'{:6.2f}'.format(dict_['sensors']['temperature']['upa0']),
' DSS:' +
'{:6.2f}'.format(dict_['sensors']['temperature']['upa1']))
frame_count[packet.stream_name] += 1
json_stream(frame_id, entries_prev)
t_curr = time()
if t_start + 1.0 < t_curr:
t_start = t_curr
for s in stream_names:
frame_count_prev[s] = frame_count[s]
frame_count[s] = 0
key = cv2.waitKey(1)
if key == ord('c'):
depthai.request_jpeg()
elif key == ord('q'):
break
del p # in order to stop the pipeline object should be deleted, otherwise device will continue working. This is required if you are going to add code after the main loop, otherwise you can ommit it.
depthai.deinit_device()
# Close video output file if was opened
if video_file is not None:
video_file.close()
print('py: DONE.')
def __del__(self):
del self.pipeline
depthai.deinit_device()
def main():
nfeatures = 2000 # Number of keypoints to sample
inlierThreshold = 0.001
nms_dist = 4
conf_thresh = 0.005
nn_thresh = 0.7
h = 100
w = 100
res = '{}x{}'.format(h, w)
if not depthai.init_device(consts.resource_paths.device_cmd_fpath):
raise RuntimeError("Error initializing device. Try to reset it.")
local_dir = os.getcwd()
p = depthai.create_pipeline(
config={
"streams": ["previewout", "metaout"],
"ai": {
"blob_file":
os.path.join(local_dir, "output", "superpoint_{}.blob".format(
res)),
"blob_file_config":
os.path.join(local_dir, "output", "superpoint_{}.json".format(
res)),
"calc_dist_to_bb":
False,
},
"app": {
"sync_video_meta_stream": True
},
})
if p is None:
raise RuntimeError("Error initializing pipelne")
sp = SuperPointWrapper(h=h,
w=w,
nms_dist=nms_dist,
conf_thresh=conf_thresh,
nn_thresh=nn_thresh)
kp_desc_list = []
while True:
nnet_packets, data_packets = p.get_available_nnet_and_data_packets()
print('nnet_packets: ', len(nnet_packets))
packets_len = len(nnet_packets) + len(data_packets)
print('packets_len: ', packets_len)
kp_desc_list.extend(sp.decode_packets(nnet_packets))
for nnet_packet, packet in zip(nnet_packets, data_packets):
if packet.stream_name == 'previewout':
data = packet.getData()
data0 = data[0, :, :]
frame = cv2.cvtColor(data0, cv2.COLOR_GRAY2BGR)
if len(kp_desc_list) > 0:
kps, _ = kp_desc_list.pop(0)
for k in kps:
print(k[:2])
cv2.circle(frame, (int(k[0]), int(k[1])), 3,
(0, 0, 255), -1)
frame = cv2.resize(frame, (240, 240))
cv2.imshow('previewout', frame)
if cv2.waitKey(1) == ord('q'):
break
del p
depthai.deinit_device()
def __del__(self):
if hasattr(self, 'pipeline'):
del self.pipeline
depthai.deinit_device()
def __del__(self):
if hasattr(self, 'p'):
del self.p
depthai.deinit_device()