node.XLinkOut) | ||
| xoutGrp.setStreamName("xout") | ||
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| color.setCamera("color") | ||
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| imu.enableIMUSensor(dai.IMUSensor.ROTATION_VECTOR, 120) | ||
| imu.setBatchReportThreshold(1) | ||
| imu.setMaxBatchReports(10) | ||
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| sync.setSyncThreshold(timedelta(milliseconds=10)) | ||
| sync.setSyncAttempts(-1) | ||
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| color.video.link(sync.inputs["video"]) | ||
| imu.out.link(sync.inputs["imu"]) | ||
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| sync.out.link(xoutGrp.input) | ||
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| with device: | ||
| device.startPipeline(pipeline) | ||
| groupQueue = device.getOutputQueue("xout", 3, True) | ||
| while True: | ||
| groupMessage = groupQueue.get() | ||
| imuMessage = groupMessage["imu"] | ||
| colorMessage = groupMessage["video"] | ||
| print() | ||
| print("Device timestamp imu: " + str(imuMessage.getTimestampDevice())) | ||
| print("Device timestamp video:" + str(colorMessage.getTimestampDevice())) | ||
| latestRotationVector = imuMessage.packets[-1].rotationVector | ||
| imuF = "{:.4f}" | ||
| print(f"Quaternion: i: {imuF.format(latestRotationVector.i)} j: {imuF.format(latestRotationVector.j)} " | ||
| f"k: {imuF.format(latestRotationVector.k)} real: {imuF.format(latestRotationVector.real)}") | ||
| print() | ||
| cv2.imshow("video", colorMessage.getCvFrame()) | ||
| if cv2.waitKey(1) == ord("q"): | ||
| break |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,53 @@ | ||
| import depthai as dai | ||
| import time | ||
| from datetime import timedelta | ||
|
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| pipeline = dai.Pipeline() | ||
|
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| script1 = pipeline.create(dai.node.Script) | ||
| script1.setScript(""" | ||
| from time import sleep | ||
| while True: | ||
| sleep(1) | ||
| b = Buffer(512) | ||
| b.setData(bytes(4 * [i for i in range(0, 128)])) | ||
| b.setTimestamp(Clock.now()) | ||
| node.io['out'].send(b) | ||
| """) | ||
|
|
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| script2 = pipeline.create(dai.node.Script) | ||
| script2.setScript(""" | ||
| from time import sleep | ||
| while True: | ||
| sleep(0.3) | ||
| b = Buffer(512) | ||
| b.setData(bytes(4 * [i for i in range(128, 256)])) | ||
| b.setTimestamp(Clock.now()) | ||
| node.io['out'].send(b) | ||
| """) | ||
|
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| sync = pipeline.create(dai.node.Sync) | ||
| sync.setSyncThreshold(timedelta(milliseconds=100)) | ||
|
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| xout = pipeline.create(dai.node.XLinkOut) | ||
| xout.setStreamName("xout") | ||
|
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| sync.out.link(xout.input) | ||
|
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| script1.outputs["out"].link(sync.inputs["s1"]) | ||
| script2.outputs["out"].link(sync.inputs["s2"]) | ||
|
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| # script1.outputs["out"].link(xout.input) | ||
|
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| with dai.Device(pipeline) as device: | ||
| print("Start") | ||
| q = device.getOutputQueue("xout", maxSize=10, blocking=True) | ||
| while True: | ||
| grp = q.get() | ||
| for name, msg in grp: | ||
| print(f"Received {name} with timestamp {msg.getTimestamp()}") | ||
| print(f"Time interval between messages: {grp.getIntervalNs() / 1e6}ms") | ||
| print("----------") | ||
| time.sleep(0.2) |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,69 @@ | ||
| #!/usr/bin/env python3 | ||
|
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| import depthai as dai | ||
|
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| def frametype2str(ft): | ||
| if ft == dai.EncodedFrame.FrameType.I: | ||
| return "I" | ||
| elif ft == dai.EncodedFrame.FrameType.P: | ||
| return "P" | ||
| elif ft == dai.EncodedFrame.FrameType.B: | ||
| return "B" | ||
|
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| def compress(ls): | ||
| curr = ls[0] | ||
| count = 1 | ||
| res = [] | ||
| for i in range(1, len(ls)): | ||
| if ls[i] == curr: | ||
| count += 1 | ||
| else: | ||
| res.append((count, curr)) | ||
| curr = ls[i] | ||
| count = 1 | ||
| res.append((count, curr)) | ||
| return res | ||
|
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| # Create pipeline | ||
| pipeline = dai.Pipeline() | ||
|
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| # Define sources and output | ||
| camRgb = pipeline.create(dai.node.ColorCamera) | ||
| videoEnc = pipeline.create(dai.node.VideoEncoder) | ||
| xout = pipeline.create(dai.node.XLinkOut) | ||
|
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| xout.setStreamName('h265') | ||
|
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| # Properties | ||
| camRgb.setBoardSocket(dai.CameraBoardSocket.CAM_A) | ||
| camRgb.setResolution(dai.ColorCameraProperties.SensorResolution.THE_4_K) | ||
| videoEnc.setDefaultProfilePreset(30, dai.VideoEncoderProperties.Profile.H265_MAIN) | ||
|
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| # Linking | ||
| camRgb.video.link(videoEnc.input) | ||
| videoEnc.out.link(xout.input) | ||
|
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| frametypes = [] | ||
| # Connect to device and start pipeline | ||
| with dai.Device(pipeline) as device: | ||
|
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| # Output queue will be used to get the encoded data from the output defined above | ||
| q = device.getOutputQueue(name="h265", maxSize=30, blocking=True) | ||
|
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| # The .h265 file is a raw stream file (not playable yet) | ||
| with open('video.h265', 'wb') as videoFile: | ||
| print("Press Ctrl+C to stop encoding...") | ||
| try: | ||
| while True: | ||
| h265Packet = q.get() # Blocking call, will wait until a new data has arrived | ||
| frametypes.append(frametype2str(h265Packet.getFrameType())) | ||
| h265Packet.getData().tofile(videoFile) # Appends the packet data to the opened file | ||
| except KeyboardInterrupt: | ||
| # Keyboard interrupt (Ctrl + C) detected | ||
| pass | ||
|
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| print("To view the encoded data, convert the stream file (.h265) into a video file (.mp4) using a command below:") | ||
| print("ffmpeg -framerate 30 -i video.h265 -c copy video.mp4") | ||
|
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| print(",".join([f"{c}{f}" for c, f in compress(frametypes)])) |
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