depthai-python
depthai-python copied to clipboard
Published
20 hours ago •
luxonis
luxonis
Color/MonoCamera frameEvent output, per-frame IR control
See description on related PR: https://github.com/luxonis/depthai-core/pull/451
Added MonoCamera/mono_preview_alternate_pro.py example: using a Script node on-device for controlling the IR projector and routing the frames to separate output pairs: dotL+dotR and floodL+floodR.
When Testing this I had to invert the logic for choosing the dot and flood frames.
When this is merged, will that update the interfaces available in the depthai-core library?
As per discord, I found that the turning off of the dot projector takes a bit of time, and if the autoexposure can pick up the tail end of this, so that you have dots in some of your images. Apart from disabling autoexposure, I found that if the projectors were switched off earlier then this was less of an issue. eg
script_->setScript(R"(
dotBright = 700
floodBright = 0
node.warn(f'IR drivers detected: {str(Device.getIrDrivers())}')
flagDot = False
while True:
# Wait first for a frame event, received at MIPI start-of-frame
event = node.io['event'].get()
# Immediately reconfigure the IR driver.
# Note the logic is inverted, as it applies for next frame
Device.setIrLaserDotProjectorBrightness(0 if flagDot else dotBright)
Device.setIrFloodLightBrightness(floodBright if flagDot else 0)
# Wait for the actual frames (after MIPI capture and ISP proc is done)
frameL = node.io['frameL'].get()
frameR = node.io['frameR'].get()
# Turn off the projectors earlier as this seems to take more time.
Device.setIrLaserDotProjectorBrightness(0 if not flagDot else dotBright)
Device.setIrFloodLightBrightness(floodBright if not flagDot else 0)
# Route the frames to their respective outputs
node.io['dotL' if not flagDot else 'floodL'].send(frameL)
node.io['dotR' if not flagDot else 'floodR'].send(frameR)
flagDot = not flagDot
)"
);
Hi @alex-luxonis @szabi-luxonis when will this be merged into main?
Its just I received a new OAK-D Pro Partno A00565 and It doesn't work with this branch anymore. Doesn't recognise calibration params and the mono cameras don't come up.
Alternatively if you can update this branch that would help me.
Alternatively which branch should I merge into the depth-ai core, which is the actual repo I am using. Is it main or development?
@alex-luxonis I think I will need help in identifying a correct device side commit for merging devlop into this branch. I am assuming that is from a non-open repository?
@PeterQFR The branch was updated with the latest development, and a sync issue fixed in the example - commit above, by increasing the number of frames in the pool. (Another option could be to sync and get latest frames inside the Script node.)
Could you check if any issue is still seen. Thanks!
Hi @alex-luxonis I've pulled this code in however, I had an issue.
[1944301051BBED1200] [3.1] [6.901] [system] [critical] Fatal error. Please report to developers. Log: 'Fatal error on MSS CPU: trap: 00, address: 00000000' '0'
terminate called after throwing an instance of 'std::runtime_error'
what(): Communication exception - possible device error/misconfiguration. Original message 'Couldn't read data from stream: 'rgb' (X_LINK_ERROR)'
Because Its taken me too long to test this, I wasn't able to test against the ir_frame_develop branch as it had been deleted. so this is from a merge from develop commit a78ea3bac1695254c02b5ee066ba3c3312b8367e in depthai-core
Hi @PeterQFR , could you try on the latest release v2.19.1.0 (current main branch), we have fixed some issues since then.
Also have you tested with examples/MonoCamera/mono_preview_alternate_pro.py, or a different app/script?
