From 1569a488efaa0ca9db380fee38c9251489091647 Mon Sep 17 00:00:00 2001
From: Ruben van de Ven <git@rubenvandeven.com>
Date: Thu, 6 Feb 2025 17:50:01 +0100
Subject: [PATCH] Latency measurement with QRen codde timngs

---
 .python-version    |   1 +
 README.md          |   9 +
 latency_measure.py | 192 ++++++++++++++++++
 poetry.lock        | 475 +++++++++++++++++++++++++++++++++++++++++++++
 pyproject.toml     |  21 ++
 5 files changed, 698 insertions(+)
 create mode 100644 .python-version
 create mode 100644 README.md
 create mode 100644 latency_measure.py
 create mode 100644 poetry.lock
 create mode 100644 pyproject.toml

diff --git a/.python-version b/.python-version
new file mode 100644
index 0000000..c84ccce
--- /dev/null
+++ b/.python-version
@@ -0,0 +1 @@
+3.10.5
diff --git a/README.md b/README.md
new file mode 100644
index 0000000..8a8ba2c
--- /dev/null
+++ b/README.md
@@ -0,0 +1,9 @@
+# Install
+
+To run, Baumer's NeoAPI needs a pyenv built with '--shared-modules'.
+
+* `env PYTHON_CONFIGURE_OPTS="--enable-shared" pyenv install 3.10.5`
+
+Then, before running, point to the LD_LIBRARY_PATH:
+
+* `export LD_LIBRARY_PATH="$(pyenv root)/versions/3.10.5/lib:$LD_LIBRARY_PATH"`
diff --git a/latency_measure.py b/latency_measure.py
new file mode 100644
index 0000000..93f2af7
--- /dev/null
+++ b/latency_measure.py
@@ -0,0 +1,192 @@
+"""
+Adapted from:
+More info at www.makehardware.com/webcam-latency
+From: https://github.com/perrytsao/Webcam-Latency-Measurement/blob/master/Camera_latency_fps_measure.py
+"""
+
+from collections import deque
+import time
+import timeit
+import numpy as np
+import pyglet
+import cv2
+import neoapi
+# TODO make dev dependency
+# or switch to cv2.QRCodeEncoder
+import qrcode
+
+video_sprite = None
+qr_sprite = None
+
+video_fps = deque([], maxlen=20)
+latencies = deque([], maxlen=10)
+qr_generation_latency = deque([], maxlen=20)
+
+# QR decoder and generator
+qrDecoder = cv2.QRCodeDetector()
+qrEncoder = qrcode.QRCode() # or use cv2.QRCodeEncoder()
+qrEncoder.border = 4
+
+
+class Source:
+    pass
+
+class GigE(Source):
+    def __init__(self):
+        self.camera = neoapi.Cam()
+        # self.camera.Connect('-B127')   
+        self.camera.Connect('-B105')   
+        # Default buffer mode, streaming, always returns latest frame
+        self.camera.SetImageBufferCount(10)
+        # neoAPI docs: Setting the neoapi.Cam.SetImageBufferCycleCount()to one ensures that all buffers but one are given back to the neoAPI to be re-cycled and never given to the user by the neoapi.Cam.GetImage() method.
+        self.camera.SetImageBufferCycleCount(1) 
+        if self.camera.IsConnected(): 
+            self.camera.f.PixelFormat.Set(neoapi.PixelFormat_RGB8)
+            self.camera.f.BinningHorizontal.Set(2)
+            self.camera.f.BinningVertical.Set(2)
+        self.pixfmt = self.camera.f.PixelFormat.Get()
+    
+    def recv(self):
+        i = self.camera.GetImage(0)    
+        if i.IsEmpty():
+            return None
+
+        imgarray = i.GetNPArray()
+        if self.pixfmt == neoapi.PixelFormat_BayerBG12:
+            img = cv2.cvtColor(imgarray, cv2.COLOR_BayerRG2RGB)
+        else:
+            img = cv2.cvtColor(imgarray, cv2.COLOR_BGR2RGB)
+        
+        if img.dtype == np.uint16:
+            img = cv2.convertScaleAbs(img, alpha=(255.0/65535.0))
+        return img
+
+source = GigE()
+
+
+
+config = pyglet.gl.Config(sample_buffers=1, samples=4)
+
+display = pyglet.canvas.get_display()
+screen = display.get_screens()[0]
+print(screen)
+window = pyglet.window.Window(width=screen.width, height=screen.height, config=config, fullscreen=True, screen=screen)
+# window.set_handler('on_close', self.on_close)
+# window.set_handler('on_key_press', self.on_key_press)
+
+fps_display = pyglet.window.FPSDisplay(window=window, color=(255,0,0))
+video_fps_display  = pyglet.text.Label("...", 100,10, color=(255,0,0))
+now_label  = pyglet.text.Label("...", 500,10, color=(255,0,0))
+latencies_label  = pyglet.text.Label("...", 700,10, color=(255,0,0))
+
+def check_frames(dt: float):
+    global video_sprite
+    # print('dt', dt)
+    img = source.recv()
+    if img is None:
+        return
+        
+    
+    now = timeit.default_timer()
+    video_fps.append(now)
+    img = cv2.flip(cv2.cvtColor(img, cv2.COLOR_BGR2RGB), 0)
+
+    # TODO: offload to queue and multiprocessing
+    img_for_qr = cv2.resize(img, (0,0), fx=.1, fy=.1)
+    retval, codes,bboxes,rectifiedImages = qrDecoder.detectAndDecodeMulti(img)
+    
+    if retval:
+        # print(retval, codes)
+        for code in codes:
+            if len(code) == 0:
+                continue
+                
+            # TODO)) Handle/filter/sort multiple QRs
+            # I.e. filter out newest, and only go for single most new.
+            # In that case we should verify there's >=2 QRs in sight.
