Printing out latencies within the Pipeline

Hello,

I am using an external IMU to use its pitch angle and display it in the same frame along with the NN detection result by using OAK-D camera. I am trying to understand the latency values between camera-NN-host-IMU. I would like to make sure that the latency calculations I've done here are accurate. Is there more accurate way to implement these? Here is the main() functionality I am using:

`
def main():

global imu_thread_running, imu_timestamp
pitch_angle=0.0 # just to initialize

pipeline, labelMap, SHAPE = cameraSetupModel(MODEL, SYNCNN)
outVideo = videoWrite(shape=SHAPE)

imu_thread = threading.Thread(target=read_pitch_angle_thread, daemon=True)
imu_thread.start()

with depthai.Device(pipeline) as device:
    q_rgb = device.getOutputQueue("rgb", maxSize=6, blocking=False) # Also default values (maxSize=30, blocking=True), better for H265 for no artifacts
    q_nn = device.getOutputQueue("nn", maxSize=6, blocking=False)
    fps = FPSHandler()
    frame = None
    detections = []
    shape = (3, SHAPE, SHAPE)
    
    while True:
        firstTime = time.time()
        if SYNCNN:
            inRgb = q_rgb.get()
            inDet = q_nn.get()
        else:
            inRgb = q_rgb.tryGet()
            inDet = q_nn.tryGet()

        #since image was captured until the frame was received on the host computer.
        latencyMs = (depthai.Clock.now() - inRgb.getTimestamp()).total_seconds() * 1000 
        print(f"[LATENCY] IMAGE CAPTURING: {latencyMs:.4f} ms")
        camera_timestamp = time.time()  # Timestamp for camera frame capture

        latencyMs2 = (depthai.Clock.now() - inDet.getTimestamp()).total_seconds() * 1000 
        print(f"[LATENCY] DETECTION PROCESS: {latencyMs2:.4f} ms")
        nn_timestamp = time.time()  # Timestamp for NN processing results

        if inRgb is not None:
            frame = inRgb.getCvFrame()
            latencyGetFrame = (depthai.Clock.now()-inRgb.getTimestamp()).total_seconds() * 1000 
            frameTime = time.time()  # Timestamp for frame retrieval
            print(f"[LATENCY] GET CV FRAME LATENCY: {latencyGetFrame:.4f} ms")
        if inDet is not None:
            detections = inDet.detections
            fps.next_iter()
            cv2.putText(frame, "Fps: {:.2f}".format(fps.fps()), (2, SHAPE - 4), cv2.FONT_HERSHEY_TRIPLEX, 1, color=(0, 255, 0))
        
        if frame is not None:
            # Read pitch angle from serial port
            with pitch_lock:
                pitch_angle = latest_pitch_angle
                imu_time = imu_timestamp  # Get the timestamp for the latest IMU data
                latencyIMUFrame = (depthai.Clock.now()-inRgb.getTimestamp()).total_seconds() * 1000 
                print(f"[LATENCY] IMU-FRAME: {latencyIMUFrame:.4f} ms")
                print(f"[LATENCY CLASSIC] IMU-FRAME: {(time.time()-imu_time)*1000:.4f} ms")
            host_timestamp = inRgb.getTimestamp() # Timestamp for host processing
            displayFrame("Frame", frame, detections=detections,pitch_angle=pitch_angle,labelMap=labelMap)

            # Write frame to the output video
            outVideo.write(frame)
            # breakpoint()
            latencyHost = (depthai.Clock.now()-host_timestamp).total_seconds() * 1000
            print(f"[LATENCY] HOST DELAY: {latencyHost:.4f} ms")

        print(f"[LATENCY CLASSIC] ALL LOOP DELAY: {(time.time()-firstTime)*1000:.4f} ms")
        print("=====================================")

        if cv2.waitKey(1) == ord('q'):
            break

imu_thread_running = False
ser.close()
# Release the VideoWriter object and close all OpenCV windows
outVideo.release()
cv2.destroyAllWindows()

if name == "main":
main()
`

Thank you in advance for your help!

Bests,
Cem