The delay is still greater than 1ms. I used the2.17.3.1 version of depthai. Do I need to switch to a specific version?
import depthai as dai
import time
import cv2
import collections
set_fps = 30
class FPS:
def __init__(self, window_size=30):
self.dq = collections.deque(maxlen=window_size)
self.fps = 0
def update(self, timestamp=None):
if timestamp == None: timestamp = time.monotonic()
count = len(self.dq)
if count > 0: self.fps = count / (timestamp - self.dq[0])
self.dq.append(timestamp)
def get(self):
return self.fps
# cam_list = ['left', 'right']
# cam_socket_opts = {
# 'left' : dai.CameraBoardSocket.LEFT, # Or CAM_B
# 'right': dai.CameraBoardSocket.RIGHT, # Or CAM_C
# }
cam_list = ['rgb', 'left', 'right', 'camd']
cam_socket_opts = {
'rgb' : dai.CameraBoardSocket.RGB, # Or CAM_A
'left' : dai.CameraBoardSocket.LEFT, # Or CAM_B
'right': dai.CameraBoardSocket.RIGHT, # Or CAM_C
'camd' : dai.CameraBoardSocket.CAM_D,
}
pipeline = dai.Pipeline()
cam = {}
xout = {}
for c in cam_list:
cam[c] = pipeline.create(dai.node.MonoCamera)
cam[c].setResolution(dai.MonoCameraProperties.SensorResolution.THE_800_P)
if c == 'rgb':
cam[c].initialControl.setFrameSyncMode(dai.CameraControl.FrameSyncMode.OUTPUT)
else:
cam[c].initialControl.setFrameSyncMode(dai.CameraControl.FrameSyncMode.INPUT)
cam[c].setBoardSocket(cam_socket_opts[c])
xout[c] = pipeline.create(dai.node.XLinkOut)
xout[c].setStreamName(c)
cam[c].out.link(xout[c].input)
config = dai.Device.Config()
config.board.gpio[6] = dai.BoardConfig.GPIO(dai.BoardConfig.GPIO.OUTPUT,
dai.BoardConfig.GPIO.Level.HIGH)
with dai.Device(config) as device:
device.startPipeline(pipeline)
q = {}
fps_host = {} # FPS computed based on the time we receive frames in app
fps_capt = {} # FPS computed based on capture timestamps from device
for c in cam_list:
q[c] = device.getOutputQueue(name=c, maxSize=1, blocking=False)
cv2.namedWindow(c, cv2.WINDOW_NORMAL)
cv2.resizeWindow(c, (640, 480))
fps_host[c] = FPS()
fps_capt[c] = FPS()
while True:
frame_list = []
for c in cam_list:
pkt = q[c].tryGet()
if pkt is not None:
fps_host[c].update()
fps_capt[c].update(pkt.getTimestamp().total_seconds())
print(c+":",pkt.getTimestampDevice())
frame = pkt.getCvFrame()
cv2.imshow(c, frame)
print("-------------------------------")
# print("\rFPS:",
# *["{:6.2f}|{:6.2f}".format(fps_host[c].get(), fps_capt[c].get()) for c in cam_list],
# end='', flush=True)
key = cv2.waitKey(1)
if key == ord('q'):
break
