From f7c49d15ab2153cf56a0c7b34d962f9846493479 Mon Sep 17 00:00:00 2001
From: Matevz Morato <matevz.morato@gmail.com>
Date: Mon, 27 May 2024 17:08:13 +0200
Subject: [PATCH] Remove frame_sync.py example as it's not needed with Sync
 node

---
 examples/mixed/frame_sync.py | 113 -----------------------------------
 1 file changed, 113 deletions(-)
 delete mode 100755 examples/mixed/frame_sync.py

diff --git a/examples/mixed/frame_sync.py b/examples/mixed/frame_sync.py
deleted file mode 100755
index 29226e285..000000000
--- a/examples/mixed/frame_sync.py
+++ /dev/null
@@ -1,113 +0,0 @@
-import depthai as dai
-import time
-
-FPS = 30
-
-pipeline = dai.Pipeline()
-
-# Define a source - color camera
-camRgb = pipeline.create(dai.node.ColorCamera)
-# Since we are saving RGB frames in Script node we need to make the
-# video pool size larger, otherwise the pipeline will freeze because
-# the ColorCamera won't be able to produce new video frames.
-camRgb.setVideoNumFramesPool(10)
-camRgb.setFps(FPS)
-
-left = pipeline.create(dai.node.MonoCamera)
-left.setResolution(dai.MonoCameraProperties.SensorResolution.THE_400_P)
-left.setCamera("left")
-left.setFps(FPS)
-
-right = pipeline.create(dai.node.MonoCamera)
-right.setResolution(dai.MonoCameraProperties.SensorResolution.THE_400_P)
-right.setCamera("right")
-right.setFps(FPS)
-
-stereo = pipeline.createStereoDepth()
-stereo.initialConfig.setMedianFilter(dai.MedianFilter.KERNEL_7x7)
-stereo.setLeftRightCheck(True)
-stereo.setExtendedDisparity(False)
-stereo.setSubpixel(False)
-left.out.link(stereo.left)
-right.out.link(stereo.right)
-
-# Script node will sync high-res frames
-script = pipeline.create(dai.node.Script)
-
-# Send both streams to the Script node so we can sync them
-stereo.disparity.link(script.inputs["disp_in"])
-camRgb.video.link(script.inputs["rgb_in"])
-
-script.setScript("""
-    FPS=30
-    import time
-    from datetime import timedelta
-    import math
-
-    # Timestamp threshold (in miliseconds) under which frames will be considered synced.
-    # Lower number means frames will have less delay between them, which can potentially
-    # lead to dropped frames.
-    MS_THRESHOL=math.ceil(500 / FPS)
-
-    def check_sync(queues, timestamp):
-        matching_frames = []
-        for name, list in queues.items(): # Go through each available stream
-            # node.warn(f"List {name}, len {str(len(list))}")
-            for i, msg in enumerate(list): # Go through each frame of this stream
-                time_diff = abs(msg.getTimestamp() - timestamp)
-                if time_diff <= timedelta(milliseconds=MS_THRESHOL): # If time diff is below threshold, this frame is considered in-sync
-                    matching_frames.append(i) # Append the position of the synced frame, so we can later remove all older frames
-                    break
-
-        if len(matching_frames) == len(queues):
-            # We have all frames synced. Remove the excess ones
-            i = 0
-            for name, list in queues.items():
-                queues[name] = queues[name][matching_frames[i]:] # Remove older (excess) frames
-                i+=1
-            return True
-        else:
-            return False # We don't have synced frames yet
-
-    names = ['disp', 'rgb']
-    frames = dict() # Dict where we store all received frames
-    for name in names:
-        frames[name] = []
-
-    while True:
-        for name in names:
-            f = node.io[name+"_in"].tryGet()
-            if f is not None:
-                frames[name].append(f) # Save received frame
-
-                if check_sync(frames, f.getTimestamp()): # Check if we have any synced frames
-                    # Frames synced!
-                    node.info(f"Synced frame!")
-                    # node.warn(f"Queue size. Disp: {len(frames['disp'])}, rgb: {len(frames['rgb'])}")
-                    for name, list in frames.items():
-                        syncedF = list.pop(0) # We have removed older (excess) frames, so at positions 0 in dict we have synced frames
-                        node.info(f"{name}, ts: {str(syncedF.getTimestamp())}, seq {str(syncedF.getSequenceNum())}")
-                        node.io[name+'_out'].send(syncedF) # Send synced frames to the host
-
-
-        time.sleep(0.001)  # Avoid lazy looping
-""")
-
-script_out = ['disp', 'rgb']
-
-for name in script_out: # Create XLinkOut for disp/rgb streams
-    xout = pipeline.create(dai.node.XLinkOut)
-    xout.setStreamName(name)
-    script.outputs[name+'_out'].link(xout.input)
-
-with dai.Device(pipeline) as device:
-    device.setLogLevel(dai.LogLevel.INFO)
-    device.setLogOutputLevel(dai.LogLevel.INFO)
-    names = ['rgb', 'disp']
-    queues = [device.getOutputQueue(name) for name in names]
-
-    while True:
-        for q in queues:
-            img: dai.ImgFrame = q.get()
-            # Display timestamp/sequence number of two synced frames
-            print(f"Time: {time.time()}. Stream {q.getName()}, timestamp: {img.getTimestamp()}, sequence number: {img.getSequenceNum()}")
\ No newline at end of file