+            detected_t = float(code)
+            latencies.append(now - detected_t)
+        
+
+    img_data = pyglet.image.ImageData(img.shape[1], img.shape[0], 'RGB', img.tobytes())
+    # don't draw in batch, so that it is the background
+    video_sprite = pyglet.sprite.Sprite(img=img_data)
+
+
+def on_refresh(dt):
+    global qr_sprite
+
+    if len(video_fps) < 2:
+        return
+    
+    if qr_sprite is not None:
+        qr_sprite.delete() # clear texture from memory
+    
+    intervals = [video_fps[i] - video_fps[i-1] for i in range(1, len(video_fps))]
+    
+    # intervals = video_fps[1:] - video_fps[:-1]
+    a = np.average(intervals)
+    fps = 1/a
+    video_fps_display.text = f"video stream: {fps:.2f} fps"
+    if len(latencies):
+        latencies_label.text = f"latency: {np.average(latencies):.4f} s" # roundtrip time between render and capture
+
+    # if qr_sprite is not None:
+    #     return
+    
+    
+
+    qrEncoder.clear()
+    t_one = time.perf_counter()
+    qr_correction = np.average(qr_generation_latency) if len(qr_generation_latency) else 0
+    qr_corrected_time = t_one + qr_correction
+    qrEncoder.add_data(f"{qr_corrected_time:.6f}")
+    qr_data = np.array(qrEncoder.get_matrix()) # bool
+    qr_channel = 255 - (qr_data * 255 ).astype(np.uint8) # 0,255
+    qr_img = np.dstack((qr_channel,qr_channel,qr_channel))
+    # print(qr_img)
+    qr_img = cv2.resize(qr_img, (0, 0), fx = 3, fy = 3, interpolation=cv2.INTER_NEAREST)
+    
+    # qr_img_data = pyglet.image.ImageData(qr_img.shape[1], qr_img.shape[0], 'L', qr_channel)
+    rows, cols, channels = qr_img.shape
+    pitch=cols*channels
+    data = qr_img.ravel()
+    texture = (pyglet.gl.GLubyte * (rows * cols * channels)) (*data)
+    # following helpful folkes at SO how to turn numpy array into pyglet ImageData:
+    # https://stackoverflow.com/questions/3165379/how-to-display-a-numpy-array-with-pyglet/3165844#3165844
+    qr_img_data = pyglet.image.ImageData(cols, rows, 'RGB', texture, pitch=pitch)
+    
+    qr_sprite = pyglet.sprite.Sprite(img=qr_img_data, x = 100, y = 100)
+
+    # TODO: Collect and add to start time to negate qr generation latency
+    qr_generation_latency.append(time.perf_counter() - t_one)
+    
+    
+    # TODO: change into QR or something, and immediately compare on the capture of the frame
+    # with the timer at that point
+    now_label.text = f"{timeit.default_timer():.4f}"
+
+
+def on_draw():
+    # global video_sprite
+    window.clear()
+    if video_sprite:
+        video_sprite.draw()
+    if qr_sprite:
+        qr_sprite.draw()
+
+    fps_display.draw()
+    video_fps_display.draw()
+    latencies_label.draw()
+    now_label.draw()
+
+window.set_handler('on_refresh', on_refresh)
+window.set_handler('on_draw', on_draw)
+
+
+try:
+    event_loop = pyglet.app.EventLoop()
+    pyglet.clock.schedule(check_frames)
+    event_loop.run()
+finally:
+    window.close()
\ No newline at end of file
diff --git a/poetry.lock b/poetry.lock
new file mode 100644
index 0000000..9e92e5a
--- /dev/null
+++ b/poetry.lock
@@ -0,0 +1,475 @@
+# This file is automatically @generated by Poetry 1.7.0 and should not be changed by hand.
+
+[[package]]
+name = "asttokens"
+version = "3.0.0"
+description = "Annotate AST trees with source code positions"
+optional = false
+python-versions = ">=3.8"
+files = [
+    {file = "asttokens-3.0.0-py3-none-any.whl", hash = "sha256:e3078351a059199dd5138cb1c706e6430c05eff2ff136af5eb4790f9d28932e2"},
+    {file = "asttokens-3.0.0.tar.gz", hash = "sha256:0dcd8baa8d62b0c1d118b399b2ddba3c4aff271d0d7a9e0d4c1681c79035bbc7"},
+]
+
+[package.extras]
+astroid = ["astroid (>=2,<4)"]
+test = ["astroid (>=2,<4)", "pytest", "pytest-cov", "pytest-xdist"]
+
+[[package]]
+name = "baumer-neoapi"
+version = "1.4.1"
+description = "neoapi the new camera programming experience"
+optional = false
+python-versions = ">=3.4, <=3.12"
+files = [
+    {file = "baumer_neoapi-1.4.1-cp34.cp35.cp36.cp37.cp38.cp39.cp310.cp311.cp312-none-linux_x86_64.whl", hash = "sha256:22e378f98cc4112f942db88fca9de74ba34fdc91a05512312aa57adf8e2cf84e"},
+]
+
+[package.source]
+type = "file"
+url = "../../Downloads/Baumer_neoAPI_1.4.1_lin_x86_64_python/wheel/baumer_neoapi-1.4.1-cp34.cp35.cp36.cp37.cp38.cp39.cp310.cp311.cp312-none-linux_x86_64.whl"
+
+[[package]]
+name = "colorama"
+version = "0.4.6"
+description = "Cross-platform colored terminal text."
