First implementation

.Dockerignore

@@ -0,0 +1,2 @@
+venv
+

.gitignore

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+/venv/

Dockerfile

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+FROM docker.io/library/python:3.9-slim
+
+# Configure piwheels repo to use pre-compiled numpy wheels for arm
+RUN echo -n "[global]\nextra-index-url=https://www.piwheels.org/simple\n" >> /etc/pip.conf
+
+RUN apt-get update && apt-get install -y libusb-1.0-0
+
+
+RUN pip3 install numpy
+
+ADD requirements.txt .
+
+RUN pip3 install -r requirements.txt
+
+ADD events .
+ADD camera .
+ADD setup.cfg .
+ADD setup.py .
+
+
+ENV PYTHON_EGG_CACHE=/tmp/cache
+RUN python3 setup.py install && rm -rf /src
+#RUN mkdir -p ${PYTHON_EGG_CACHE}
+
+WORKDIR /tmp
+USER 1234
+
+ENTRYPOINT ["/usr/local/bin/rc-oak-camera"]

README.md

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+# robocar-oak-camera
+
+Mqtt gateway for oak-lite device
+  
+## Docker
+
+To build images, run script:
+
+```bash 
+./build-docker.sh
+```

build-docker.sh

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+#! /bin/bash
+
+IMAGE_NAME=robocar-oak-camera
+TAG=$(git describe)
+FULL_IMAGE_NAME=docker.io/cyrilix/${IMAGE_NAME}:${TAG}
+
+
+podman build . --platform linux/amd64,linux/arm64,linux/arm/v7 --manifest ${IMAGE_NAME}
+podman manifest push --format v2s2 --rm "localhost/${IMAGE_NAME}" "docker://${FULL_IMAGE_NAME}"

camera/cli.py

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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

camera/depthai.py

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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")
+
+

