robocars/robocar-oak-camera
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First implementation

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This commit is contained in:
Cyrille Nofficial
2022-01-15 18:42:14 +01:00
parent c8265326ef
commit 24e607429a
13 changed files with 1053 additions and 0 deletions
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camera/__init__.py Normal file
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camera/cli.py Normal file
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"""
Publish data from oak-lite device
Usage: rc-oak-robocar-oak-camera [-u USERNAME | --mqtt-username=USERNAME] [--mqtt-password=PASSWORD] [--mqtt-broker=HOSTNAME]
[--mqtt-topic-robocar-oak-camera="TOPIC_CAMERA"] [--mqtt-client-id=CLIENT_ID]
Options:
-h --help Show this screen.
-u USERID --mqtt-username=USERNAME MQTT user
-p PASSWORD --mqtt-password=PASSWORD MQTT password
-b HOSTNAME --mqtt-broker=HOSTNAME MQTT broker host
-C CLIENT_ID --mqtt-client-id=CLIENT_ID MQTT client id
-c TOPIC_CAMERA --mqtt-topic-robocar-oak-camera=TOPIC_CAMERA MQTT topic where to publish robocar-oak-camera frames
-H IMG_HEIGHT --image-height=IMG_HEIGHT IMG_HEIGHT image height
-W IMG_WIDTH --image-width=IMG_width IMG_WIDTH image width
"""
import logging
import os
import camera.depthai as cam
from docopt import docopt
import paho.mqtt.client as mqtt
logger = logging.getLogger(__name__)
logging.basicConfig(level=logging.INFO)
default_client_id = "robocar-depthai"
def init_mqtt_client(broker_host: str, user: str, password: str, client_id: str) -> mqtt.Client:
logger.info("Start part.py-robocar-oak-camera")
client = mqtt.Client(client_id=client_id, clean_session=True, userdata=None, protocol=mqtt.MQTTv311)
client.username_pw_set(user, password)
logger.info("Connect to mqtt broker")
client.connect(host=broker_host, port=1883, keepalive=60)
logger.info("Connected to mqtt broker")
return client
def execute_from_command_line():
logging.basicConfig(level=logging.INFO)
args = docopt(__doc__)
client = init_mqtt_client(broker_host=get_default_value(args["--mqtt-broker"], "MQTT_BROKER", "localhost"),
user=get_default_value(args["--mqtt-username"], "MQTT_USERNAME", ""),
password=get_default_value(args["--mqtt-password"], "MQTT_PASSWORD", ""),
client_id=get_default_value(args["--mqtt-client-id"], "MQTT_CLIENT_ID",
default_client_id),
)
frame_topic = get_default_value(args["--mqtt-topic-robocar-oak-camera"], "MQTT_TOPIC_CAMERA", "/oak/camera_rgb")
frame_processor = cam.FramePublisher(mqtt_client=client,
frame_topic=frame_topic,
img_width=int(get_default_value(args["--image-width"], "IMAGE_WIDTH", 160)),
img_height=int(get_default_value(args["--image-height"], "IMAGE_HEIGHT", 120)))
frame_processor.start()
client.loop_forever()
def get_default_value(value, env_var: str, default_value) -> str:
if value:
return value
if env_var in os.environ:
return os.environ[env_var]
return default_value

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camera/depthai.py Normal file
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import logging
import paho.mqtt.client as mqtt
import events.events_pb2
from google.protobuf.timestamp_pb2 import Timestamp
import depthai as dai
import cv2
from threading import Thread
logger = logging.getLogger(__name__)
"""
This example shows usage of Camera Control message as well as ColorCamera configInput to change crop x and y
Uses 'WASD' controls to move the crop window, 'C' to capture a still image, 'T' to trigger autofocus, 'IOKL,.[]'
for manual exposure/focus/white-balance:
Control: key[dec/inc] min..max
exposure time: I O 1..33000 [us]
sensitivity iso: K L 100..1600
focus: , . 0..255 [far..near]
white balance: [ ] 1000..12000 (light color temperature K)
To go back to auto controls:
'E' - autoexposure
'F' - autofocus (continuous)
'B' - auto white-balance
"""
class FramePublisher(Thread):
def __init__(self, mqtt_client: mqtt.Client, frame_topic: str, img_width: int, img_height: int):
super().__init__(name="FrameProcessor")
self._mqtt_client = mqtt_client
self._frame_topic = frame_topic
self._img_width = img_width
self._img_height = img_height
self._pipeline = self._configure_pipeline()
def _configure_pipeline(self) -> dai.Pipeline:
logger.info("configure pipeline")
pipeline = dai.Pipeline()
cam_rgb = pipeline.create(dai.node.ColorCamera)
cam_rgb.setResolution(dai.ColorCameraProperties.SensorResolution.THE_1080_P)
cam_rgb.setInterleaved(False)
cam_rgb.setColorOrder(dai.ColorCameraProperties.ColorOrder.RGB)
# Define sources and outputs
manip = pipeline.create(dai.node.ImageManip)
manip_out = pipeline.create(dai.node.XLinkOut)
manip_out.setStreamName("manip")
# Properties
cam_rgb.setBoardSocket(dai.CameraBoardSocket.RGB)
cam_rgb.setResolution(dai.ColorCameraProperties.SensorResolution.THE_1080_P)
manip.initialConfig.setResize(self._img_width, self._img_height)
# Linking
cam_rgb.video.link(manip.inputImage)
manip.out.link(manip_out.input)
logger.info("pipeline configured")
return pipeline
def run(self):
# Connect to device and start pipeline
with dai.Device(self._pipeline) as device:
# Queues
queue_size = 8
queue_manip = device.getOutputQueue("manip", queue_size)
while True:
try:
while queue_manip.has():
im_resize = queue_manip.get().getData().getCvFrame()
is_success, im_buf_arr = cv2.imencode(".jpg", im_resize)
byte_im = im_buf_arr.tobytes()
timestamp = Timestamp()
frame_msg = events.events_pb2.FrameMessage()
frame_msg.id = events.events_pb2.FrameRef()
frame_msg.id.name = "robocar-oak-camera-oak"
frame_msg.id.id = timestamp.ToMilliseconds()
frame_msg.id.created_at = timestamp.GetCurrentTime()
frame_msg.frame = byte_im
self._mqtt_client.publish(topic=self._frame_topic,
payload=frame_msg.SerializeToString(),
qos=0,
retain=False)
except Exception as e:
logger.exception("unexpected error")