+optional = false
+python-versions = "!=3.0.*,!=3.1.*,!=3.2.*,!=3.3.*,!=3.4.*,!=3.5.*,!=3.6.*,>=2.7"
+files = [
+    {file = "colorama-0.4.6-py2.py3-none-any.whl", hash = "sha256:4f1d9991f5acc0ca119f9d443620b77f9d6b33703e51011c16baf57afb285fc6"},
+    {file = "colorama-0.4.6.tar.gz", hash = "sha256:08695f5cb7ed6e0531a20572697297273c47b8cae5a63ffc6d6ed5c201be6e44"},
+]
+
+[[package]]
+name = "decorator"
+version = "5.1.1"
+description = "Decorators for Humans"
+optional = false
+python-versions = ">=3.5"
+files = [
+    {file = "decorator-5.1.1-py3-none-any.whl", hash = "sha256:b8c3f85900b9dc423225913c5aace94729fe1fa9763b38939a95226f02d37186"},
+    {file = "decorator-5.1.1.tar.gz", hash = "sha256:637996211036b6385ef91435e4fae22989472f9d571faba8927ba8253acbc330"},
+]
+
+[[package]]
+name = "exceptiongroup"
+version = "1.2.2"
+description = "Backport of PEP 654 (exception groups)"
+optional = false
+python-versions = ">=3.7"
+files = [
+    {file = "exceptiongroup-1.2.2-py3-none-any.whl", hash = "sha256:3111b9d131c238bec2f8f516e123e14ba243563fb135d3fe885990585aa7795b"},
+    {file = "exceptiongroup-1.2.2.tar.gz", hash = "sha256:47c2edf7c6738fafb49fd34290706d1a1a2f4d1c6df275526b62cbb4aa5393cc"},
+]
+
+[package.extras]
+test = ["pytest (>=6)"]
+
+[[package]]
+name = "executing"
+version = "2.2.0"
+description = "Get the currently executing AST node of a frame, and other information"
+optional = false
+python-versions = ">=3.8"
+files = [
+    {file = "executing-2.2.0-py2.py3-none-any.whl", hash = "sha256:11387150cad388d62750327a53d3339fad4888b39a6fe233c3afbb54ecffd3aa"},
+    {file = "executing-2.2.0.tar.gz", hash = "sha256:5d108c028108fe2551d1a7b2e8b713341e2cb4fc0aa7dcf966fa4327a5226755"},
+]
+
+[package.extras]
+tests = ["asttokens (>=2.1.0)", "coverage", "coverage-enable-subprocess", "ipython", "littleutils", "pytest", "rich"]
+
+[[package]]
+name = "genicam"
+version = "1.4.0"
+description = "The official Python Binding for the GenICam GenApi & the GenTL Producers"
+optional = false
+python-versions = "*"
+files = [
+    {file = "genicam-1.4.0-cp310-cp310-macosx_13_0_arm64.whl", hash = "sha256:8821c88c853e9159f48142710e2fa51c1fa94dec273e1957788285ea845ca0ad"},
+    {file = "genicam-1.4.0-cp310-cp310-manylinux2014_aarch64.whl", hash = "sha256:b98fe6d1699497c6090f86c9426c982fb6e7a8f13b721bbd479efa52261e6b8d"},
+    {file = "genicam-1.4.0-cp310-cp310-manylinux2014_x86_64.whl", hash = "sha256:b01e34b8d51bf23218263352522a1c491d82fccbd0a65cddb055b2623c6bfbe6"},
+    {file = "genicam-1.4.0-cp310-cp310-win_amd64.whl", hash = "sha256:d54ea2b69329e6c26a51f1e5147bb3e3e2ac9d6440a907809a07bc15cc2b7ab6"},
+    {file = "genicam-1.4.0-cp311-cp311-macosx_13_0_arm64.whl", hash = "sha256:aedd5748067ed61f57835895de8bc7b00fbeb1fa5ca6a0f82b802cf48c71110e"},
+    {file = "genicam-1.4.0-cp311-cp311-manylinux2014_aarch64.whl", hash = "sha256:589e4f51a08ab2c4de6ca2c6991705b2a886da111c6802cf1621afdc53bfdd46"},
+    {file = "genicam-1.4.0-cp311-cp311-manylinux2014_x86_64.whl", hash = "sha256:ede848faa23bb4e20cff98b685d73cc3e6fc4b82b2ab98ffabd7831dd41da9aa"},
+    {file = "genicam-1.4.0-cp311-cp311-win_amd64.whl", hash = "sha256:9c6a2c53cd860109b26f36578b0af26b6229ff8d5e0480a8064fddf93f25ea47"},
+    {file = "genicam-1.4.0-cp37-cp37m-manylinux2014_aarch64.whl", hash = "sha256:217dde404aadaf6a2f05bbd4393e2bf84fb7998953bd54b982367251ad068d05"},
+    {file = "genicam-1.4.0-cp37-cp37m-manylinux2014_x86_64.whl", hash = "sha256:096592949ba8f8da0af6505617b911a30e05f01349c72442ff996490a782e26a"},
+    {file = "genicam-1.4.0-cp37-cp37m-win_amd64.whl", hash = "sha256:e063b88e48785ad8a4b51bc8997556c0845acea42004bb718dadba8152099b07"},
+    {file = "genicam-1.4.0-cp38-cp38-manylinux2014_aarch64.whl", hash = "sha256:9137e605a35d1b9416553c1446611d4eb8c697d584d1c82dcb324114bfa9a402"},
+    {file = "genicam-1.4.0-cp38-cp38-manylinux2014_x86_64.whl", hash = "sha256:74decd15b4675b1ade3f0c617c8789b5f125e6316277528d69bf1ff9a30b95fa"},
+    {file = "genicam-1.4.0-cp38-cp38-win_amd64.whl", hash = "sha256:50d8803570679de4784d813999c0a3a5d1ebf9a5a1cf3cab6371993ec77ef811"},
+    {file = "genicam-1.4.0-cp39-cp39-macosx_13_0_arm64.whl", hash = "sha256:4ccfbb187b07f666cd304ffeca3fefcbd5d396eec8aa028eac4581ae9f15a7ac"},
