Merge branch 'xlinkin_timestamps' of github.com:luxonis/depthai-pytho…

…n into bl_lock_bugix_devel

examples/Sync/imu_video_synced.py

@@ -0,0 +1,59 @@
+import depthai as dai
+import numpy as np
+import cv2
+from datetime import timedelta
+
+device = dai.Device()
+
+imuType = device.getConnectedIMU()
+imuFirmwareVersion = device.getIMUFirmwareVersion()
+print(f"IMU type: {imuType}, firmware version: {imuFirmwareVersion}")
+
+if imuType != "BNO086":
+    print("Rotation vector output is supported only by BNO086!")
+    exit(0)
+
+pipeline = dai.Pipeline()
+
+color = pipeline.create(dai.node.ColorCamera)
+imu = pipeline.create(dai.node.IMU)
+sync = pipeline.create(dai.node.Sync)
+xoutImu = pipeline.create(dai.node.XLinkOut)
+xoutImu.setStreamName("imu")
+
+xoutGrp = pipeline.create(dai.node.XLinkOut)
+xoutGrp.setStreamName("xout")
+
+color.setCamera("color")
+
+imu.enableIMUSensor(dai.IMUSensor.ROTATION_VECTOR, 120)
+imu.setBatchReportThreshold(1)
+imu.setMaxBatchReports(10)
+
+sync.setSyncThreshold(timedelta(milliseconds=10))
+sync.setSyncAttempts(-1)
+
+color.video.link(sync.inputs["video"])
+imu.out.link(sync.inputs["imu"])
+
+sync.out.link(xoutGrp.input)
+
+
+with device:
+    device.startPipeline(pipeline)
+    groupQueue = device.getOutputQueue("xout", 3, True)
+    while True:
+        groupMessage = groupQueue.get()
+        imuMessage = groupMessage["imu"]
+        colorMessage = groupMessage["video"]
+        print()
+        print("Device timestamp imu: " + str(imuMessage.getTimestampDevice()))
+        print("Device timestamp video:" + str(colorMessage.getTimestampDevice()))
+        latestRotationVector = imuMessage.packets[-1].rotationVector
+        imuF = "{:.4f}"
+        print(f"Quaternion: i: {imuF.format(latestRotationVector.i)} j: {imuF.format(latestRotationVector.j)} "
+        f"k: {imuF.format(latestRotationVector.k)} real: {imuF.format(latestRotationVector.real)}")
+        print()
+        cv2.imshow("video", colorMessage.getCvFrame())
+        if cv2.waitKey(1) == ord("q"):
+            break