@alex-luxonis did go though the local install of a wheel of the depthai-python but it failed with
/libXLink.a(PlatformDeviceFd.cpp.o): relocation R_X86_64_PC32 against symbol `_ZNSt13unordered_mapImPvSt4hashImESt8equal_toImESaISt4pairIKmS0_EEED1Ev' can not be used when making a shared object; recompile with -fPIC
The full compile fail output:
/usr/lib/python3/dist-packages/secretstorage/dhcrypto.py:15: CryptographyDeprecationWarning: int_from_bytes is deprecated, use int.from_bytes instead
from cryptography.utils import int_from_bytes
/usr/lib/python3/dist-packages/secretstorage/util.py:19: CryptographyDeprecationWarning: int_from_bytes is deprecated, use int.from_bytes instead
from cryptography.utils import int_from_bytes
Defaulting to user installation because normal site-packages is not writeable
Processing /home/peter-laptop/depthai-python
Installing build dependencies ... done
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Building wheel for depthai (pyproject.toml) ... error
error: subprocess-exited-with-error
× Building wheel for depthai (pyproject.toml) did not run successfully.
│ exit code: 1
╰─> [434 lines of output]
running bdist_wheel
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[ 55%] Building C object depthai-core/CMakeFiles/depthai-core.dir/src/bspatch/bspatch.c.o
[ 56%] Linking CXX static library libdepthai-core.a
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Scanning dependencies of target depthai-opencv
[ 57%] Building CXX object depthai-core/CMakeFiles/depthai-opencv.dir/src/opencv/ImgFrame.cpp.o
[ 57%] Linking CXX static library libdepthai-opencv.a
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Scanning dependencies of target depthai
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[ 98%] Building CXX object CMakeFiles/depthai.dir/src/pipeline/datatype/TrackletsBindings.cpp.o
[100%] Linking CXX shared module ../lib.linux-x86_64-cpython-38/depthai.cpython-38-x86_64-linux-gnu.so
/usr/bin/ld: /home/peter-laptop/.hunter/_Base/cb0ea1f/a3a48bb/ee90518/Install/lib/libXLink.a(PlatformDeviceFd.cpp.o): relocation R_X86_64_PC32 against symbol `_ZNSt13unordered_mapImPvSt4hashImESt8equal_toImESaISt4pairIKmS0_EEED1Ev' can not be used when making a shared object; recompile with -fPIC
/usr/bin/ld: final link failed: bad value
collect2: error: ld returned 1 exit status
make[2]: *** [CMakeFiles/depthai.dir/build.make:903: ../lib.linux-x86_64-cpython-38/depthai.cpython-38-x86_64-linux-gnu.so] Error 1
make[1]: *** [CMakeFiles/Makefile2:192: CMakeFiles/depthai.dir/all] Error 2
make: *** [Makefile:130: all] Error 2
/usr/local/lib/python3.8/dist-packages/setuptools/dist.py:530: UserWarning: Normalizing '2.19.1.0.dev+1e1a6c66d7627a043a005263cbd157b9b26c9d43' to '2.19.1.0.dev0+1e1a6c66d7627a043a005263cbd157b9b26c9d43'
warnings.warn(tmpl.format(**locals()))
Traceback (most recent call last):
File "/home/peter-laptop/.local/lib/python3.8/site-packages/pip/_vendor/pep517/in_process/_in_process.py", line 363, in <module>
main()
File "/home/peter-laptop/.local/lib/python3.8/site-packages/pip/_vendor/pep517/in_process/_in_process.py", line 345, in main
json_out['return_val'] = hook(**hook_input['kwargs'])
File "/home/peter-laptop/.local/lib/python3.8/site-packages/pip/_vendor/pep517/in_process/_in_process.py", line 261, in build_wheel
return _build_backend().build_wheel(wheel_directory, config_settings,
File "/usr/local/lib/python3.8/dist-packages/setuptools/build_meta.py", line 412, in build_wheel
return self._build_with_temp_dir(['bdist_wheel'], '.whl',
File "/usr/local/lib/python3.8/dist-packages/setuptools/build_meta.py", line 397, in _build_with_temp_dir
