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feat(disparity): publish disparity messages

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This commit is contained in:
Cyrille Nofficial
2024-01-23 23:32:34 +01:00
parent 552f69e46e
commit 1ee37f65af
5 changed files with 164 additions and 21 deletions
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67
camera/tests/test_depthai.py
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@ -10,7 +10,7 @@ import paho.mqtt.client as mqtt
import pytest
import pytest_mock
import camera.depthai
from camera.oak_pipeline import DisparityProcessor, ObjectProcessor, FrameProcessor, FrameProcessError
Object = dict[str, float]
@ -76,16 +76,16 @@ class TestObjectProcessor:
return m
@pytest.fixture
def object_processor(self, mqtt_client: mqtt.Client) -> camera.depthai.ObjectProcessor:
return camera.depthai.ObjectProcessor(mqtt_client, "topic/object", 0.2)
def object_processor(self, mqtt_client: mqtt.Client) -> ObjectProcessor:
return ObjectProcessor(mqtt_client, "topic/object", 0.2)
def test_process_without_object(self, object_processor: camera.depthai.ObjectProcessor, mqtt_client: mqtt.Client,
def test_process_without_object(self, object_processor: ObjectProcessor, mqtt_client: mqtt.Client,
raw_objects_empty: dai.NNData, frame_ref: events.events_pb2.FrameRef) -> None:
object_processor.process(raw_objects_empty, frame_ref)
publish_mock: unittest.mock.MagicMock = mqtt_client.publish # type: ignore
publish_mock.assert_not_called()
def test_process_with_object_with_low_score(self, object_processor: camera.depthai.ObjectProcessor,
def test_process_with_object_with_low_score(self, object_processor: ObjectProcessor,
mqtt_client: mqtt.Client, raw_objects_one: dai.NNData,
frame_ref: events.events_pb2.FrameRef) -> None:
object_processor._objects_threshold = 0.9
@ -94,7 +94,7 @@ class TestObjectProcessor:
publish_mock.assert_not_called()
def test_process_with_one_object(self,
object_processor: camera.depthai.ObjectProcessor, mqtt_client: mqtt.Client,
object_processor: ObjectProcessor, mqtt_client: mqtt.Client,
raw_objects_one: dai.NNData, frame_ref: events.events_pb2.FrameRef,
object1: Object) -> None:
object_processor.process(raw_objects_one, frame_ref)
@ -120,10 +120,10 @@ class TestObjectProcessor:
class TestFrameProcessor:
@pytest.fixture
def frame_processor(self, mqtt_client: mqtt.Client) -> camera.depthai.FrameProcessor:
return camera.depthai.FrameProcessor(mqtt_client, "topic/frame")
def frame_processor(self, mqtt_client: mqtt.Client) -> FrameProcessor:
return FrameProcessor(mqtt_client, "topic/frame")
def test_process(self, frame_processor: camera.depthai.FrameProcessor, mocker: pytest_mock.MockerFixture,
def test_process(self, frame_processor: FrameProcessor, mocker: pytest_mock.MockerFixture,
mqtt_client: mqtt.Client) -> None:
img: dai.ImgFrame = mocker.MagicMock()
mocker.patch(target="cv2.imencode").return_value = (True, np.array(b"img content"))
@ -145,12 +145,57 @@ class TestFrameProcessor:
assert now - datetime.timedelta(
milliseconds=10) < frame_msg.id.created_at.ToDatetime() < now + datetime.timedelta(milliseconds=10)
def test_process_error(self, frame_processor: camera.depthai.FrameProcessor, mocker: pytest_mock.MockerFixture,
def test_process_error(self, frame_processor: FrameProcessor, mocker: pytest_mock.MockerFixture,
mqtt_client: mqtt.Client) -> None:
img: dai.ImgFrame = mocker.MagicMock()
mocker.patch(target="cv2.imencode").return_value = (False, None)
with pytest.raises(camera.depthai.FrameProcessError) as ex:
with pytest.raises(FrameProcessError) as ex:
_ = frame_processor.process(img)
exception_raised = ex.value
assert exception_raised.message == "unable to process to encode frame to jpg"
class TestDisparityProcessor:
@pytest.fixture
def frame_ref(self) -> events.events_pb2.FrameRef:
now = datetime.datetime.now()
frame_msg = events.events_pb2.FrameMessage()
frame_msg.id.name = "robocar-oak-camera-oak"
frame_msg.id.id = str(int(now.timestamp() * 1000))
frame_msg.id.created_at.FromDatetime(now)
return frame_msg.id
@pytest.fixture
def disparity_processor(self, mqtt_client: mqtt.Client) -> DisparityProcessor:
return DisparityProcessor(mqtt_client, "topic/disparity")
def test_process(self, disparity_processor: DisparityProcessor, mocker: pytest_mock.MockerFixture,
frame_ref: events.events_pb2.FrameRef,
mqtt_client: mqtt.Client) -> None:
img: dai.ImgFrame = mocker.MagicMock()
mocker.patch(target="cv2.imencode").return_value = (True, np.array(b"img content"))
disparity_processor.process(img, frame_ref, 42)
pub_mock: unittest.mock.MagicMock = mqtt_client.publish # type: ignore
pub_mock.assert_called_once_with(payload=unittest.mock.ANY, qos=0, retain=False, topic="topic/disparity")
payload = pub_mock.call_args.kwargs['payload']
disparity_msg = events.events_pb2.DisparityMessage()
disparity_msg.ParseFromString(payload)
assert disparity_msg.frame_ref == frame_ref
assert disparity_msg.disparity == b"img content"
assert disparity_msg.focal_length_in_pixels == 42
assert disparity_msg.baseline_in_mm == 75
def test_process_error(self, disparity_processor: DisparityProcessor, mocker: pytest_mock.MockerFixture,
frame_ref: events.events_pb2.FrameRef,
mqtt_client: mqtt.Client) -> None:
img: dai.ImgFrame = mocker.MagicMock()
mocker.patch(target="cv2.imencode").return_value = (False, None)
with pytest.raises(FrameProcessError) as ex:
disparity_processor.process(img, frame_ref, 42)
exception_raised = ex.value
assert exception_raised.message == "unable to process to encode frame to jpg"