events/events_pb2.py

@@ -0,0 +1,758 @@
+# -*- coding: utf-8 -*-
+# Generated by the protocol buffer compiler.  DO NOT EDIT!
+# source: events/events.proto
+
+from google.protobuf.internal import enum_type_wrapper
+from google.protobuf import descriptor as _descriptor
+from google.protobuf import message as _message
+from google.protobuf import reflection as _reflection
+from google.protobuf import symbol_database as _symbol_database
+# @@protoc_insertion_point(imports)
+
+_sym_db = _symbol_database.Default()
+
+
+from google.protobuf import timestamp_pb2 as google_dot_protobuf_dot_timestamp__pb2
+
+
+DESCRIPTOR = _descriptor.FileDescriptor(
+  name='events/events.proto',
+  package='robocar.events',
+  syntax='proto3',
+  serialized_options=b'Z\006events',
+  create_key=_descriptor._internal_create_key,
+  serialized_pb=b'\n\x13\x65vents/events.proto\x12\x0erobocar.events\x1a\x1fgoogle/protobuf/timestamp.proto\"T\n\x08\x46rameRef\x12\x0c\n\x04name\x18\x01 \x01(\t\x12\n\n\x02id\x18\x02 \x01(\t\x12.\n\ncreated_at\x18\x03 \x01(\x0b\x32\x1a.google.protobuf.Timestamp\"C\n\x0c\x46rameMessage\x12$\n\x02id\x18\x01 \x01(\x0b\x32\x18.robocar.events.FrameRef\x12\r\n\x05\x66rame\x18\x02 \x01(\x0c\"d\n\x0fSteeringMessage\x12\x10\n\x08steering\x18\x01 \x01(\x02\x12\x12\n\nconfidence\x18\x02 \x01(\x02\x12+\n\tframe_ref\x18\x03 \x01(\x0b\x32\x18.robocar.events.FrameRef\"d\n\x0fThrottleMessage\x12\x10\n\x08throttle\x18\x01 \x01(\x02\x12\x12\n\nconfidence\x18\x02 \x01(\x02\x12+\n\tframe_ref\x18\x03 \x01(\x0b\x32\x18.robocar.events.FrameRef\"A\n\x10\x44riveModeMessage\x12-\n\ndrive_mode\x18\x01 \x01(\x0e\x32\x19.robocar.events.DriveMode\"f\n\x0eObjectsMessage\x12\'\n\x07objects\x18\x01 \x03(\x0b\x32\x16.robocar.events.Object\x12+\n\tframe_ref\x18\x02 \x01(\x0b\x32\x18.robocar.events.FrameRef\"\x80\x01\n\x06Object\x12(\n\x04type\x18\x01 \x01(\x0e\x32\x1a.robocar.events.TypeObject\x12\x0c\n\x04left\x18\x02 \x01(\x05\x12\x0b\n\x03top\x18\x03 \x01(\x05\x12\r\n\x05right\x18\x04 \x01(\x05\x12\x0e\n\x06\x62ottom\x18\x05 \x01(\x05\x12\x12\n\nconfidence\x18\x06 \x01(\x02\"&\n\x13SwitchRecordMessage\x12\x0f\n\x07\x65nabled\x18\x01 \x01(\x08\"\x8c\x01\n\x0bRoadMessage\x12&\n\x07\x63ontour\x18\x01 \x03(\x0b\x32\x15.robocar.events.Point\x12(\n\x07\x65llipse\x18\x02 \x01(\x0b\x32\x17.robocar.events.Ellipse\x12+\n\tframe_ref\x18\x03 \x01(\x0b\x32\x18.robocar.events.FrameRef\"\x1d\n\x05Point\x12\t\n\x01x\x18\x01 \x01(\x05\x12\t\n\x01y\x18\x02 \x01(\x05\"r\n\x07\x45llipse\x12%\n\x06\x63\x65nter\x18\x01 \x01(\x0b\x32\x15.robocar.events.Point\x12\r\n\x05width\x18\x02 \x01(\x05\x12\x0e\n\x06height\x18\x03 \x01(\x05\x12\r\n\x05\x61ngle\x18\x04 \x01(\x02\x12\x12\n\nconfidence\x18\x05 \x01(\x02\"\x82\x01\n\rRecordMessage\x12+\n\x05\x66rame\x18\x01 \x01(\x0b\x32\x1c.robocar.events.FrameMessage\x12\x31\n\x08steering\x18\x02 \x01(\x0b\x32\x1f.robocar.events.SteeringMessage\x12\x11\n\trecordSet\x18\x03 \x01(\t*-\n\tDriveMode\x12\x0b\n\x07INVALID\x10\x00\x12\x08\n\x04USER\x10\x01\x12\t\n\x05PILOT\x10\x02*2\n\nTypeObject\x12\x07\n\x03\x41NY\x10\x00\x12\x07\n\x03\x43\x41R\x10\x01\x12\x08\n\x04\x42UMP\x10\x02\x12\x08\n\x04PLOT\x10\x03\x42\x08Z\x06\x65ventsb\x06proto3'
+  ,
+  dependencies=[google_dot_protobuf_dot_timestamp__pb2.DESCRIPTOR,])
+
+_DRIVEMODE = _descriptor.EnumDescriptor(
+  name='DriveMode',
+  full_name='robocar.events.DriveMode',
+  filename=None,
+  file=DESCRIPTOR,
+  create_key=_descriptor._internal_create_key,
+  values=[
+    _descriptor.EnumValueDescriptor(
+      name='INVALID', index=0, number=0,
+      serialized_options=None,
+      type=None,
+      create_key=_descriptor._internal_create_key),
+    _descriptor.EnumValueDescriptor(
+      name='USER', index=1, number=1,
+      serialized_options=None,
+      type=None,
+      create_key=_descriptor._internal_create_key),
+    _descriptor.EnumValueDescriptor(
+      name='PILOT', index=2, number=2,
+      serialized_options=None,
+      type=None,
+      create_key=_descriptor._internal_create_key),
+  ],
+  containing_type=None,
+  serialized_options=None,
+  serialized_start=1196,
+  serialized_end=1241,
+)
+_sym_db.RegisterEnumDescriptor(_DRIVEMODE)
+
+DriveMode = enum_type_wrapper.EnumTypeWrapper(_DRIVEMODE)
+_TYPEOBJECT = _descriptor.EnumDescriptor(
+  name='TypeObject',
+  full_name='robocar.events.TypeObject',
+  filename=None,
+  file=DESCRIPTOR,
+  create_key=_descriptor._internal_create_key,
+  values=[
+    _descriptor.EnumValueDescriptor(
+      name='ANY', index=0, number=0,
+      serialized_options=None,
+      type=None,
+      create_key=_descriptor._internal_create_key),
