Merge pull request #513 from luxonis/gui

Introduce QT GUI

depthai_helpers/arg_manager.py

@@ -131,17 +131,18 @@ def parseArgs():
                              "Example: -enc color right,10 left,10")
     parser.add_argument('-encout', '--encodeOutput', type=Path, default=projectRoot, help="Path to directory where to store encoded files. Default: %(default)s")
     parser.add_argument('-xls', '--xlinkChunkSize', type=int, help="Specify XLink chunk size")
+    parser.add_argument('-poeq', '--poeQuality', type=checkRange(1, 100), default=100, help="Specify PoE encoding video quality (1-100)")
     parser.add_argument('-camo', '--cameraOrientation', type=_comaSeparated(default="AUTO", cast=orientationCast), nargs="+", default=[],
                         help=("Define cameras orientation (available: {}) \n"
                              "Format: camera_name,camera_orientation \n"
                              "Example: -camo color,ROTATE_180_DEG right,ROTATE_180_DEG left,ROTATE_180_DEG").format(', '.join(orientationChoices))
                         )
     parser.add_argument("--cameraControlls", action="store_true", help="Show camera configuration options in GUI and control them using keyboard")
-    parser.add_argument("--cameraExposure", type=int, help="Specify camera saturation")
-    parser.add_argument("--cameraSensitivity", type=int, help="Specify camera sensitivity")
-    parser.add_argument("--cameraSaturation", type=checkRange(-10, 10), help="Specify image saturation")
-    parser.add_argument("--cameraContrast", type=checkRange(-10, 10), help="Specify image contrast")
-    parser.add_argument("--cameraBrightness", type=checkRange(-10, 10), help="Specify image brightness")
-    parser.add_argument("--cameraSharpness", type=checkRange(0, 4), help="Specify image sharpness")
-
+    parser.add_argument("--cameraExposure", type=_comaSeparated("all", int), nargs="+", help="Specify camera saturation")
+    parser.add_argument("--cameraSensitivity", type=_comaSeparated("all", int), nargs="+", help="Specify camera sensitivity")
+    parser.add_argument("--cameraSaturation", type=_comaSeparated("all", int), nargs="+", help="Specify image saturation")
+    parser.add_argument("--cameraContrast", type=_comaSeparated("all", int), nargs="+", help="Specify image contrast")
+    parser.add_argument("--cameraBrightness", type=_comaSeparated("all", int), nargs="+", help="Specify image brightness")
+    parser.add_argument("--cameraSharpness", type=_comaSeparated("all", int), nargs="+", help="Specify image sharpness")
+    parser.add_argument('--skipVersionCheck', action="store_true", help="Disable libraries version check")
     return parser.parse_args()

depthai_helpers/config_manager.py

@@ -4,6 +4,7 @@
 from pathlib import Path
 import cv2
 import depthai as dai
+import numpy as np
 
 from depthai_helpers.cli_utils import cliPrint, PrintColors
 from depthai_sdk.previews import Previews
@@ -84,8 +85,19 @@ def getModelDir(self):
         if self.args.cnnModel is not None and (DEPTHAI_ZOO / self.args.cnnModel).exists():
             return DEPTHAI_ZOO / self.args.cnnModel
 
+    def getAvailableZooModels(self):
+        def verify(path: Path):
+            return path.parent.name == path.stem
+
+        def convert(path: Path):
+            return path.stem
+
+        return list(map(convert, filter(verify, DEPTHAI_ZOO.rglob("**/*.json"))))
+
     def getColorMap(self):
-        return getattr(cv2, "COLORMAP_{}".format(self.args.colorMap))
+        cvColorMap = cv2.applyColorMap(np.arange(256, dtype=np.uint8), getattr(cv2, "COLORMAP_{}".format(self.args.colorMap)))
+        cvColorMap[0] = [0, 0, 0]
+        return cvColorMap
 
     def getRgbResolution(self):
         if self.args.rgbResolution == 2160:
@@ -104,8 +116,6 @@ def getMonoResolution(self):
             return dai.MonoCameraProperties.SensorResolution.THE_400_P
 
     def getMedianFilter(self):
-        if self.args.subpixel:
-            return dai.MedianFilter.MEDIAN_OFF
         if self.args.stereoMedianSize == 3:
             return dai.MedianFilter.KERNEL_3x3
         elif self.args.stereoMedianSize == 5:
@@ -127,22 +137,22 @@ def adjustPreviewToOptions(self):
         if len(self.args.show) != 0:
             return
 
