From f5528e6e11a3cc15b5785de97dabc1aa44d664b1 Mon Sep 17 00:00:00 2001
From: Derek Haynes <derek.haynes@gmail.com>
Date: Mon, 3 Feb 2020 16:50:02 -0700
Subject: [PATCH 1/2] Pipeline Config options override argument

---
 python-api/calibrate.py         | 16 ++++++++++++++++
 python-api/calibration_utils.py | 19 +++++++++++++++++++
 2 files changed, 35 insertions(+)

diff --git a/python-api/calibrate.py b/python-api/calibrate.py
index 01402a485..0e849392d 100644
--- a/python-api/calibrate.py
+++ b/python-api/calibrate.py
@@ -8,6 +8,7 @@
 from pathlib import Path
 import shutil
 import consts.resource_paths
+import json
 
 use_cv = True
 try:
@@ -45,6 +46,9 @@ def parse_args():
 
     Capture 3 images per polygon:
     python calibrate.py -c 3
+
+    Pass thru pipeline config options:
+    python calibrate.py -co '{"board_config": {"swap_left_and_right_cameras": true, "left_to_right_distance_cm": 9.0}}'
     '''
     parser = ArgumentParser(epilog=epilog_text,formatter_class=argparse.RawDescriptionHelpFormatter)
     parser.add_argument("-p", "--polygons", default=list(np.arange(len(setPolygonCoordinates(1000,600)))), nargs='*',
@@ -62,11 +66,19 @@ def parse_args():
     parser.add_argument("-m", "--mode", default=['capture','process'], nargs='*',
                         type=str, required=False,
                         help="Space-separated list of calibration options to run. By default, executes the full 'capture process' pipeline. To execute a single step, enter just that step (ex: 'process').")
+    parser.add_argument("-co", "--config_overwrite", default=None,
+                        type=str, required=False,
+                        help="JSON-formatted pipeline config object. This will be override defaults used in this script.")
+
     options = parser.parse_args()
 
     return options
 
 args = vars(parse_args())
+
+if args['config_overwrite']:
+    args['config_overwrite'] = json.loads(args['config_overwrite'])
+
 print("Using Arguments=",args)
 
 if 'capture' in args['mode']:
@@ -115,6 +127,10 @@ def parse_args():
         }
     }
 
+    if args['config_overwrite'] is not None:
+        config = merge(args['config_overwrite'],config)
+        print("Merged Pipeline config with overwrite",config)
+
     pipeline = depthai.create_pipeline(config)
 
     if pipeline is None:
diff --git a/python-api/calibration_utils.py b/python-api/calibration_utils.py
index 51991a962..df3219bcc 100644
--- a/python-api/calibration_utils.py
+++ b/python-api/calibration_utils.py
@@ -6,6 +6,25 @@
 import re
 import time
 
+# https://stackoverflow.com/questions/20656135/python-deep-merge-dictionary-data#20666342
+def merge(source, destination):
+    """
+    run me with nosetests --with-doctest file.py
+
+    >>> a = { 'first' : { 'all_rows' : { 'pass' : 'dog', 'number' : '1' } } }
+    >>> b = { 'first' : { 'all_rows' : { 'fail' : 'cat', 'number' : '5' } } }
+    >>> merge(b, a) == { 'first' : { 'all_rows' : { 'pass' : 'dog', 'fail' : 'cat', 'number' : '5' } } }
+    True
+    """
+    for key, value in source.items():
+        if isinstance(value, dict):
+            # get node or create one
+            node = destination.setdefault(key, {})
+            merge(value, node)
+        else:
+            destination[key] = value
+
+    return destination
 def mkdir_overwrite(dir):
     if not os.path.exists(dir):
         os.makedirs(dir)

From 8926e6c78de43699945e88951d3ec7607f7826be Mon Sep 17 00:00:00 2001
From: Derek Haynes <derek.haynes@gmail.com>
Date: Mon, 3 Feb 2020 16:55:02 -0700
Subject: [PATCH 2/2] Removing unused variable

---
 python-api/calibrate.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/python-api/calibrate.py b/python-api/calibrate.py
index 0e849392d..2aed29809 100644
--- a/python-api/calibrate.py
+++ b/python-api/calibrate.py
@@ -106,7 +106,7 @@ def parse_args():
         print("[ERROR] Unable to initialize device. Try to reset it. Exiting.")
         exit(1)
 
-    config = configs = {
+    config = {
         'streams': ['left', 'right'],
         'depth':
         {