+    _descriptor.EnumValueDescriptor(
+      name='CAR', index=1, number=1,
+      serialized_options=None,
+      type=None,
+      create_key=_descriptor._internal_create_key),
+    _descriptor.EnumValueDescriptor(
+      name='BUMP', index=2, number=2,
+      serialized_options=None,
+      type=None,
+      create_key=_descriptor._internal_create_key),
+    _descriptor.EnumValueDescriptor(
+      name='PLOT', index=3, number=3,
+      serialized_options=None,
+      type=None,
+      create_key=_descriptor._internal_create_key),
+  ],
+  containing_type=None,
+  serialized_options=None,
+  serialized_start=1243,
+  serialized_end=1293,
+)
+_sym_db.RegisterEnumDescriptor(_TYPEOBJECT)
+
+TypeObject = enum_type_wrapper.EnumTypeWrapper(_TYPEOBJECT)
+INVALID = 0
+USER = 1
+PILOT = 2
+ANY = 0
+CAR = 1
+BUMP = 2
+PLOT = 3
+
+
+
+_FRAMEREF = _descriptor.Descriptor(
+  name='FrameRef',
+  full_name='robocar.events.FrameRef',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  create_key=_descriptor._internal_create_key,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='name', full_name='robocar.events.FrameRef.name', index=0,
+      number=1, type=9, cpp_type=9, label=1,
+      has_default_value=False, default_value=b"".decode('utf-8'),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='id', full_name='robocar.events.FrameRef.id', index=1,
+      number=2, type=9, cpp_type=9, label=1,
+      has_default_value=False, default_value=b"".decode('utf-8'),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='created_at', full_name='robocar.events.FrameRef.created_at', index=2,
+      number=3, type=11, cpp_type=10, label=1,
+      has_default_value=False, default_value=None,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  serialized_options=None,
+  is_extendable=False,
+  syntax='proto3',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=72,
+  serialized_end=156,
+)
+
+
+_FRAMEMESSAGE = _descriptor.Descriptor(
+  name='FrameMessage',
+  full_name='robocar.events.FrameMessage',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  create_key=_descriptor._internal_create_key,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='id', full_name='robocar.events.FrameMessage.id', index=0,
+      number=1, type=11, cpp_type=10, label=1,
+      has_default_value=False, default_value=None,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='frame', full_name='robocar.events.FrameMessage.frame', index=1,
+      number=2, type=12, cpp_type=9, label=1,
+      has_default_value=False, default_value=b"",
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  serialized_options=None,
+  is_extendable=False,
+  syntax='proto3',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=158,
+  serialized_end=225,
+)
+
+
+_STEERINGMESSAGE = _descriptor.Descriptor(
+  name='SteeringMessage',
+  full_name='robocar.events.SteeringMessage',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  create_key=_descriptor._internal_create_key,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='steering', full_name='robocar.events.SteeringMessage.steering', index=0,
+      number=1, type=2, cpp_type=6, label=1,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='confidence', full_name='robocar.events.SteeringMessage.confidence', index=1,
+      number=2, type=2, cpp_type=6, label=1,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='frame_ref', full_name='robocar.events.SteeringMessage.frame_ref', index=2,
+      number=3, type=11, cpp_type=10, label=1,
+      has_default_value=False, default_value=None,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  serialized_options=None,
+  is_extendable=False,
+  syntax='proto3',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=227,
+  serialized_end=327,
+)
+
+
+_THROTTLEMESSAGE = _descriptor.Descriptor(
+  name='ThrottleMessage',
+  full_name='robocar.events.ThrottleMessage',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  create_key=_descriptor._internal_create_key,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='throttle', full_name='robocar.events.ThrottleMessage.throttle', index=0,
+      number=1, type=2, cpp_type=6, label=1,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='confidence', full_name='robocar.events.ThrottleMessage.confidence', index=1,
+      number=2, type=2, cpp_type=6, label=1,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='frame_ref', full_name='robocar.events.ThrottleMessage.frame_ref', index=2,
+      number=3, type=11, cpp_type=10, label=1,
