Added example of script node changing pipeline flow. Crashes atm

Author: Erol444

examples/Script/script_change_pipeline_flow.py

@@ -0,0 +1,86 @@
+#!/usr/bin/env python3
+import depthai as dai
+import cv2
+from pathlib import Path
+import numpy as np
+
+parentDir = Path(__file__).parent
+nnPath = str((parentDir / Path('../models/mobilenet-ssd_openvino_2021.4_5shave.blob')).resolve().absolute())
+
+pipeline = dai.Pipeline()
+
+cam = pipeline.createColorCamera()
+cam.setBoardSocket(dai.CameraBoardSocket.RGB)
+cam.setIspScale(2,3)
+cam.setVideoSize(720,720)
+cam.setPreviewSize(300,300)
+
+xoutRgb = pipeline.create(dai.node.XLinkOut)
+xoutRgb.setStreamName('rgb')
+cam.video.link(xoutRgb.input)
+
+script = pipeline.createScript()
+
+xin = pipeline.create(dai.node.XLinkIn)
+xin.setStreamName('in')
+xin.out.link(script.inputs['toggle'])
+
+cam.preview.link(script.inputs['rgb'])
+script.setScript("""
+toggle = True
+while True:
+    msg = node.io['toggle'].tryGet()
+    if msg is not None:
+        toggle = not toggle
+        node.warn('Toggle! Perform NN inferencing: ' + str(toggle))
+
+    frame = node.io['rgb'].get()
+
+    if toggle:
+        node.io['nn'].send(frame)
+""")
+
+nn = pipeline.create(dai.node.MobileNetDetectionNetwork)
+nn.setBlobPath(nnPath)
+script.outputs['nn'].link(nn.input)
+
+xoutNn = pipeline.create(dai.node.XLinkOut)
+xoutNn.setStreamName('nn')
+nn.out.link(xoutNn.input)
+
+# Connect to device with pipeline
+with dai.Device(pipeline) as device:
+    inQ = device.getInputQueue("in")
+    qRgb = device.getOutputQueue("rgb")
+    qNn = device.getOutputQueue("nn")
+
+    def frameNorm(frame, bbox):
+        normVals = np.full(len(bbox), frame.shape[0])
+        normVals[::2] = frame.shape[1]
+        return (np.clip(np.array(bbox), 0, 1) * normVals).astype(int)
+
+    def drawDetections(frame, detections):
+        color = (255, 0, 0)
+        for detection in detections:
+            bbox = frameNorm(frame, (detection.xmin, detection.ymin, detection.xmax, detection.ymax))
+            cv2.putText(frame, f"{int(detection.confidence * 100)}%", (bbox[0] + 10, bbox[1] + 40), cv2.FONT_HERSHEY_TRIPLEX, 0.5, color)
+            cv2.rectangle(frame, (bbox[0], bbox[1]), (bbox[2], bbox[3]), color, 2)
+
+    def send_trigger():
+        inQ.send(dai.Buffer())
+
+    while True:
+        frame = qRgb.get().getCvFrame()
+
+        if qNn.has():
+            detections = qNn.get().detections
+            drawDetections(frame, detections)
+
+        cv2.imshow('Color frame', frame)
+
+        key = cv2.waitKey(1)
+        if key == ord('q'):
+            break
+        elif key == ord('t'):
+            print('send trigger to IR filter')
+            send_trigger()