robocars/robocar-oak-camera
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robocar-oak-camera/README.md

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First implementation
2022-01-15 17:42:14 +00:00
# robocar-oak-camera
Mqtt gateway for oak-lite device
## Docker
To build images, run script:
```bash
./build-docker.sh
```
feat(disparity): fine tuning mode and post-processing filters
2024-01-26 11:06:01 +00:00
## Usage
```shell
usage: cli.py [-h] [-u MQTT_USERNAME] [-p MQTT_PASSWORD] [-b MQTT_BROKER_HOST]
[-P MQTT_BROKER_PORT] [-C MQTT_CLIENT_ID]
[-c MQTT_TOPIC_ROBOCAR_OAK_CAMERA]
[-o MQTT_TOPIC_ROBOCAR_OBJECTS] [-t OBJECTS_THRESHOLD]
[-d MQTT_TOPIC_ROBOCAR_DISPARITY] [-f CAMERA_FPS]
[--camera-tuning-exposition {default,500us,8300us}]
[-H IMAGE_HEIGHT] [-W IMAGE_WIDTH] [--log {info,debug}]
[--stereo-mode-lr-check] [--stereo-mode-extended-disparity]
[--stereo-mode-subpixel]
[--stereo-post-processing-median-filter]
[--stereo-post-processing-median-value {MEDIAN_OFF,KERNEL_3x3,KERNEL_5x5,KERNEL_7x7}]
[--stereo-post-processing-speckle-filter]
[--stereo-post-processing-speckle-enable STEREO_POST_PROCESSING_SPECKLE_ENABLE]
[--stereo-post-processing-speckle-range STEREO_POST_PROCESSING_SPECKLE_RANGE]
[--stereo-post-processing-temporal-filter]
[--stereo-post-processing-temporal-persistency-mode {PERSISTENCY_OFF,VALID_8_OUT_OF_8,VALID_2_IN_LAST_3,VALID_2_IN_LAST_4,VALID_2_OUT_OF_8,VALID_1_IN_LAST_2,VALID_1_IN_LAST_5,VALID_1_IN_LAST_8,PERSISTENCY_INDEFINITELY}]
[--stereo-post-processing-temporal-alpha STEREO_POST_PROCESSING_TEMPORAL_ALPHA]
[--stereo-post-processing-temporal-delta STEREO_POST_PROCESSING_TEMPORAL_DELTA]
[--stereo-post-processing-spatial-filter]
[--stereo-post-processing-spatial-enable STEREO_POST_PROCESSING_SPATIAL_ENABLE]
[--stereo-post-processing-spatial-hole-filling-radius STEREO_POST_PROCESSING_SPATIAL_HOLE_FILLING_RADIUS]
[--stereo-post-processing-spatial-alpha STEREO_POST_PROCESSING_SPATIAL_ALPHA]
[--stereo-post-processing-spatial-delta STEREO_POST_PROCESSING_SPATIAL_DELTA]
[--stereo-post-processing-spatial-num-iterations STEREO_POST_PROCESSING_SPATIAL_NUM_ITERATIONS]
[--stereo-post-processing-threshold-filter]
[--stereo-post-processing-threshold-min-range STEREO_POST_PROCESSING_THRESHOLD_MIN_RANGE]
[--stereo-post-processing-threshold-max-range STEREO_POST_PROCESSING_THRESHOLD_MAX_RANGE]
[--stereo-post-processing-decimation-filter]
[--stereo-post-processing-decimation-decimal-factor {1,2,3,4}]
[--stereo-post-processing-decimation-mode {PIXEL_SKIPPING,NON_ZERO_MEDIAN,NON_ZERO_MEAN}]
options:
-h, --help show this help message and exit
-u MQTT_USERNAME, --mqtt-username MQTT_USERNAME
MQTT user
-p MQTT_PASSWORD, --mqtt-password MQTT_PASSWORD
MQTT password
-b MQTT_BROKER_HOST, --mqtt-broker-host MQTT_BROKER_HOST
MQTT broker host
-P MQTT_BROKER_PORT, --mqtt-broker-port MQTT_BROKER_PORT
MQTT broker port
-C MQTT_CLIENT_ID, --mqtt-client-id MQTT_CLIENT_ID
MQTT client id
-c MQTT_TOPIC_ROBOCAR_OAK_CAMERA, --mqtt-topic-robocar-oak-camera MQTT_TOPIC_ROBOCAR_OAK_CAMERA
MQTT topic where to publish robocar-oak-camera frames
-o MQTT_TOPIC_ROBOCAR_OBJECTS, ---mqtt-topic-robocar-objects MQTT_TOPIC_ROBOCAR_OBJECTS
MQTT topic where to publish objects detection results
-t OBJECTS_THRESHOLD, --objects-threshold OBJECTS_THRESHOLD
threshold to filter detected objects
-d MQTT_TOPIC_ROBOCAR_DISPARITY, ---mqtt-topic-robocar-disparity MQTT_TOPIC_ROBOCAR_DISPARITY
MQTT topic where to publish disparity results
-f CAMERA_FPS, --camera-fps CAMERA_FPS
set rate at which camera should produce frames
--camera-tuning-exposition {default,500us,8300us}
override camera exposition configuration