+      has_default_value=False, default_value=None,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  serialized_options=None,
+  is_extendable=False,
+  syntax='proto3',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=329,
+  serialized_end=429,
+)
+
+
+_DRIVEMODEMESSAGE = _descriptor.Descriptor(
+  name='DriveModeMessage',
+  full_name='robocar.events.DriveModeMessage',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  create_key=_descriptor._internal_create_key,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='drive_mode', full_name='robocar.events.DriveModeMessage.drive_mode', index=0,
+      number=1, type=14, cpp_type=8, label=1,
+      has_default_value=False, default_value=0,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  serialized_options=None,
+  is_extendable=False,
+  syntax='proto3',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=431,
+  serialized_end=496,
+)
+
+
+_OBJECTSMESSAGE = _descriptor.Descriptor(
+  name='ObjectsMessage',
+  full_name='robocar.events.ObjectsMessage',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  create_key=_descriptor._internal_create_key,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='objects', full_name='robocar.events.ObjectsMessage.objects', index=0,
+      number=1, type=11, cpp_type=10, label=3,
+      has_default_value=False, default_value=[],
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='frame_ref', full_name='robocar.events.ObjectsMessage.frame_ref', index=1,
+      number=2, type=11, cpp_type=10, label=1,
+      has_default_value=False, default_value=None,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  serialized_options=None,
+  is_extendable=False,
+  syntax='proto3',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=498,
+  serialized_end=600,
+)
+
+
+_OBJECT = _descriptor.Descriptor(
+  name='Object',
+  full_name='robocar.events.Object',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  create_key=_descriptor._internal_create_key,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='type', full_name='robocar.events.Object.type', index=0,
+      number=1, type=14, cpp_type=8, label=1,
+      has_default_value=False, default_value=0,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='left', full_name='robocar.events.Object.left', index=1,
+      number=2, type=5, cpp_type=1, label=1,
+      has_default_value=False, default_value=0,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='top', full_name='robocar.events.Object.top', index=2,
+      number=3, type=5, cpp_type=1, label=1,
+      has_default_value=False, default_value=0,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='right', full_name='robocar.events.Object.right', index=3,
+      number=4, type=5, cpp_type=1, label=1,
+      has_default_value=False, default_value=0,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='bottom', full_name='robocar.events.Object.bottom', index=4,
+      number=5, type=5, cpp_type=1, label=1,
+      has_default_value=False, default_value=0,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='confidence', full_name='robocar.events.Object.confidence', index=5,
+      number=6, type=2, cpp_type=6, label=1,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  serialized_options=None,
+  is_extendable=False,
+  syntax='proto3',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=603,
+  serialized_end=731,
+)
+
+
+_SWITCHRECORDMESSAGE = _descriptor.Descriptor(
+  name='SwitchRecordMessage',
+  full_name='robocar.events.SwitchRecordMessage',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  create_key=_descriptor._internal_create_key,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='enabled', full_name='robocar.events.SwitchRecordMessage.enabled', index=0,
+      number=1, type=8, cpp_type=7, label=1,
+      has_default_value=False, default_value=False,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  serialized_options=None,
+  is_extendable=False,
+  syntax='proto3',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=733,
+  serialized_end=771,
+)
+
+
+_ROADMESSAGE = _descriptor.Descriptor(
+  name='RoadMessage',
+  full_name='robocar.events.RoadMessage',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  create_key=_descriptor._internal_create_key,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='contour', full_name='robocar.events.RoadMessage.contour', index=0,
+      number=1, type=11, cpp_type=10, label=3,
+      has_default_value=False, default_value=[],
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='ellipse', full_name='robocar.events.RoadMessage.ellipse', index=1,
+      number=2, type=11, cpp_type=10, label=1,
