def next_frame(self):
self.fps.update()
if self.input_type == "rgb":
# Send cropping information to manip node on device
cfg = dai.ImageManipConfig()
points = [
[self.crop_region.xmin, self.crop_region.ymin],
[self.crop_region.xmax - 1, self.crop_region.ymin],
[self.crop_region.xmax - 1, self.crop_region.ymax - 1],
[self.crop_region.xmin, self.crop_region.ymax - 1],
]
point2fList = []
for p in points:
pt = dai.Point2f()
pt.x, pt.y = p[0], p[1]
point2fList.append(pt)
cfg.setWarpTransformFourPoints(point2fList, False)
cfg.setResize(self.pd_input_length, self.pd_input_length)
cfg.setFrameType(dai.ImgFrame.Type.RGB888p)
self.q_manip_cfg.send(cfg)
# Get the device camera frame if wanted
if self.laconic:
frame = np.zeros((self.frame_size, self.frame_size, 3),
dtype=np.uint8)
else:
in_video = self.q_video.get()
frame = in_video.getCvFrame()
else:
if self.input_type == "image":
frame = self.img.copy()
else:
ok, frame = self.cap.read()
if not ok:
return None, None
# Cropping of the video frame
cropped = self.crop_and_resize(frame, self.crop_region)
cropped = cv2.cvtColor(cropped,
cv2.COLOR_BGR2RGB).transpose(2, 0, 1)
frame_nn = dai.ImgFrame()
frame_nn.setTimestamp(time.monotonic())
frame_nn.setWidth(self.pd_input_length)
frame_nn.setHeight(self.pd_input_length)
frame_nn.setData(cropped)
self.q_pd_in.send(frame_nn)
# Get result from device
inference = self.q_pd_out.get()
body = self.pd_postprocess(inference)
self.crop_region = body.next_crop_region
# Statistics
if self.stats:
self.nb_frames += 1
self.nb_pd_inferences += 1
return frame, body
resizeX = resizeMaxW // resizeFactor
resizeY = resizeMaxH // resizeFactor
print("Crop region resized to: ", resizeX, 'x', resizeY)
elif key == ord(keyWarpTestCycle):
# Disable resizing initially
resizeFactor = 0
warpIdx = (warpIdx + 1) % len(warpList)
testFourPt = True
testDescription = warpList[warpIdx][2]
print("Warp 4-point transform: ", testDescription)
elif key == ord('h'):
printControls()
# Send an updated config with continuous rotate, or after a key press
if key >= 0 or (not testFourPt and abs(rotateRate) > 0.0001):
cfg = dai.ImageManipConfig()
if testFourPt:
test = warpList[warpIdx]
points, normalized = test[0], test[1]
point2fList = []
for p in points:
pt = dai.Point2f()
pt.x, pt.y = p[0], p[1]
point2fList.append(pt)
cfg.setWarpTransformFourPoints(point2fList, normalized)
else:
angleDeg += rotateRate
rotatedRect = ((320, 240), (400, 400), angleDeg)
rr = dai.RotatedRect()
rr.center.x, rr.center.y = rotatedRect[0]
rr.size.width, rr.size.height = rotatedRect[1]
