Merge pull request #576 from luxonis/script_pipeline_flow

Added script_chnage_pipeline_flow example

Author: moratom

examples/CMakeLists.txt

@@ -304,6 +304,8 @@ dai_add_example(script_http_server Script/script_http_server.cpp OFF)
 dai_add_example(script_mjpeg_server Script/script_mjpeg_server.cpp OFF)
 dai_add_example(script_nndata_example Script/script_nndata_example.cpp ON)
 dai_add_example(script_json_communication Script/script_json_communication.cpp ON)
+dai_add_example(script_change_pipeline_flow Script/script_change_pipeline_flow.cpp OFF)
+target_compile_definitions(script_change_pipeline_flow PRIVATE BLOB_PATH="${mobilenet_5shaves_blob}")
 
 # SpatialDetection
 dai_add_example(spatial_location_calculator SpatialDetection/spatial_location_calculator.cpp ON)

examples/Script/script_change_pipeline_flow.cpp

@@ -0,0 +1,104 @@
+#include <iostream>
+
+// Includes common necessary includes for development using depthai library
+#include "depthai/depthai.hpp"
+
+int main(){
+    dai::Pipeline pipeline;
+
+    auto cam = pipeline.create<dai::node::ColorCamera>();
+    cam->setBoardSocket(dai::CameraBoardSocket::RGB);
+    cam->setInterleaved(false);
+    cam->setIspScale(2, 3);
+    cam->setVideoSize(720, 720);
+    cam->setPreviewSize(300, 300);
+
+    auto xoutRgb = pipeline.create<dai::node::XLinkOut>();
+    xoutRgb->setStreamName("rgb");
+    cam->video.link(xoutRgb->input);
+
+    auto script = pipeline.create<dai::node::Script>();
+
+    auto xin = pipeline.create<dai::node::XLinkIn>();
+    xin->setStreamName("in");
+    xin->out.link(script->inputs["toggle"]);
+
+    cam->preview.link(script->inputs["rgb"]);
+    script->setScript(R"(
+        toggle = False
+        while True:
+            msg = node.io['toggle'].tryGet()
+            if msg is not None:
+                toggle = msg.getData()[0]
+                node.warn('Toggle! Perform NN inferencing: ' + str(toggle))
+            frame = node.io['rgb'].get()
+            if toggle:
+                node.io['nn'].send(frame)
+    )");
+
+    auto nn = pipeline.create<dai::node::MobileNetDetectionNetwork>();
+    nn->setBlobPath(BLOB_PATH);
+    script->outputs["nn"].link(nn->input);
+
+    auto xoutNn = pipeline.create<dai::node::XLinkOut>();
+    xoutNn->setStreamName("nn");
+    nn->out.link(xoutNn->input);
+
+    // Connect to device with pipeline
+    dai::Device device(pipeline);
+    auto inQ = device.getInputQueue("in");
+    auto qRgb = device.getOutputQueue("rgb");
+    auto qNn = device.getOutputQueue("nn");
+
+    bool runNn = false;
+
+    auto color = cv::Scalar(255, 127, 0);
+
+    auto drawDetections = [color](cv::Mat frame, std::vector<dai::ImgDetection>& detections){
+        for(auto& detection : detections) {
+            int x1 = detection.xmin * frame.cols;
+            int y1 = detection.ymin * frame.rows;
+            int x2 = detection.xmax * frame.cols;
+            int y2 = detection.ymax * frame.rows;
+
+            std::stringstream confStr;
+            confStr << std::fixed << std::setprecision(2) << detection.confidence * 100;
+            cv::putText(frame, confStr.str(), cv::Point(x1 + 10, y1 + 20), cv::FONT_HERSHEY_TRIPLEX, 0.5, color);
+            cv::rectangle(frame, cv::Rect(cv::Point(x1, y1), cv::Point(x2, y2)), color, cv::FONT_HERSHEY_SIMPLEX);
+        }
+    };
+
+    while(true) {
+        auto frame = qRgb->get<dai::ImgFrame>()->getCvFrame();
+        auto imgDetections = qNn->tryGet<dai::ImgDetections>();
+        if(imgDetections != nullptr){
+            auto detections = imgDetections->detections;
+            drawDetections(frame, detections);
+        }
+        std::string frameText = "NN inferencing: ";
+        if(runNn){
+            frameText += "On";
+        } else {
+            frameText += "Off";
+        }
+        cv::putText(frame, frameText, cv::Point(20, 20), cv::FONT_HERSHEY_TRIPLEX, 0.7, color);
+        cv::imshow("Color frame", frame);
+
+        int key = cv::waitKey(1);
+        if(key == 'q') {
+            return 0;
+        } else if(key == 't') {
+            if(runNn){
+                std::cout << "Disabling\n";
+            } else {
+                std::cout << "Enabling\n";
+            }
+            runNn = !runNn;
+            auto buf = dai::Buffer();
+            std::vector<uint8_t> messageData;
+            messageData.push_back(runNn);
+            buf.setData(messageData);
+            inQ->send(buf);
+        }
+    }
+}