+      has_default_value=False, default_value=None,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='frame_ref', full_name='robocar.events.RoadMessage.frame_ref', index=2,
+      number=3, type=11, cpp_type=10, label=1,
+      has_default_value=False, default_value=None,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  serialized_options=None,
+  is_extendable=False,
+  syntax='proto3',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=774,
+  serialized_end=914,
+)
+
+
+_POINT = _descriptor.Descriptor(
+  name='Point',
+  full_name='robocar.events.Point',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  create_key=_descriptor._internal_create_key,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='x', full_name='robocar.events.Point.x', index=0,
+      number=1, type=5, cpp_type=1, label=1,
+      has_default_value=False, default_value=0,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='y', full_name='robocar.events.Point.y', index=1,
+      number=2, type=5, cpp_type=1, label=1,
+      has_default_value=False, default_value=0,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  serialized_options=None,
+  is_extendable=False,
+  syntax='proto3',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=916,
+  serialized_end=945,
+)
+
+
+_ELLIPSE = _descriptor.Descriptor(
+  name='Ellipse',
+  full_name='robocar.events.Ellipse',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  create_key=_descriptor._internal_create_key,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='center', full_name='robocar.events.Ellipse.center', index=0,
+      number=1, type=11, cpp_type=10, label=1,
+      has_default_value=False, default_value=None,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='width', full_name='robocar.events.Ellipse.width', index=1,
+      number=2, type=5, cpp_type=1, label=1,
+      has_default_value=False, default_value=0,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='height', full_name='robocar.events.Ellipse.height', index=2,
+      number=3, type=5, cpp_type=1, label=1,
+      has_default_value=False, default_value=0,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='angle', full_name='robocar.events.Ellipse.angle', index=3,
+      number=4, type=2, cpp_type=6, label=1,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='confidence', full_name='robocar.events.Ellipse.confidence', index=4,
+      number=5, type=2, cpp_type=6, label=1,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  serialized_options=None,
+  is_extendable=False,
+  syntax='proto3',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=947,
+  serialized_end=1061,
+)
+
+
+_RECORDMESSAGE = _descriptor.Descriptor(
+  name='RecordMessage',
+  full_name='robocar.events.RecordMessage',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  create_key=_descriptor._internal_create_key,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='frame', full_name='robocar.events.RecordMessage.frame', index=0,
+      number=1, type=11, cpp_type=10, label=1,
+      has_default_value=False, default_value=None,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='steering', full_name='robocar.events.RecordMessage.steering', index=1,
+      number=2, type=11, cpp_type=10, label=1,
+      has_default_value=False, default_value=None,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='recordSet', full_name='robocar.events.RecordMessage.recordSet', index=2,
+      number=3, type=9, cpp_type=9, label=1,
+      has_default_value=False, default_value=b"".decode('utf-8'),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  serialized_options=None,
+  is_extendable=False,
+  syntax='proto3',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=1064,
+  serialized_end=1194,
+)
+
+_FRAMEREF.fields_by_name['created_at'].message_type = google_dot_protobuf_dot_timestamp__pb2._TIMESTAMP
+_FRAMEMESSAGE.fields_by_name['id'].message_type = _FRAMEREF
+_STEERINGMESSAGE.fields_by_name['frame_ref'].message_type = _FRAMEREF
+_THROTTLEMESSAGE.fields_by_name['frame_ref'].message_type = _FRAMEREF
+_DRIVEMODEMESSAGE.fields_by_name['drive_mode'].enum_type = _DRIVEMODE
+_OBJECTSMESSAGE.fields_by_name['objects'].message_type = _OBJECT
+_OBJECTSMESSAGE.fields_by_name['frame_ref'].message_type = _FRAMEREF
+_OBJECT.fields_by_name['type'].enum_type = _TYPEOBJECT
+_ROADMESSAGE.fields_by_name['contour'].message_type = _POINT
+_ROADMESSAGE.fields_by_name['ellipse'].message_type = _ELLIPSE
+_ROADMESSAGE.fields_by_name['frame_ref'].message_type = _FRAMEREF
+_ELLIPSE.fields_by_name['center'].message_type = _POINT