self.run_setup()
File "/usr/local/lib/python3.8/dist-packages/setuptools/build_meta.py", line 482, in run_setup
super(_BuildMetaLegacyBackend,
File "/usr/local/lib/python3.8/dist-packages/setuptools/build_meta.py", line 335, in run_setup
exec(code, locals())
File "<string>", line 193, in <module>
File "/usr/local/lib/python3.8/dist-packages/setuptools/__init__.py", line 87, in setup
return distutils.core.setup(**attrs)
File "/usr/local/lib/python3.8/dist-packages/setuptools/_distutils/core.py", line 185, in setup
return run_commands(dist)
File "/usr/local/lib/python3.8/dist-packages/setuptools/_distutils/core.py", line 201, in run_commands
dist.run_commands()
File "/usr/local/lib/python3.8/dist-packages/setuptools/_distutils/dist.py", line 973, in run_commands
self.run_command(cmd)
File "/usr/local/lib/python3.8/dist-packages/setuptools/dist.py", line 1217, in run_command
super().run_command(command)
File "/usr/local/lib/python3.8/dist-packages/setuptools/_distutils/dist.py", line 992, in run_command
cmd_obj.run()
File "/tmp/pip-build-env-mo63psry/overlay/lib/python3.8/site-packages/wheel/bdist_wheel.py", line 325, in run
self.run_command("build")
File "/usr/local/lib/python3.8/dist-packages/setuptools/_distutils/cmd.py", line 319, in run_command
self.distribution.run_command(command)
File "/usr/local/lib/python3.8/dist-packages/setuptools/dist.py", line 1217, in run_command
super().run_command(command)
File "/usr/local/lib/python3.8/dist-packages/setuptools/_distutils/dist.py", line 992, in run_command
cmd_obj.run()
File "/usr/local/lib/python3.8/dist-packages/setuptools/_distutils/command/build.py", line 132, in run
self.run_command(cmd_name)
File "/usr/local/lib/python3.8/dist-packages/setuptools/_distutils/cmd.py", line 319, in run_command
self.distribution.run_command(command)
File "/usr/local/lib/python3.8/dist-packages/setuptools/dist.py", line 1217, in run_command
super().run_command(command)
File "/usr/local/lib/python3.8/dist-packages/setuptools/_distutils/dist.py", line 992, in run_command
cmd_obj.run()
File "<string>", line 92, in run
File "<string>", line 191, in build_extension
File "/usr/lib/python3.8/subprocess.py", line 364, in check_call
raise CalledProcessError(retcode, cmd)
subprocess.CalledProcessError: Command '['cmake', '--build', '.', '--config', 'Release', '--', '-j5']' returned non-zero exit status 2.
[end of output]
note: This error originates from a subprocess, and is likely not a problem with pip.
ERROR: Failed building wheel for depthai
Failed to build depthai
ERROR: Could not build wheels for depthai, which is required to install pyproject.toml-based projects
--- Logging error ---
Traceback (most recent call last):
File "/home/peter-laptop/.local/lib/python3.8/site-packages/pip/_internal/utils/logging.py", line 177, in emit
self.console.print(renderable, overflow="ignore", crop=False, style=style)
File "/home/peter-laptop/.local/lib/python3.8/site-packages/pip/_vendor/rich/console.py", line 1673, in print
extend(render(renderable, render_options))
File "/home/peter-laptop/.local/lib/python3.8/site-packages/pip/_vendor/rich/console.py", line 1305, in render
for render_output in iter_render:
File "/home/peter-laptop/.local/lib/python3.8/site-packages/pip/_internal/utils/logging.py", line 134, in __rich_console__
for line in lines:
File "/home/peter-laptop/.local/lib/python3.8/site-packages/pip/_vendor/rich/segment.py", line 249, in split_lines
for segment in segments:
File "/home/peter-laptop/.local/lib/python3.8/site-packages/pip/_vendor/rich/console.py", line 1283, in render
renderable = rich_cast(renderable)
