Camera multiple outputs

1#!/usr/bin/env python3
2
3import sys
4
5import cv2
6import depthai as dai
7import time
8
9# Create pipeline
10
11
12def exit_usage() -> None:
13    print(
14        "WRONG USAGE! correct usage example:\n"
15        "python camera_multiple_outputs.py 640 480 0 30 CAM_A 300 300 0 30 CAM_A 300 300 1 30 CAM_A \n"
16        "where 0 is resize mode: 0 == CROP, 1 == STRETCH, 2 == LETTERBOX\n"
17        "and 30 is FPS"
18    )
19    exit(1)
20
21class FPSCounter:
22    def __init__(self):
23        self.frameTimes = []
24
25    def tick(self):
26        now = time.time()
27        self.frameTimes.append(now)
28        self.frameTimes = self.frameTimes[-100:]
29
30    def getFps(self):
31        if len(self.frameTimes) <= 1:
32            return 0
33        # Calculate the FPS
34        return (len(self.frameTimes) - 1) / (self.frameTimes[-1] - self.frameTimes[0])
35
36
37args = sys.argv[1:]
38if len(args) < 5 or len(args) % 5 != 0:
39    exit_usage()
40
41with dai.Pipeline() as pipeline:
42    cams: dict = {}
43    queues = []
44    for i in range(0, len(args), 5):
45        cap = dai.ImgFrameCapability()
46        cap.size.fixed((int(args[i]), int(args[i + 1])))
47        cropArg = int(args[i + 2])
48        if cropArg == 0:
49            cap.resizeMode = dai.ImgResizeMode.CROP
50        elif cropArg == 1:
51            cap.resizeMode = dai.ImgResizeMode.STRETCH
52        elif cropArg == 2:
53            cap.resizeMode = dai.ImgResizeMode.LETTERBOX
54        else:
55            exit_usage()
56        cap.fps.fixed(float(args[i + 3]))
57        camArg = args[i + 4]
58        socket: dai.CameraBoardSocket
59        if camArg == "CAM_A":
60            socket = dai.CameraBoardSocket.CAM_A
61        elif camArg == "CAM_B":
62            socket = dai.CameraBoardSocket.CAM_B
63        elif camArg == "CAM_C":
64            socket = dai.CameraBoardSocket.CAM_C
65        elif camArg == "CAM_D":
66            socket = dai.CameraBoardSocket.CAM_D
67        else:
68            exit_usage()
69        if socket not in cams:
70            cams[socket] = pipeline.create(dai.node.Camera).build(socket)
71        queues.append(cams[socket].requestOutput(cap, True).createOutputQueue())
72
73    # Connect to device and start pipeline
74    pipeline.start()
75    FPSCounters = [FPSCounter() for _ in queues]
76    while pipeline.isRunning():
77        for index, queue in enumerate(queues):
78            videoIn = queue.tryGet()
79            if videoIn is not None:
80                FPSCounters[index].tick()
81                assert isinstance(videoIn, dai.ImgFrame)
82                print(
83                    f"frame {videoIn.getWidth()}x{videoIn.getHeight()} | {videoIn.getSequenceNum()}: exposure={videoIn.getExposureTime()}us, timestamp: {videoIn.getTimestampDevice()}"
84                )
85                # Get BGR frame from NV12 encoded video frame to show with opencv
86                # Visualizing the frame on slower hosts might have overhead
87                cvFrame = videoIn.getCvFrame()
88                # Draw FPS
89                cv2.putText(cvFrame, f"{FPSCounters[index].getFps():.2f} FPS", (2, 20), cv2.FONT_HERSHEY_SIMPLEX, 0.5, (0, 255, 0))
90                cv2.imshow("video " + str(index), cvFrame)
91
92        if cv2.waitKey(1) == ord("q"):
93            break