+    {file = "genicam-1.4.0-cp39-cp39-manylinux2014_aarch64.whl", hash = "sha256:cafa50458c2697f6fb48b49fbf378cc9ec2d65335bc63555f205e9d29bef567b"},
+    {file = "genicam-1.4.0-cp39-cp39-manylinux2014_x86_64.whl", hash = "sha256:1e4ed3df7b1225045097ad69a8df4c5b78862ae7cd2e9cdbbcfbb41c7d0c600e"},
+    {file = "genicam-1.4.0-cp39-cp39-win_amd64.whl", hash = "sha256:dba9fe569d7b4fd74f15d32406d8d9531af32e9377ebbbb1ea2fb93276029ba8"},
+]
+
+[[package]]
+name = "harvesters"
+version = "1.4.3"
+description = "Image Acquisition Library for GenICam-based Machine Vision System"
+optional = false
+python-versions = "*"
+files = [
+    {file = "harvesters-1.4.3-py3-none-any.whl", hash = "sha256:74994cedc941051b9ce9527c5b336e611589a1bc209bc03186c49102a55f1f1f"},
+    {file = "harvesters-1.4.3.tar.gz", hash = "sha256:c237dd402735a66ebd570865113a3e80ae19161a21706aed80691627a8cb7da2"},
+]
+
+[package.dependencies]
+genicam = ">=1.2"
+numpy = "*"
+
+[[package]]
+name = "ipython"
+version = "8.32.0"
+description = "IPython: Productive Interactive Computing"
+optional = false
+python-versions = ">=3.10"
+files = [
+    {file = "ipython-8.32.0-py3-none-any.whl", hash = "sha256:cae85b0c61eff1fc48b0a8002de5958b6528fa9c8defb1894da63f42613708aa"},
+    {file = "ipython-8.32.0.tar.gz", hash = "sha256:be2c91895b0b9ea7ba49d33b23e2040c352b33eb6a519cca7ce6e0c743444251"},
+]
+
+[package.dependencies]
+colorama = {version = "*", markers = "sys_platform == \"win32\""}
+decorator = "*"
+exceptiongroup = {version = "*", markers = "python_version < \"3.11\""}
+jedi = ">=0.16"
+matplotlib-inline = "*"
+pexpect = {version = ">4.3", markers = "sys_platform != \"win32\" and sys_platform != \"emscripten\""}
+prompt_toolkit = ">=3.0.41,<3.1.0"
+pygments = ">=2.4.0"
+stack_data = "*"
+traitlets = ">=5.13.0"
+typing_extensions = {version = ">=4.6", markers = "python_version < \"3.12\""}
+
+[package.extras]
+all = ["ipython[black,doc,kernel,matplotlib,nbconvert,nbformat,notebook,parallel,qtconsole]", "ipython[test,test-extra]"]
+black = ["black"]
+doc = ["docrepr", "exceptiongroup", "intersphinx_registry", "ipykernel", "ipython[test]", "matplotlib", "setuptools (>=18.5)", "sphinx (>=1.3)", "sphinx-rtd-theme", "sphinxcontrib-jquery", "tomli", "typing_extensions"]
+kernel = ["ipykernel"]
+matplotlib = ["matplotlib"]
+nbconvert = ["nbconvert"]
+nbformat = ["nbformat"]
+notebook = ["ipywidgets", "notebook"]
+parallel = ["ipyparallel"]
+qtconsole = ["qtconsole"]
+test = ["packaging", "pickleshare", "pytest", "pytest-asyncio (<0.22)", "testpath"]
+test-extra = ["curio", "ipython[test]", "matplotlib (!=3.2.0)", "nbformat", "numpy (>=1.23)", "pandas", "trio"]
+
+[[package]]
+name = "jedi"
+version = "0.19.2"
+description = "An autocompletion tool for Python that can be used for text editors."
+optional = false
+python-versions = ">=3.6"
+files = [
+    {file = "jedi-0.19.2-py2.py3-none-any.whl", hash = "sha256:a8ef22bde8490f57fe5c7681a3c83cb58874daf72b4784de3cce5b6ef6edb5b9"},
+    {file = "jedi-0.19.2.tar.gz", hash = "sha256:4770dc3de41bde3966b02eb84fbcf557fb33cce26ad23da12c742fb50ecb11f0"},
+]
+
+[package.dependencies]
+parso = ">=0.8.4,<0.9.0"
+
+[package.extras]
+docs = ["Jinja2 (==2.11.3)", "MarkupSafe (==1.1.1)", "Pygments (==2.8.1)", "alabaster (==0.7.12)", "babel (==2.9.1)", "chardet (==4.0.0)", "commonmark (==0.8.1)", "docutils (==0.17.1)", "future (==0.18.2)", "idna (==2.10)", "imagesize (==1.2.0)", "mock (==1.0.1)", "packaging (==20.9)", "pyparsing (==2.4.7)", "pytz (==2021.1)", "readthedocs-sphinx-ext (==2.1.4)", "recommonmark (==0.5.0)", "requests (==2.25.1)", "six (==1.15.0)", "snowballstemmer (==2.1.0)", "sphinx (==1.8.5)", "sphinx-rtd-theme (==0.4.3)", "sphinxcontrib-serializinghtml (==1.1.4)", "sphinxcontrib-websupport (==1.2.4)", "urllib3 (==1.26.4)"]
+qa = ["flake8 (==5.0.4)", "mypy (==0.971)", "types-setuptools (==67.2.0.1)"]
+testing = ["Django", "attrs", "colorama", "docopt", "pytest (<9.0.0)"]
+
+[[package]]
+name = "matplotlib-inline"
+version = "0.1.7"
+description = "Inline Matplotlib backend for Jupyter"
+optional = false
+python-versions = ">=3.8"
+files = [
+    {file = "matplotlib_inline-0.1.7-py3-none-any.whl", hash = "sha256:df192d39a4ff8f21b1895d72e6a13f5fcc5099f00fa84384e0ea28c2cc0653ca"},