-H IMAGE_HEIGHT, --image-height IMAGE_HEIGHT
image height
-W IMAGE_WIDTH, --image-width IMAGE_WIDTH
image width
--log {info,debug} Log level
--stereo-mode-lr-check
remove incorrectly calculated disparity pixels due to
occlusions at object borders
--stereo-mode-extended-disparity
allows detecting closer distance objects for the given
baseline. This increases the maximum disparity search
from 96 to 191, meaning the range is now: [0..190]
--stereo-mode-subpixel
iimproves the precision and is especially useful for
long range measurements
--stereo-post-processing-median-filter
enable post-processing median filter
--stereo-post-processing-median-value {MEDIAN_OFF,KERNEL_3x3,KERNEL_5x5,KERNEL_7x7}
Median filter config
--stereo-post-processing-speckle-filter
enable post-processing speckle filter
--stereo-post-processing-speckle-enable STEREO_POST_PROCESSING_SPECKLE_ENABLE
enable post-processing speckle filter
--stereo-post-processing-speckle-range STEREO_POST_PROCESSING_SPECKLE_RANGE
Speckle search range
--stereo-post-processing-temporal-filter
enable post-processing temporal filter
--stereo-post-processing-temporal-persistency-mode {PERSISTENCY_OFF,VALID_8_OUT_OF_8,VALID_2_IN_LAST_3,VALID_2_IN_LAST_4,VALID_2_OUT_OF_8,VALID_1_IN_LAST_2,VALID_1_IN_LAST_5,VALID_1_IN_LAST_8,PERSISTENCY_INDEFINITELY}
Persistency mode.
--stereo-post-processing-temporal-alpha STEREO_POST_PROCESSING_TEMPORAL_ALPHA
The Alpha factor in an exponential moving average with
Alpha=1 - no filter. Alpha = 0 - infinite filter.
Determines the extent of the temporal history that
should be averaged.
--stereo-post-processing-temporal-delta STEREO_POST_PROCESSING_TEMPORAL_DELTA
Step-size boundary. Establishes the threshold used to
preserve surfaces (edges). If the disparity value
between neighboring pixels exceed the disparity
threshold set by this delta parameter, then filtering
will be temporarily disabled. Default value 0 means
auto: 3 disparity integer levels. In case of subpixel
mode it’s 3*number of subpixel levels.
--stereo-post-processing-spatial-filter
enable post-processing spatial filter
--stereo-post-processing-spatial-enable STEREO_POST_PROCESSING_SPATIAL_ENABLE
Whether to enable or disable the filter
--stereo-post-processing-spatial-hole-filling-radius STEREO_POST_PROCESSING_SPATIAL_HOLE_FILLING_RADIUS
An in-place heuristic symmetric hole-filling mode
applied horizontally during the filter passes
--stereo-post-processing-spatial-alpha STEREO_POST_PROCESSING_SPATIAL_ALPHA
The Alpha factor in an exponential moving average with
Alpha=1 - no filter. Alpha = 0 - infinite filter
--stereo-post-processing-spatial-delta STEREO_POST_PROCESSING_SPATIAL_DELTA
Step-size boundary. Establishes the threshold used to
preserve edges
--stereo-post-processing-spatial-num-iterations STEREO_POST_PROCESSING_SPATIAL_NUM_ITERATIONS
Number of iterations over the image in both horizontal
and vertical direction
--stereo-post-processing-threshold-filter
enable post-processing threshold filter
--stereo-post-processing-threshold-min-range STEREO_POST_PROCESSING_THRESHOLD_MIN_RANGE
Minimum range in depth units. Depth values under this
value are invalidated
--stereo-post-processing-threshold-max-range STEREO_POST_PROCESSING_THRESHOLD_MAX_RANGE
Maximum range in depth units. Depth values over this
value are invalidated.
--stereo-post-processing-decimation-filter
enable post-processing decimation filter
--stereo-post-processing-decimation-decimal-factor {1,2,3,4}
Decimation factor
--stereo-post-processing-decimation-mode {PIXEL_SKIPPING,NON_ZERO_MEDIAN,NON_ZERO_MEAN}
Decimation algorithm type
```
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