-        if self.args.camera == "color" and Previews.color.name not in self.args.show:
-            self.args.show.append(Previews.color.name)
+        self.args.show.append(Previews.color.name)
+        if self.useNN:
+            self.args.show.append(Previews.nnInput.name)
+
         if self.useDepth:
-            if self.lowBandwidth and Previews.disparityColor.name not in self.args.show:
+            if self.lowBandwidth:
+                self.args.show.append(Previews.disparity.name)
                 self.args.show.append(Previews.disparityColor.name)
-            elif not self.lowBandwidth and Previews.depth.name not in self.args.show:
+            else:
                 self.args.show.append(Previews.depth.name)
-            if self.args.camera == "left" and Previews.rectifiedLeft.name not in self.args.show:
-                self.args.show.append(Previews.rectifiedLeft.name)
-            if self.args.camera == "right" and Previews.rectifiedRight.name not in self.args.show:
-                self.args.show.append(Previews.rectifiedRight.name)
+                self.args.show.append(Previews.depthRaw.name)
+            self.args.show.append(Previews.rectifiedLeft.name)
+            self.args.show.append(Previews.rectifiedRight.name)
         else:
-            if self.args.camera == "left" and Previews.left.name not in self.args.show:
-                self.args.show.append(Previews.left.name)
-            if self.args.camera == "right" and Previews.right.name not in self.args.show:
-                self.args.show.append(Previews.right.name)
+            self.args.show.append(Previews.left.name)
+            self.args.show.append(Previews.right.name)
 
     def adjustParamsToDevice(self, device):
         deviceInfo = device.getDeviceInfo()
@@ -174,13 +184,14 @@ def adjustParamsToDevice(self, device):
             if deviceInfo.desc.protocol != dai.XLinkProtocol.X_LINK_USB_VSC:
                 print("Enabling low-bandwidth mode due to connection mode... (protocol: {})".format(deviceInfo.desc.protocol))
                 self.args.bandwidth = "low"
+                print("Setting PoE video quality to 50 to reduce latency...")
+                self.args.poeQuality = 50
             elif device.getUsbSpeed() not in [dai.UsbSpeed.SUPER, dai.UsbSpeed.SUPER_PLUS]:
                 print("Enabling low-bandwidth mode due to low USB speed... (speed: {})".format(device.getUsbSpeed()))
                 self.args.bandwidth = "low"
             else:
                 self.args.bandwidth = "high"
 
-
     def linuxCheckApplyUsbRules(self):
         if platform.system() == 'Linux':
             ret = subprocess.call(['grep', '-irn', 'ATTRS{idVendor}=="03e7"', '/etc/udev/rules.d'], stdout=subprocess.DEVNULL, stderr=subprocess.DEVNULL)

depthai_helpers/version_check.py

@@ -45,7 +45,7 @@ def getVersion(module_name):
 def checkRequirementsVersion():
     daiVersionRequired = getVersionFromRequirements('depthai', Path(__file__).parent / Path('../requirements.txt'))
     if daiVersionRequired is not None:
-        if depthai.__version__.endswith('+dev'):
+        if "dev" in depthai.__version__:
             print('Depthai development version found, skipping check.')
         elif daiVersionRequired != getVersion('depthai'):
             raise SystemExit(f"\033[1;5;31mVersion mismatch\033[0m\033[91m between installed depthai lib and the required one by the script.\033[0m \n\

depthai_sdk/src/depthai_sdk/managers/encoding_manager.py

@@ -76,6 +76,9 @@ def printManual():
             for name, file in self._encodingFiles.items():
                 print(cmd.format(self._encodingNodes[name].getFrameRate(), file.name, str(Path(file.name).with_suffix('.mp4'))))
 
+        for queue in self._encodingQueues.values():
+            queue.close()
+
         for name, file in self._encodingFiles.items():
             file.close()
         try:

depthai_sdk/src/depthai_sdk/managers/nnet_manager.py

@@ -173,6 +173,7 @@ def createNN(self, pipeline, nodes, blobPath, source="color", flipDetection=Fals
             nodes.camRgb.preview.link(nodes.nn.input)
         elif self.source == "host":
             nodes.xinNn = pipeline.createXLinkIn()
+            self.nodes.xinRgbControl.setMaxDataSize(self.inputSize[0] * self.inputSize[1] * 3)
             nodes.xinNn.setStreamName("nnIn")
             nodes.xinNn.out.link(nodes.nn.input)
         elif self.source in ("left", "right", "rectifiedLeft", "rectifiedRight"):
@@ -341,6 +342,15 @@ def createQueues(self, device):
             self.inputQueue = device.getInputQueue("nnIn", maxSize=1, blocking=False)
         self.outputQueue = device.getOutputQueue("nnOut", maxSize=1, blocking=False)
 
+    def closeQueues(self):
+        """
+        Closes output queues created by :func:`createQueues`
+        """
+        if self.source == "host" and self.inputQueue is not None:
+            self.inputQueue.close()
+        if self.outputQueue is not None:
+            self.outputQueue.close()
+
     def sendInputFrame(self, frame, seqNum=None):
         """
         Sends a frame into :attr:`inputQueue` object. Handles scaling down the frame, creating a proper :obj:`depthai.ImgFrame`