File "/home/peter-laptop/.local/lib/python3.8/site-packages/pip/_vendor/rich/protocol.py", line 36, in rich_cast
renderable = cast_method()
File "/home/peter-laptop/.local/lib/python3.8/site-packages/pip/_internal/self_outdated_check.py", line 130, in __rich__
pip_cmd = get_best_invocation_for_this_pip()
File "/home/peter-laptop/.local/lib/python3.8/site-packages/pip/_internal/utils/entrypoints.py", line 58, in get_best_invocation_for_this_pip
if found_executable and os.path.samefile(
File "/usr/lib/python3.8/genericpath.py", line 101, in samefile
s2 = os.stat(f2)
FileNotFoundError: [Errno 2] No such file or directory: '/usr/bin/pip3.8'
Call stack:
File "/usr/lib/python3.8/runpy.py", line 194, in _run_module_as_main
return _run_code(code, main_globals, None,
File "/usr/lib/python3.8/runpy.py", line 87, in _run_code
exec(code, run_globals)
File "/home/peter-laptop/.local/lib/python3.8/site-packages/pip/__main__.py", line 31, in <module>
sys.exit(_main())
File "/home/peter-laptop/.local/lib/python3.8/site-packages/pip/_internal/cli/main.py", line 70, in main
return command.main(cmd_args)
File "/home/peter-laptop/.local/lib/python3.8/site-packages/pip/_internal/cli/base_command.py", line 101, in main
return self._main(args)
File "/home/peter-laptop/.local/lib/python3.8/site-packages/pip/_internal/cli/base_command.py", line 223, in _main
self.handle_pip_version_check(options)
File "/home/peter-laptop/.local/lib/python3.8/site-packages/pip/_internal/cli/req_command.py", line 190, in handle_pip_version_check
pip_self_version_check(session, options)
File "/home/peter-laptop/.local/lib/python3.8/site-packages/pip/_internal/self_outdated_check.py", line 236, in pip_self_version_check
logger.warning("[present-rich] %s", upgrade_prompt)
File "/usr/lib/python3.8/logging/__init__.py", line 1458, in warning
self._log(WARNING, msg, args, **kwargs)
File "/usr/lib/python3.8/logging/__init__.py", line 1589, in _log
self.handle(record)
File "/usr/lib/python3.8/logging/__init__.py", line 1599, in handle
self.callHandlers(record)
File "/usr/lib/python3.8/logging/__init__.py", line 1661, in callHandlers
hdlr.handle(record)
File "/usr/lib/python3.8/logging/__init__.py", line 954, in handle
self.emit(record)
File "/home/peter-laptop/.local/lib/python3.8/site-packages/pip/_internal/utils/logging.py", line 179, in emit
self.handleError(record)
Message: '[present-rich] %s'
Arguments: (UpgradePrompt(old='22.2.2', new='22.3.1'),)
That happens rarely, usually it's solved by clearing the Hunter package manager cache: rm -r ~/.hunter
Possible also to install the prebuilt with one of:
-
python3 examples/install_requirements.py -
python3 -m pip install depthai -U -
python3 -m pip install depthai==2.19.1.0
(the latest 2.19.1.0 prebuilt wasn't available at the time I wrote before, due to a CI job failure, it was fixed by retriggering the run)
That works. So I will raise another issue to focus on issue with the rgb link.
It is something introduced, as when I revert back to my original older configuration for depthai-core, the system works.
As an aside why do you install hunter in the home directory as a hidden file instead of installing in the build directory. Makes it easier to clean and know where all the dependencies are.
As an aside why do you install hunter in the home directory as a hidden file instead of installing in the build directory. Makes it easier to clean and know where all the dependencies are.
@PeterQFR as its cached across different projects, additional builds, etc... - although given some complications that'd likely make more sense usually. Note to do so you can set -D HUNTER_ROOT=[build/dir/.hunter]