+_RECORDMESSAGE.fields_by_name['frame'].message_type = _FRAMEMESSAGE
+_RECORDMESSAGE.fields_by_name['steering'].message_type = _STEERINGMESSAGE
+DESCRIPTOR.message_types_by_name['FrameRef'] = _FRAMEREF
+DESCRIPTOR.message_types_by_name['FrameMessage'] = _FRAMEMESSAGE
+DESCRIPTOR.message_types_by_name['SteeringMessage'] = _STEERINGMESSAGE
+DESCRIPTOR.message_types_by_name['ThrottleMessage'] = _THROTTLEMESSAGE
+DESCRIPTOR.message_types_by_name['DriveModeMessage'] = _DRIVEMODEMESSAGE
+DESCRIPTOR.message_types_by_name['ObjectsMessage'] = _OBJECTSMESSAGE
+DESCRIPTOR.message_types_by_name['Object'] = _OBJECT
+DESCRIPTOR.message_types_by_name['SwitchRecordMessage'] = _SWITCHRECORDMESSAGE
+DESCRIPTOR.message_types_by_name['RoadMessage'] = _ROADMESSAGE
+DESCRIPTOR.message_types_by_name['Point'] = _POINT
+DESCRIPTOR.message_types_by_name['Ellipse'] = _ELLIPSE
+DESCRIPTOR.message_types_by_name['RecordMessage'] = _RECORDMESSAGE
+DESCRIPTOR.enum_types_by_name['DriveMode'] = _DRIVEMODE
+DESCRIPTOR.enum_types_by_name['TypeObject'] = _TYPEOBJECT
+_sym_db.RegisterFileDescriptor(DESCRIPTOR)
+
+FrameRef = _reflection.GeneratedProtocolMessageType('FrameRef', (_message.Message,), {
+  'DESCRIPTOR' : _FRAMEREF,
+  '__module__' : 'events.events_pb2'
+  # @@protoc_insertion_point(class_scope:robocar.events.FrameRef)
+  })
+_sym_db.RegisterMessage(FrameRef)
+
+FrameMessage = _reflection.GeneratedProtocolMessageType('FrameMessage', (_message.Message,), {
+  'DESCRIPTOR' : _FRAMEMESSAGE,
+  '__module__' : 'events.events_pb2'
+  # @@protoc_insertion_point(class_scope:robocar.events.FrameMessage)
+  })
+_sym_db.RegisterMessage(FrameMessage)
+
+SteeringMessage = _reflection.GeneratedProtocolMessageType('SteeringMessage', (_message.Message,), {
+  'DESCRIPTOR' : _STEERINGMESSAGE,
+  '__module__' : 'events.events_pb2'
+  # @@protoc_insertion_point(class_scope:robocar.events.SteeringMessage)
+  })
+_sym_db.RegisterMessage(SteeringMessage)
+
+ThrottleMessage = _reflection.GeneratedProtocolMessageType('ThrottleMessage', (_message.Message,), {
+  'DESCRIPTOR' : _THROTTLEMESSAGE,
+  '__module__' : 'events.events_pb2'
+  # @@protoc_insertion_point(class_scope:robocar.events.ThrottleMessage)
+  })
+_sym_db.RegisterMessage(ThrottleMessage)
+
+DriveModeMessage = _reflection.GeneratedProtocolMessageType('DriveModeMessage', (_message.Message,), {
+  'DESCRIPTOR' : _DRIVEMODEMESSAGE,
+  '__module__' : 'events.events_pb2'
+  # @@protoc_insertion_point(class_scope:robocar.events.DriveModeMessage)
+  })
+_sym_db.RegisterMessage(DriveModeMessage)
+
+ObjectsMessage = _reflection.GeneratedProtocolMessageType('ObjectsMessage', (_message.Message,), {
+  'DESCRIPTOR' : _OBJECTSMESSAGE,
+  '__module__' : 'events.events_pb2'
+  # @@protoc_insertion_point(class_scope:robocar.events.ObjectsMessage)
+  })
+_sym_db.RegisterMessage(ObjectsMessage)
+
+Object = _reflection.GeneratedProtocolMessageType('Object', (_message.Message,), {
+  'DESCRIPTOR' : _OBJECT,
+  '__module__' : 'events.events_pb2'
+  # @@protoc_insertion_point(class_scope:robocar.events.Object)
+  })
+_sym_db.RegisterMessage(Object)
+
+SwitchRecordMessage = _reflection.GeneratedProtocolMessageType('SwitchRecordMessage', (_message.Message,), {
+  'DESCRIPTOR' : _SWITCHRECORDMESSAGE,
+  '__module__' : 'events.events_pb2'
+  # @@protoc_insertion_point(class_scope:robocar.events.SwitchRecordMessage)
+  })
+_sym_db.RegisterMessage(SwitchRecordMessage)
+
+RoadMessage = _reflection.GeneratedProtocolMessageType('RoadMessage', (_message.Message,), {
+  'DESCRIPTOR' : _ROADMESSAGE,
+  '__module__' : 'events.events_pb2'
+  # @@protoc_insertion_point(class_scope:robocar.events.RoadMessage)
+  })
+_sym_db.RegisterMessage(RoadMessage)
+
+Point = _reflection.GeneratedProtocolMessageType('Point', (_message.Message,), {
+  'DESCRIPTOR' : _POINT,
+  '__module__' : 'events.events_pb2'
+  # @@protoc_insertion_point(class_scope:robocar.events.Point)
+  })
+_sym_db.RegisterMessage(Point)
+
+Ellipse = _reflection.GeneratedProtocolMessageType('Ellipse', (_message.Message,), {
+  'DESCRIPTOR' : _ELLIPSE,
+  '__module__' : 'events.events_pb2'
+  # @@protoc_insertion_point(class_scope:robocar.events.Ellipse)
+  })
+_sym_db.RegisterMessage(Ellipse)
+
+RecordMessage = _reflection.GeneratedProtocolMessageType('RecordMessage', (_message.Message,), {
+  'DESCRIPTOR' : _RECORDMESSAGE,
+  '__module__' : 'events.events_pb2'
+  # @@protoc_insertion_point(class_scope:robocar.events.RecordMessage)
+  })
+_sym_db.RegisterMessage(RecordMessage)
+
+
+DESCRIPTOR._options = None
+# @@protoc_insertion_point(module_scope)

