.. _examples_optimizer/optimizer:

Example: optimizer/optimizer.py
===============================

.. code-block:: python

	# Copyright (c) 2024 Justin Davis (davisjustin302@gmail.com)
	#
	# MIT License
	"""Example showcasing how to use the optimizer."""
	
	from __future__ import annotations
	
	from typing import TYPE_CHECKING, Any, Callable
	
	from oakutils.calibration import get_camera_calibration_basic
	from oakutils.nodes import create_stereo_depth, create_xout
	from oakutils.nodes.models import create_point_cloud
	from oakutils.optimizer import Optimizer, highest_fps
	
	if TYPE_CHECKING:
	    import depthai as dai
	
	
	def pipeline_func(
	    pipeline: dai.Pipeline,
	    args: dict[str, Any],
	) -> list[Callable[[dai.Device], None]]:
	    """Create a pipeline that generates a point cloud."""
	    # generate onboard nodes
	    stereo, left, right = create_stereo_depth(pipeline, fps=args["mono_fps"])
	    pcl, xin_pcl, start_pcl = create_point_cloud(
	        pipeline,
	        stereo.depth,
	        args["calibration"],
	        shaves=args["pcl_shaves"],
	    )
	    # create xout streams
	    xout_pcl = create_xout(pipeline, pcl.out, "pcl")
	    # return any functions to run before starting the pipeline
	    return [start_pcl]
	
	
	calibration = get_camera_calibration_basic()
	optim = Optimizer(
	    max_measure_time=30,
	    measure_trials=3,
	    warmup_cycles=5,
	    stability_threshold=0.001,
	    stability_length=30,
	)
	args = {
	    "mono_fps": [60, 90, 120],
	    "pcl_shaves": [6],
	    "calibration": [calibration],
	}  # should find the highest fps + highest shave for all
	best_args_fps, fps_measurements = optim.optimize(
	    pipeline_func=pipeline_func,
	    pipeline_args=args,
	    objective_func=highest_fps,
	)
	print(f"Achieved {fps_measurements[0]}")
	print("Best args for highest fps:")
	print(
	    f"{best_args_fps['mono_fps']} fps mono, {best_args_fps['pcl_shaves']} pcl shaves",
	)