Here is the full script :
#!/usr/bin/env python3
import depthai as dai
import subprocess as sp
from os import name as osName
import argparse
import sys
import pickle
parser = argparse.ArgumentParser()
parser.add_argument(
"-u",
"--unwrap",
default=False,
action="store_true",
help="Activate imagemanip unwrapping",
)
parser.add_argument(
"-v",
"--verbose",
default=False,
action="store_true",
help="Prints latency for the encoded frame data to reach the app",
)
args = parser.parse_args()
# Create pipeline
pipeline = dai.Pipeline()
# Define sources and output
camRgb = pipeline.create(dai.node.ColorCamera)
videoEnc = pipeline.create(dai.node.VideoEncoder)
xout = pipeline.create(dai.node.XLinkOut)
xout.setStreamName("enc")
# Properties
camRgb.setBoardSocket(dai.CameraBoardSocket.RGB)
camRgb.setResolution(dai.ColorCameraProperties.SensorResolution.THE_1080_P)
camRgb.setFps(30)
camRgb.setImageOrientation(dai.CameraImageOrientation.ROTATE_180_DEG)
videoEnc.setDefaultProfilePreset(
camRgb.getFps(), dai.VideoEncoderProperties.Profile.H264_MAIN
)
# Unwarping imagemanip
manip = pipeline.createImageManip()
mesh, meshWidth, meshHeight = pickle.load(open("mesh.pckl", "rb"))
manip.setWarpMesh(mesh, meshWidth, meshHeight)
manip.setMaxOutputFrameSize(1920 * 1080 * 3)
# Linking
if args.unwrap:
camRgb.video.link(manip.inputImage)
manip.out.link(videoEnc.input)
videoEnc.bitstream.link(xout.input)
else:
camRgb.video.link(videoEnc.input)
videoEnc.bitstream.link(xout.input)
width, height = 720, 500
command = [
"ffplay",
"-i",
"-",
"-x",
str(width),
"-y",
str(height),
"-framerate",
"60",
"-fflags",
"nobuffer",
"-flags",
"low_delay",
"-framedrop",
"-strict",
"experimental",
]
if osName == "nt": # Running on Windows
command = ["cmd", "/c"] + command
try:
proc = sp.Popen(command, stdin=sp.PIPE) # Start the ffplay process
except:
exit("Error: cannot run ffplay!\nTry running: sudo apt install ffmpeg")
# Connect to device and start pipeline
with dai.Device(pipeline) as device:
# Output queue will be used to get the encoded data from the output defined above
q = device.getOutputQueue(name="enc", maxSize=30, blocking=True)
try:
while True:
pkt = q.get() # Blocking call, will wait until new data has arrived
data = pkt.getData()
if args.verbose:
latms = (dai.Clock.now() - pkt.getTimestamp()).total_seconds() * 1000
# Writing to a different channel (stderr)
# Also `ffplay` is printing things, adding a separator
print(f"Latency: {latms:.3f} ms === ", file=sys.stderr)
proc.stdin.write(data)
except:
pass
proc.stdin.close()
You will also need "mesh.pckl"
Thanks !
