NDVI camera - switchable IR filter with Luxonis' OAK-FFC-4P and Arducam's IMX477

ndvi.py

#!/usr/bin/env python3
import depthai as dai
import cv2

pipeline = dai.Pipeline()

camA = pipeline.createColorCamera()
camA.setBoardSocket(dai.CameraBoardSocket.CAM_A)
camA.setResolution(dai.ColorCameraProperties.SensorResolution.THE_12_MP)

script = pipeline.create(dai.node.Script)
# To send switch command to IR filter
xin = pipeline.create(dai.node.XLinkIn)
xin.setStreamName('in')
xin.out.link(script.inputs['in'])

script.setScript("""
import GPIO
MX_PIN = 40 # OAK-FFC-4P R5

toggleVal = True
GPIO.setup(MX_PIN, GPIO.OUT, GPIO.PULL_DOWN)
GPIO.write(MX_PIN, toggleVal)

while True:
    data = node.io['in'].get()
    node.warn('GPIO toggle: ' + str(toggleVal))
    toggleVal = not toggleVal
    GPIO.write(MX_PIN, toggleVal)
""")

xoutA = pipeline.create(dai.node.XLinkOut)
xoutA.setStreamName('cam_a')
camA.isp.link(xoutA.input)
import time
# Connect to device with pipeline
with dai.Device(pipeline) as device:

    inQ = device.getInputQueue("in")
    q = device.getOutputQueue("cam_a")

    def send_trigger():
        inQ.send(dai.Buffer())

    capture = False

    while True:
        if q.has():
            frame: dai.ImgFrame = q.get()
            frame = frame.getCvFrame()
            cv2.imshow('Color', frame)
            if capture:
                cv2.imwrite(f'frame.png', frame)
                capture = False
        key = cv2.waitKey(1)
        if key == ord('q'): # Quit the program
            break
        if key == ord('c'): # Capture the image
            capture = True
        elif key == ord('t'): # Switch IR filter
            print('send trigger to IR filter')
            send_trigger()