requirements.txt

@@ -0,0 +1,6 @@
+paho-mqtt~=1.6.1
+docopt~=0.6.2
+depthai==2.14.1.0
+opencv-python~=4.5.5.62
+google~=3.0.0
+setuptools==60.5.0

setup.cfg

@@ -0,0 +1,5 @@
+[metadata]
+description-file = README.md
+
+[aliases]
+test = pytest

setup.py

@@ -0,0 +1,68 @@
+import os
+
+from setuptools import setup, find_packages
+
+
+# include the non python files
+def package_files(directory, strip_leading):
+    paths = []
+    for (path, directories, filenames) in os.walk(directory):
+        for filename in filenames:
+            package_file = os.path.join(path, filename)
+            paths.append(package_file[len(strip_leading):])
+    return paths
+
+
+tests_require = ['pytest',
+                 ]
+
+setup(name='robocar-oak-camera',
+      version='0.1',
+      description='Mqtt gateway for oak-lite device.',
+      url='https://github.com/cyrilix/robocar-oak-camera',
+      license='Apache2',
+      entry_points={
+          'console_scripts': [
+              'rc-oak-camera=camera.cli:execute_from_command_line',
+          ],
+      },
+      setup_requires=['pytest-runner'],
+      install_requires=['depthai',
+                        'docopt',
+                        'paho-mqtt',
+                        'protobuf3',
+                        'google',
+                        'numpy',
+                        'opencv-python',
+                        'blobconverter',
+                        ],
+      tests_require=tests_require,
+      extras_require={
+          'tests': tests_require
+      },
+
+      include_package_data=True,
+
+      classifiers=[
+          # How mature is this project? Common values are
+          #   3 - Alpha
+          #   4 - Beta
+          #   5 - Production/Stable
+          'Development Status :: 3 - Alpha',
+
+          # Indicate who your project is intended for
+          'Intended Audience :: Developers',
+          'Topic :: Scientific/Engineering :: Artificial Intelligence',
+
+          # Pick your license as you wish (should match "license" above)
+          'License :: OSI Approved :: Apache 2 License',
+
+          # Specify the Python versions you support here. In particular, ensure
+          # that you indicate whether you support Python 2, Python 3 or both.
+
+          'Programming Language :: Python :: 3.7',
+      ],
+      keywords='selfdriving cars drive',
+
+      packages=find_packages(exclude=(['tests', 'env'])),
+      )