+    {file = "matplotlib_inline-0.1.7.tar.gz", hash = "sha256:8423b23ec666be3d16e16b60bdd8ac4e86e840ebd1dd11a30b9f117f2fa0ab90"},
+]
+
+[package.dependencies]
+traitlets = "*"
+
+[[package]]
+name = "numpy"
+version = "2.2.2"
+description = "Fundamental package for array computing in Python"
+optional = false
+python-versions = ">=3.10"
+files = [
+    {file = "numpy-2.2.2-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:7079129b64cb78bdc8d611d1fd7e8002c0a2565da6a47c4df8062349fee90e3e"},
+    {file = "numpy-2.2.2-cp310-cp310-macosx_11_0_arm64.whl", hash = "sha256:2ec6c689c61df613b783aeb21f945c4cbe6c51c28cb70aae8430577ab39f163e"},
+    {file = "numpy-2.2.2-cp310-cp310-macosx_14_0_arm64.whl", hash = "sha256:40c7ff5da22cd391944a28c6a9c638a5eef77fcf71d6e3a79e1d9d9e82752715"},
+    {file = "numpy-2.2.2-cp310-cp310-macosx_14_0_x86_64.whl", hash = "sha256:995f9e8181723852ca458e22de5d9b7d3ba4da3f11cc1cb113f093b271d7965a"},
+    {file = "numpy-2.2.2-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:b78ea78450fd96a498f50ee096f69c75379af5138f7881a51355ab0e11286c97"},
+    {file = "numpy-2.2.2-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:3fbe72d347fbc59f94124125e73fc4976a06927ebc503ec5afbfb35f193cd957"},
+    {file = "numpy-2.2.2-cp310-cp310-musllinux_1_2_aarch64.whl", hash = "sha256:8e6da5cffbbe571f93588f562ed130ea63ee206d12851b60819512dd3e1ba50d"},
+    {file = "numpy-2.2.2-cp310-cp310-musllinux_1_2_x86_64.whl", hash = "sha256:09d6a2032faf25e8d0cadde7fd6145118ac55d2740132c1d845f98721b5ebcfd"},
+    {file = "numpy-2.2.2-cp310-cp310-win32.whl", hash = "sha256:159ff6ee4c4a36a23fe01b7c3d07bd8c14cc433d9720f977fcd52c13c0098160"},
+    {file = "numpy-2.2.2-cp310-cp310-win_amd64.whl", hash = "sha256:64bd6e1762cd7f0986a740fee4dff927b9ec2c5e4d9a28d056eb17d332158014"},
+    {file = "numpy-2.2.2-cp311-cp311-macosx_10_9_x86_64.whl", hash = "sha256:642199e98af1bd2b6aeb8ecf726972d238c9877b0f6e8221ee5ab945ec8a2189"},
+    {file = "numpy-2.2.2-cp311-cp311-macosx_11_0_arm64.whl", hash = "sha256:6d9fc9d812c81e6168b6d405bf00b8d6739a7f72ef22a9214c4241e0dc70b323"},
+    {file = "numpy-2.2.2-cp311-cp311-macosx_14_0_arm64.whl", hash = "sha256:c7d1fd447e33ee20c1f33f2c8e6634211124a9aabde3c617687d8b739aa69eac"},
+    {file = "numpy-2.2.2-cp311-cp311-macosx_14_0_x86_64.whl", hash = "sha256:451e854cfae0febe723077bd0cf0a4302a5d84ff25f0bfece8f29206c7bed02e"},
+    {file = "numpy-2.2.2-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:bd249bc894af67cbd8bad2c22e7cbcd46cf87ddfca1f1289d1e7e54868cc785c"},
+    {file = "numpy-2.2.2-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:02935e2c3c0c6cbe9c7955a8efa8908dd4221d7755644c59d1bba28b94fd334f"},
+    {file = "numpy-2.2.2-cp311-cp311-musllinux_1_2_aarch64.whl", hash = "sha256:a972cec723e0563aa0823ee2ab1df0cb196ed0778f173b381c871a03719d4826"},
+    {file = "numpy-2.2.2-cp311-cp311-musllinux_1_2_x86_64.whl", hash = "sha256:d6d6a0910c3b4368d89dde073e630882cdb266755565155bc33520283b2d9df8"},
+    {file = "numpy-2.2.2-cp311-cp311-win32.whl", hash = "sha256:860fd59990c37c3ef913c3ae390b3929d005243acca1a86facb0773e2d8d9e50"},
+    {file = "numpy-2.2.2-cp311-cp311-win_amd64.whl", hash = "sha256:da1eeb460ecce8d5b8608826595c777728cdf28ce7b5a5a8c8ac8d949beadcf2"},
+    {file = "numpy-2.2.2-cp312-cp312-macosx_10_13_x86_64.whl", hash = "sha256:ac9bea18d6d58a995fac1b2cb4488e17eceeac413af014b1dd26170b766d8467"},
+    {file = "numpy-2.2.2-cp312-cp312-macosx_11_0_arm64.whl", hash = "sha256:23ae9f0c2d889b7b2d88a3791f6c09e2ef827c2446f1c4a3e3e76328ee4afd9a"},
+    {file = "numpy-2.2.2-cp312-cp312-macosx_14_0_arm64.whl", hash = "sha256:3074634ea4d6df66be04f6728ee1d173cfded75d002c75fac79503a880bf3825"},
+    {file = "numpy-2.2.2-cp312-cp312-macosx_14_0_x86_64.whl", hash = "sha256:8ec0636d3f7d68520afc6ac2dc4b8341ddb725039de042faf0e311599f54eb37"},
+    {file = "numpy-2.2.2-cp312-cp312-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:2ffbb1acd69fdf8e89dd60ef6182ca90a743620957afb7066385a7bbe88dc748"},
+    {file = "numpy-2.2.2-cp312-cp312-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:0349b025e15ea9d05c3d63f9657707a4e1d471128a3b1d876c095f328f8ff7f0"},
+    {file = "numpy-2.2.2-cp312-cp312-musllinux_1_2_aarch64.whl", hash = "sha256:463247edcee4a5537841d5350bc87fe8e92d7dd0e8c71c995d2c6eecb8208278"},
