Strobe demo with OAK-D-Pro-PoE

oak-d-pro-poe-strobe.py

#!/usr/bin/env python3

from datetime import timedelta
import cv2
import depthai as dai

# Create pipeline
pipeline = dai.Pipeline()
FPS = 30

monoLeft = pipeline.create(dai.node.MonoCamera)
monoLeft.setFps(FPS)
monoLeft.setCamera("left")
monoLeft.setResolution(dai.MonoCameraProperties.SensorResolution.THE_800_P)
monoLeft.initialControl.setManualExposure(200, 200)

monoRight = pipeline.create(dai.node.MonoCamera)
monoRight.setCamera("right")
monoRight.setResolution(dai.MonoCameraProperties.SensorResolution.THE_800_P)
monoRight.initialControl.setManualExposure(200, 200)
monoRight.setFps(FPS)


colorCam =  pipeline.create(dai.node.ColorCamera)
colorCam.setBoardSocket(dai.CameraBoardSocket.RGB)
colorCam.setResolution(dai.ColorCameraProperties.SensorResolution.THE_2024X1520)
colorCam.setIspScale(1,2)
colorCam.initialControl.setManualExposure(1000,300)
colorCam.setFps(FPS)

# Properties
config = dai.Device.Config()
config.board.gpio[6] = dai.BoardConfig.GPIO(
    dai.BoardConfig.GPIO.OUTPUT, dai.BoardConfig.GPIO.Level.HIGH,
)
config.board.gpio[52] = dai.BoardConfig.GPIO(
    dai.BoardConfig.GPIO.OUTPUT, dai.BoardConfig.GPIO.Level.HIGH,
)

sync = pipeline.create(dai.node.Sync)
sync.setSyncThreshold(timedelta(milliseconds=500//FPS))
monoLeft.out.link(sync.inputs['left'])
monoRight.out.link(sync.inputs['right'])
colorCam.video.link(sync.inputs['color'])

# Linking
xout = pipeline.create(dai.node.XLinkOut)
xout.setStreamName('sync')
sync.out.link(xout.input)

# Connect to device and start pipeline
with dai.Device(config) as device:
    device.startPipeline(pipeline)
    q = device.getOutputQueue(name="sync", maxSize=4, blocking=False)

    while True:
        msgs = q.get()

        def show(name: str, img: dai.ImgFrame):
            frame = img.getCvFrame()
            exposure = img.getExposureTime().total_seconds() * 1e6
            iso = img.getSensitivity()
            # Write exposure, iso to the frame
            frame = cv2.putText(frame, f"Exp: {exposure:.2f} us", (10, 30), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 255), 2, cv2.LINE_AA)
            frame = cv2.putText(frame, f"ISO: {iso}", (10, 60), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 255), 2, cv2.LINE_AA)
            cv2.imshow(name, frame)

        show('left', msgs['left'])
        show('right', msgs['right'])
        show('color', msgs['color'])

        key = cv2.waitKey(1)
        if key == ord('q'):
            break
        if key == ord('c'):
            # Save all frames
            cv2.imwrite('left.png', msgs['left'].getCvFrame())
            cv2.imwrite('right.png', msgs['right'].getCvFrame())
            cv2.imwrite('color.png', msgs['color'].getCvFrame())