Merge remote-tracking branch 'origin/main' into release_v2.28.0.0

Author: Matevz Morato

examples/ImageAlign/depth_align.py

@@ -68,7 +68,7 @@ def getFps(self):
 
 out.setStreamName("out")
 
-sync.setSyncThreshold(timedelta(seconds=(1 / FPS) * 0.5))
+sync.setSyncThreshold(timedelta(seconds=0.5 / FPS))
 
 # Linking
 camRgb.isp.link(sync.inputs["rgb"])

examples/ImageAlign/image_align.py

@@ -34,7 +34,7 @@
 
 out.setStreamName("out")
 
-sync.setSyncThreshold(timedelta(seconds=(1 / FPS) * 0.5))
+sync.setSyncThreshold(timedelta(seconds=0.5 / FPS))
 
 cfgIn.setStreamName("config")
 

examples/ImageAlign/thermal_align.py

@@ -59,7 +59,7 @@ def getFps(self):
 
 out.setStreamName("out")
 
-sync.setSyncThreshold(timedelta(seconds=1/FPS * 0.5))
+sync.setSyncThreshold(timedelta(seconds=0.5 / FPS))
 
 cfgIn.setStreamName("config")
 

examples/ImageAlign/tof_align.py

@@ -50,7 +50,7 @@ def getFps(self):
 
 out.setStreamName("out")
 
-sync.setSyncThreshold(timedelta(seconds=(1 / FPS)))
+sync.setSyncThreshold(timedelta(seconds=0.5 / FPS))
 
 # Linking
 camRgb.isp.link(sync.inputs["rgb"])

examples/Sync/sync_all_cameras.py

@@ -0,0 +1,31 @@
+#!/usr/bin/env python3
+
+import cv2
+import depthai as dai
+
+with dai.Device() as device:
+    pipeline = dai.Pipeline()
+    cams = device.getConnectedCameraFeatures()
+    sync = pipeline.create(dai.node.Sync)
+    for cam in cams:
+        print(str(cam), str(cam.socket), cam.socket)
+        cam_node = pipeline.create(dai.node.Camera)
+        cam_node.setBoardSocket(cam.socket)
+        cam_node.isp.link(sync.inputs[str(cam.socket)])
+
+    xout = pipeline.create(dai.node.XLinkOut)
+    xout.setStreamName('sync')
+    sync.out.link(xout.input)
+
+    # Start pipeline
+    device.startPipeline(pipeline)
+    q = device.getOutputQueue('sync', maxSize=10, blocking=False)
+    while not device.isClosed():
+        msgs = q.get()
+        for (name, imgFrame) in msgs:
+            print(f'Cam {name}, seq {imgFrame.getSequenceNum()}, tiemstamp {imgFrame.getTimestamp()}')
+            cv2.imshow(name, imgFrame.getCvFrame())
+        print('----')
+
+        if cv2.waitKey(1) == ord('q'):
+            break

utilities/requirements.txt

@@ -5,5 +5,5 @@ opencv-contrib-python==4.5.5.62 # Last successful RPi build, also covers M1 with
 pyqt5>5,<5.15.6 ; platform_machine != "armv6l" and platform_machine != "armv7l" and platform_machine != "aarch64" and platform_machine != "arm64"
 --extra-index-url https://artifacts.luxonis.com/artifactory/luxonis-python-snapshot-local/
 # Latest version (note - it's yanked)
-PySimpleGUI==4.60.5
+PySimpleGUI-4-foss==4.60.4.1 # Mirror of final open-source release.
 depthai