+    {file = "numpy-2.2.2-cp312-cp312-musllinux_1_2_x86_64.whl", hash = "sha256:9dd47ff0cb2a656ad69c38da850df3454da88ee9a6fde0ba79acceee0e79daba"},
+    {file = "numpy-2.2.2-cp312-cp312-win32.whl", hash = "sha256:4525b88c11906d5ab1b0ec1f290996c0020dd318af8b49acaa46f198b1ffc283"},
+    {file = "numpy-2.2.2-cp312-cp312-win_amd64.whl", hash = "sha256:5acea83b801e98541619af398cc0109ff48016955cc0818f478ee9ef1c5c3dcb"},
+    {file = "numpy-2.2.2-cp313-cp313-macosx_10_13_x86_64.whl", hash = "sha256:b208cfd4f5fe34e1535c08983a1a6803fdbc7a1e86cf13dd0c61de0b51a0aadc"},
+    {file = "numpy-2.2.2-cp313-cp313-macosx_11_0_arm64.whl", hash = "sha256:d0bbe7dd86dca64854f4b6ce2ea5c60b51e36dfd597300057cf473d3615f2369"},
+    {file = "numpy-2.2.2-cp313-cp313-macosx_14_0_arm64.whl", hash = "sha256:22ea3bb552ade325530e72a0c557cdf2dea8914d3a5e1fecf58fa5dbcc6f43cd"},
+    {file = "numpy-2.2.2-cp313-cp313-macosx_14_0_x86_64.whl", hash = "sha256:128c41c085cab8a85dc29e66ed88c05613dccf6bc28b3866cd16050a2f5448be"},
+    {file = "numpy-2.2.2-cp313-cp313-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:250c16b277e3b809ac20d1f590716597481061b514223c7badb7a0f9993c7f84"},
+    {file = "numpy-2.2.2-cp313-cp313-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:e0c8854b09bc4de7b041148d8550d3bd712b5c21ff6a8ed308085f190235d7ff"},
+    {file = "numpy-2.2.2-cp313-cp313-musllinux_1_2_aarch64.whl", hash = "sha256:b6fb9c32a91ec32a689ec6410def76443e3c750e7cfc3fb2206b985ffb2b85f0"},
+    {file = "numpy-2.2.2-cp313-cp313-musllinux_1_2_x86_64.whl", hash = "sha256:57b4012e04cc12b78590a334907e01b3a85efb2107df2b8733ff1ed05fce71de"},
+    {file = "numpy-2.2.2-cp313-cp313-win32.whl", hash = "sha256:4dbd80e453bd34bd003b16bd802fac70ad76bd463f81f0c518d1245b1c55e3d9"},
+    {file = "numpy-2.2.2-cp313-cp313-win_amd64.whl", hash = "sha256:5a8c863ceacae696aff37d1fd636121f1a512117652e5dfb86031c8d84836369"},
+    {file = "numpy-2.2.2-cp313-cp313t-macosx_10_13_x86_64.whl", hash = "sha256:b3482cb7b3325faa5f6bc179649406058253d91ceda359c104dac0ad320e1391"},
+    {file = "numpy-2.2.2-cp313-cp313t-macosx_11_0_arm64.whl", hash = "sha256:9491100aba630910489c1d0158034e1c9a6546f0b1340f716d522dc103788e39"},
+    {file = "numpy-2.2.2-cp313-cp313t-macosx_14_0_arm64.whl", hash = "sha256:41184c416143defa34cc8eb9d070b0a5ba4f13a0fa96a709e20584638254b317"},
+    {file = "numpy-2.2.2-cp313-cp313t-macosx_14_0_x86_64.whl", hash = "sha256:7dca87ca328f5ea7dafc907c5ec100d187911f94825f8700caac0b3f4c384b49"},
+    {file = "numpy-2.2.2-cp313-cp313t-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:0bc61b307655d1a7f9f4b043628b9f2b721e80839914ede634e3d485913e1fb2"},
+    {file = "numpy-2.2.2-cp313-cp313t-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:9fad446ad0bc886855ddf5909cbf8cb5d0faa637aaa6277fb4b19ade134ab3c7"},
+    {file = "numpy-2.2.2-cp313-cp313t-musllinux_1_2_aarch64.whl", hash = "sha256:149d1113ac15005652e8d0d3f6fd599360e1a708a4f98e43c9c77834a28238cb"},
+    {file = "numpy-2.2.2-cp313-cp313t-musllinux_1_2_x86_64.whl", hash = "sha256:106397dbbb1896f99e044efc90360d098b3335060375c26aa89c0d8a97c5f648"},
+    {file = "numpy-2.2.2-cp313-cp313t-win32.whl", hash = "sha256:0eec19f8af947a61e968d5429f0bd92fec46d92b0008d0a6685b40d6adf8a4f4"},
+    {file = "numpy-2.2.2-cp313-cp313t-win_amd64.whl", hash = "sha256:97b974d3ba0fb4612b77ed35d7627490e8e3dff56ab41454d9e8b23448940576"},
+    {file = "numpy-2.2.2-pp310-pypy310_pp73-macosx_10_15_x86_64.whl", hash = "sha256:b0531f0b0e07643eb089df4c509d30d72c9ef40defa53e41363eca8a8cc61495"},
+    {file = "numpy-2.2.2-pp310-pypy310_pp73-macosx_14_0_x86_64.whl", hash = "sha256:e9e82dcb3f2ebbc8cb5ce1102d5f1c5ed236bf8a11730fb45ba82e2841ec21df"},
+    {file = "numpy-2.2.2-pp310-pypy310_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:e0d4142eb40ca6f94539e4db929410f2a46052a0fe7a2c1c59f6179c39938d2a"},
+    {file = "numpy-2.2.2-pp310-pypy310_pp73-win_amd64.whl", hash = "sha256:356ca982c188acbfa6af0d694284d8cf20e95b1c3d0aefa8929376fea9146f60"},
+    {file = "numpy-2.2.2.tar.gz", hash = "sha256:ed6906f61834d687738d25988ae117683705636936cc605be0bb208b23df4d8f"},
+]
+
+[[package]]
+name = "opencv-python"
+version = "4.11.0.86"
+description = "Wrapper package for OpenCV python bindings."
