From 1dfb4daaf88b28b281331dc89aacea99ff2fec02 Mon Sep 17 00:00:00 2001
From: Hari495 <harikolla78@gmail.com>
Date: Sat, 7 Feb 2026 15:35:43 -0500
Subject: [PATCH] added data_collector

---
 modules/common              |   2 +-
 utilities/data_collector.py | 119 ++++++++++++++++++++++++++++++++++++
 2 files changed, 120 insertions(+), 1 deletion(-)
 create mode 100644 utilities/data_collector.py

diff --git a/modules/common b/modules/common
index a48579e..a41d527 160000
--- a/modules/common
+++ b/modules/common
@@ -1 +1 @@
-Subproject commit a48579ef93b187e0a6b72ca941108866e270f089
+Subproject commit a41d527bec06a74815bc4a5e81701d0c6cac2a29
diff --git a/utilities/data_collector.py b/utilities/data_collector.py
new file mode 100644
index 0000000..6b71f8f
--- /dev/null
+++ b/utilities/data_collector.py
@@ -0,0 +1,119 @@
+"""
+Data Collection Utility for OAK-D
+Captures synchronized Left, Right, and RGB images for stereo depth calibration and testing.
+
+Usage:
+    python utilities/data_collector.py --interval 2 --out dataset_01
+"""
+
+import cv2
+import depthai as dai
+import time
+import os
+import argparse
+import shutil
+
+def parse_args():
+    parser = argparse.ArgumentParser()
+    parser.add_argument("-i", "--interval", type=float, default=3.0, help="Time in seconds between captures")
+    parser.add_argument("-o", "--out", type=str, default="dataset", help="Output directory path")
+    return parser.parse_args()
+
+def main():
+    args = parse_args()
+    
+    # Create unique session folder to prevent overwriting
+    timestamp_start = int(time.time())
+    session_dir = f"{args.out}_{timestamp_start}"
+    
+    for stream in ["left", "right", "rgb"]:
+        path = os.path.join(session_dir, stream)
+        os.makedirs(path, exist_ok=True)
+    
+    print(f"Starting Data Collector... Saving to '{session_dir}'")
+    
+    # In depthai v3.x, device is created first
+    device = dai.Device()
+    
+    with dai.Pipeline(device) as pipeline:
+        # Define Camera Sources using the new Camera node
+        camLeft = pipeline.create(dai.node.Camera).build(dai.CameraBoardSocket.CAM_B)  # Left mono
+        camRight = pipeline.create(dai.node.Camera).build(dai.CameraBoardSocket.CAM_C)  # Right mono
+        camRgb = pipeline.create(dai.node.Camera).build(dai.CameraBoardSocket.CAM_A)  # RGB center
+
+        # Request outputs and create output queues
+        qLeft = camLeft.requestOutput((640, 400), dai.ImgFrame.Type.GRAY8).createOutputQueue()
+        qRight = camRight.requestOutput((640, 400), dai.ImgFrame.Type.GRAY8).createOutputQueue()
+        qRgb = camRgb.requestOutput((640, 400), dai.ImgFrame.Type.BGR888p).createOutputQueue()
+
+        pipeline.start()
+        
+        count = 0
+        last_capture_time = time.time()
+        last_capture_display_time = 0  # Track when to show "CAPTURED!" message
+        
+        # Store the latest frames from each camera
+        latestLeft = None
+        latestRight = None
+        latestRgb = None
+        
+        while pipeline.isRunning():
+            # Non-blocking calls to get frames - update latest if available
+            inLeft = qLeft.tryGet()
+            inRight = qRight.tryGet()
+            inRgb = qRgb.tryGet()
+            
+            # Update latest frames when new ones arrive
+            if inLeft:
+                latestLeft = inLeft
+            if inRight:
+                latestRight = inRight
+            if inRgb:
+                latestRgb = inRgb
+
+            if latestRgb:
+                frameRgb = latestRgb.getCvFrame().copy()  # Copy for drawing
+                
+                # --- VISUAL COUNTDOWN LOGIC ---
+                time_since_last = time.time() - last_capture_time
+                time_remaining = args.interval - time_since_last
+                time_since_capture_display = time.time() - last_capture_display_time
+                
+                if time_since_capture_display < 0.5:
+                    # Show "CAPTURED!" for 0.5 seconds after capture
+                    text = "CAPTURED!"
+                    color = (0, 255, 0)  # Green
+                elif time_remaining > 0:
+                    # Draw countdown on screen
+                    text = f"Capture in: {int(time_remaining) + 1}"
+                    color = (0, 255, 255) # Yellow
+                else:
+                    text = "CAPTURING..."
+                    color = (0, 0, 255) # Red
+
+                cv2.putText(frameRgb, text, (50, 50), cv2.FONT_HERSHEY_SIMPLEX, 1, color, 2)
+                cv2.imshow("Data Collector (Preview)", frameRgb)
+
+            # Check if we have frames from all cameras AND it's time to capture
+            if latestLeft and latestRight and latestRgb and (time.time() - last_capture_time > args.interval):
+                timestamp = int(time.time() * 1000)
+                
+                # Save frames
+                cv2.imwrite(f"{session_dir}/left/{timestamp}.png", latestLeft.getCvFrame())
+                cv2.imwrite(f"{session_dir}/right/{timestamp}.png", latestRight.getCvFrame())
+                cv2.imwrite(f"{session_dir}/rgb/{timestamp}.png", latestRgb.getCvFrame())
+                
+                print(f"[{count}] Saved set at {timestamp}ms")
+                count += 1
+                last_capture_time = time.time() # Reset timer
+                last_capture_display_time = time.time()  # Trigger "CAPTURED!" display
+
+            key = cv2.waitKey(10)  # Increased to 10ms for better GUI responsiveness
+            if key == ord('q'):
+                break
+
+    print("Data collection finished.")
+    cv2.destroyAllWindows()
+
+if __name__ == "__main__":
+    main()
\ No newline at end of file