Holistic Record

1#!/usr/bin/env python3
2
3import cv2
4import depthai as dai
5import argparse
6from pathlib import Path
7
8parser = argparse.ArgumentParser()
9parser.add_argument("-o", "--output", default="recordings", help="Output path")
10args = parser.parse_args()
11
12# Create output directory if it doesn't exist
13Path(args.output).mkdir(parents=True, exist_ok=True)
14
15# Create pipeline
16with dai.Pipeline(True) as pipeline:
17    # Define source and output
18    camA = pipeline.create(dai.node.Camera).build(dai.CameraBoardSocket.CAM_A)
19    camAOut = camA.requestOutput((600, 400))
20    camB = pipeline.create(dai.node.Camera).build(dai.CameraBoardSocket.CAM_B)
21    camBOut = camB.requestOutput((600, 400))
22    camC = pipeline.create(dai.node.Camera).build(dai.CameraBoardSocket.CAM_C)
23    camCOut = camC.requestOutput((600, 400))
24
25    imu = pipeline.create(dai.node.IMU)
26    imu.enableIMUSensor(dai.IMUSensor.ACCELEROMETER_RAW, 500)
27    imu.enableIMUSensor(dai.IMUSensor.GYROSCOPE_RAW, 400)
28    imu.setBatchReportThreshold(100)
29
30    config = dai.RecordConfig()
31    config.outputDir = args.output
32    config.videoEncoding.enabled = True
33    config.videoEncoding.bitrate = 0 # Automatic
34    config.videoEncoding.profile = dai.VideoEncoderProperties.Profile.H264_MAIN
35
36    pipeline.enableHolisticRecord(config)
37
38    videoQueueA = camAOut.createOutputQueue()
39    videoQueueB = camBOut.createOutputQueue()
40    videoQueueC = camCOut.createOutputQueue()
41    imuQueue = imu.out.createOutputQueue()
42
43    # Connect to device and start pipeline
44    pipeline.start()
45    while pipeline.isRunning():
46        videoInA : dai.ImgFrame = videoQueueA.get()
47        videoInB : dai.ImgFrame = videoQueueB.get()
48        videoInC : dai.ImgFrame = videoQueueC.get()
49        imuData : dai.IMUData = imuQueue.tryGetAll()
50
51        # Get BGR frame from NV12 encoded video frame to show with opencv
52        # Visualizing the frame on slower hosts might have overhead
53        cv2.imshow("video", videoInA.getCvFrame())
54        if imuData:
55            for packet in imuData[0].packets:
56                print(f"IMU Accelerometer: {packet.acceleroMeter}")
57                print(f"IMU Gyroscope: {packet.gyroscope}")
58
59            if cv2.waitKey(1) == ord('q'):
60                break