+optional = false
+python-versions = ">=3.6"
+files = [
+    {file = "opencv-python-4.11.0.86.tar.gz", hash = "sha256:03d60ccae62304860d232272e4a4fda93c39d595780cb40b161b310244b736a4"},
+    {file = "opencv_python-4.11.0.86-cp37-abi3-macosx_13_0_arm64.whl", hash = "sha256:432f67c223f1dc2824f5e73cdfcd9db0efc8710647d4e813012195dc9122a52a"},
+    {file = "opencv_python-4.11.0.86-cp37-abi3-macosx_13_0_x86_64.whl", hash = "sha256:9d05ef13d23fe97f575153558653e2d6e87103995d54e6a35db3f282fe1f9c66"},
+    {file = "opencv_python-4.11.0.86-cp37-abi3-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:1b92ae2c8852208817e6776ba1ea0d6b1e0a1b5431e971a2a0ddd2a8cc398202"},
+    {file = "opencv_python-4.11.0.86-cp37-abi3-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:6b02611523803495003bd87362db3e1d2a0454a6a63025dc6658a9830570aa0d"},
+    {file = "opencv_python-4.11.0.86-cp37-abi3-win32.whl", hash = "sha256:810549cb2a4aedaa84ad9a1c92fbfdfc14090e2749cedf2c1589ad8359aa169b"},
+    {file = "opencv_python-4.11.0.86-cp37-abi3-win_amd64.whl", hash = "sha256:085ad9b77c18853ea66283e98affefe2de8cc4c1f43eda4c100cf9b2721142ec"},
+]
+
+[package.dependencies]
+numpy = [
+    {version = ">=1.26.0", markers = "python_version >= \"3.12\""},
+    {version = ">=1.23.5", markers = "python_version >= \"3.11\" and python_version < \"3.12\""},
+    {version = ">=1.21.4", markers = "python_version >= \"3.10\" and platform_system == \"Darwin\" and python_version < \"3.11\""},
+    {version = ">=1.21.2", markers = "platform_system != \"Darwin\" and python_version >= \"3.10\" and python_version < \"3.11\""},
+]
+
+[[package]]
+name = "parso"
+version = "0.8.4"
+description = "A Python Parser"
+optional = false
+python-versions = ">=3.6"
+files = [
+    {file = "parso-0.8.4-py2.py3-none-any.whl", hash = "sha256:a418670a20291dacd2dddc80c377c5c3791378ee1e8d12bffc35420643d43f18"},
+    {file = "parso-0.8.4.tar.gz", hash = "sha256:eb3a7b58240fb99099a345571deecc0f9540ea5f4dd2fe14c2a99d6b281ab92d"},
+]
+
+[package.extras]
+qa = ["flake8 (==5.0.4)", "mypy (==0.971)", "types-setuptools (==67.2.0.1)"]
+testing = ["docopt", "pytest"]
+
+[[package]]
+name = "pexpect"
+version = "4.9.0"
+description = "Pexpect allows easy control of interactive console applications."
+optional = false
+python-versions = "*"
+files = [
+    {file = "pexpect-4.9.0-py2.py3-none-any.whl", hash = "sha256:7236d1e080e4936be2dc3e326cec0af72acf9212a7e1d060210e70a47e253523"},
+    {file = "pexpect-4.9.0.tar.gz", hash = "sha256:ee7d41123f3c9911050ea2c2dac107568dc43b2d3b0c7557a33212c398ead30f"},
+]
+
+[package.dependencies]
+ptyprocess = ">=0.5"
+
+[[package]]
+name = "prompt-toolkit"
+version = "3.0.50"
+description = "Library for building powerful interactive command lines in Python"
+optional = false
+python-versions = ">=3.8.0"
+files = [
+    {file = "prompt_toolkit-3.0.50-py3-none-any.whl", hash = "sha256:9b6427eb19e479d98acff65196a307c555eb567989e6d88ebbb1b509d9779198"},
+    {file = "prompt_toolkit-3.0.50.tar.gz", hash = "sha256:544748f3860a2623ca5cd6d2795e7a14f3d0e1c3c9728359013f79877fc89bab"},
+]
+
+[package.dependencies]
+wcwidth = "*"
+
+[[package]]
+name = "ptyprocess"
+version = "0.7.0"
+description = "Run a subprocess in a pseudo terminal"
+optional = false
+python-versions = "*"
+files = [
+    {file = "ptyprocess-0.7.0-py2.py3-none-any.whl", hash = "sha256:4b41f3967fce3af57cc7e94b888626c18bf37a083e3651ca8feeb66d492fef35"},
+    {file = "ptyprocess-0.7.0.tar.gz", hash = "sha256:5c5d0a3b48ceee0b48485e0c26037c0acd7d29765ca3fbb5cb3831d347423220"},
+]
+
+[[package]]
+name = "pure-eval"
+version = "0.2.3"
+description = "Safely evaluate AST nodes without side effects"
+optional = false
+python-versions = "*"
+files = [
+    {file = "pure_eval-0.2.3-py3-none-any.whl", hash = "sha256:1db8e35b67b3d218d818ae653e27f06c3aa420901fa7b081ca98cbedc874e0d0"},
+    {file = "pure_eval-0.2.3.tar.gz", hash = "sha256:5f4e983f40564c576c7c8635ae88db5956bb2229d7e9237d03b3c0b0190eaf42"},
+]
+
+[package.extras]
+tests = ["pytest"]
+
+[[package]]
+name = "pyglet"
+version = "2.1.2"
+description = "pyglet is a cross-platform games and multimedia package."
+optional = false
+python-versions = ">=3.8"
+files = [
+    {file = "pyglet-2.1.2-py3-none-any.whl", hash = "sha256:2819fa9d66ead4b1682d1b7fa7170692d46277e1a6661b329bdba3e65288c036"},
+    {file = "pyglet-2.1.2.tar.gz", hash = "sha256:6fc1fed55eb6dc80c87a7a45ac62c2a61be08cd31114b27abef8619959be7845"},
+]
+
+[[package]]
+name = "pygments"
+version = "2.19.1"
+description = "Pygments is a syntax highlighting package written in Python."
+optional = false
+python-versions = ">=3.8"
+files = [
+    {file = "pygments-2.19.1-py3-none-any.whl", hash = "sha256:9ea1544ad55cecf4b8242fab6dd35a93bbce657034b0611ee383099054ab6d8c"},
+    {file = "pygments-2.19.1.tar.gz", hash = "sha256:61c16d2a8576dc0649d9f39e089b5f02bcd27fba10d8fb4dcc28173f7a45151f"},
+]
+
+[package.extras]
+windows-terminal = ["colorama (>=0.4.6)"]
+
+[[package]]
+name = "qrcode"
+version = "8.0"
+description = "QR Code image generator"
+optional = false
+python-versions = "<4.0,>=3.9"
+files = [
+    {file = "qrcode-8.0-py3-none-any.whl", hash = "sha256:9fc05f03305ad27a709eb742cf3097fa19e6f6f93bb9e2f039c0979190f6f1b1"},
+    {file = "qrcode-8.0.tar.gz", hash = "sha256:025ce2b150f7fe4296d116ee9bad455a6643ab4f6e7dce541613a4758cbce347"},
+]
+
+[package.dependencies]
+colorama = {version = "*", markers = "sys_platform == \"win32\""}
+
+[package.extras]
+all = ["pillow (>=9.1.0)", "pypng"]
+pil = ["pillow (>=9.1.0)"]
+png = ["pypng"]
+
+[[package]]
+name = "stack-data"
+version = "0.6.3"
+description = "Extract data from python stack frames and tracebacks for informative displays"
+optional = false
+python-versions = "*"
+files = [
+    {file = "stack_data-0.6.3-py3-none-any.whl", hash = "sha256:d5558e0c25a4cb0853cddad3d77da9891a08cb85dd9f9f91b9f8cd66e511e695"},
+    {file = "stack_data-0.6.3.tar.gz", hash = "sha256:836a778de4fec4dcd1dcd89ed8abff8a221f58308462e1c4aa2a3cf30148f0b9"},
+]
+
+[package.dependencies]
+asttokens = ">=2.1.0"
+executing = ">=1.2.0"
+pure-eval = "*"
+
+[package.extras]
+tests = ["cython", "littleutils", "pygments", "pytest", "typeguard"]
+
+[[package]]
+name = "tqdm"
+version = "4.67.1"
+description = "Fast, Extensible Progress Meter"
+optional = false
+python-versions = ">=3.7"
+files = [
+    {file = "tqdm-4.67.1-py3-none-any.whl", hash = "sha256:26445eca388f82e72884e0d580d5464cd801a3ea01e63e5601bdff9ba6a48de2"},
+    {file = "tqdm-4.67.1.tar.gz", hash = "sha256:f8aef9c52c08c13a65f30ea34f4e5aac3fd1a34959879d7e59e63027286627f2"},
+]
+
+[package.dependencies]
+colorama = {version = "*", markers = "platform_system == \"Windows\""}
+
+[package.extras]
+dev = ["nbval", "pytest (>=6)", "pytest-asyncio (>=0.24)", "pytest-cov", "pytest-timeout"]
+discord = ["requests"]
+notebook = ["ipywidgets (>=6)"]
+slack = ["slack-sdk"]
+telegram = ["requests"]
+
+[[package]]
+name = "traitlets"
+version = "5.14.3"
+description = "Traitlets Python configuration system"
+optional = false
+python-versions = ">=3.8"
+files = [
+    {file = "traitlets-5.14.3-py3-none-any.whl", hash = "sha256:b74e89e397b1ed28cc831db7aea759ba6640cb3de13090ca145426688ff1ac4f"},
+    {file = "traitlets-5.14.3.tar.gz", hash = "sha256:9ed0579d3502c94b4b3732ac120375cda96f923114522847de4b3bb98b96b6b7"},
+]
+
+[package.extras]
+docs = ["myst-parser", "pydata-sphinx-theme", "sphinx"]
+test = ["argcomplete (>=3.0.3)", "mypy (>=1.7.0)", "pre-commit", "pytest (>=7.0,<8.2)", "pytest-mock", "pytest-mypy-testing"]
+
+[[package]]
+name = "typing-extensions"
+version = "4.12.2"
+description = "Backported and Experimental Type Hints for Python 3.8+"
+optional = false
+python-versions = ">=3.8"
+files = [
+    {file = "typing_extensions-4.12.2-py3-none-any.whl", hash = "sha256:04e5ca0351e0f3f85c6853954072df659d0d13fac324d0072316b67d7794700d"},
+    {file = "typing_extensions-4.12.2.tar.gz", hash = "sha256:1a7ead55c7e559dd4dee8856e3a88b41225abfe1ce8df57b7c13915fe121ffb8"},
+]
+
+[[package]]
+name = "wcwidth"
+version = "0.2.13"
+description = "Measures the displayed width of unicode strings in a terminal"
+optional = false
+python-versions = "*"
+files = [
+    {file = "wcwidth-0.2.13-py2.py3-none-any.whl", hash = "sha256:3da69048e4540d84af32131829ff948f1e022c1c6bdb8d6102117aac784f6859"},
+    {file = "wcwidth-0.2.13.tar.gz", hash = "sha256:72ea0c06399eb286d978fdedb6923a9eb47e1c486ce63e9b4e64fc18303972b5"},
+]
+
+[metadata]
+lock-version = "2.0"
+python-versions = "^3.10, <=3.12"
+content-hash = "8470eba41e67b757dee81001d5021f6fe9c3e8ed25ab9ff73939266771b3d646"
diff --git a/pyproject.toml b/pyproject.toml
new file mode 100644
index 0000000..45e3bd3
--- /dev/null
+++ b/pyproject.toml
@@ -0,0 +1,21 @@
+[tool.poetry]
+name = "camera_latency"
+version = "0.1.0"
+description = ""
+authors = ["Ruben van de Ven <git@rubenvandeven.com>"]
+readme = "README.md"
+
+[tool.poetry.dependencies]
+python = "^3.10, <=3.12"
+harvesters = "^1.4.3"
+ipython = "^8.32.0"
+baumer-neoapi = {path = "../../Downloads/Baumer_neoAPI_1.4.1_lin_x86_64_python/wheel/baumer_neoapi-1.4.1-cp34.cp35.cp36.cp37.cp38.cp39.cp310.cp311.cp312-none-linux_x86_64.whl"}
+opencv-python = "^4.11.0.86"
+tqdm = "^4.67.1"
+qrcode = "^8.0"
+pyglet = "^2.1.2"
+
+
+[build-system]
+requires = ["poetry-core"]
+build-backend = "poetry.core.masonry.api"