robocars/robocar-oak-camera
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feat: refactor and option to configure camera fps

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This commit is contained in:
Cyrille Nofficial 2023-10-01 17:24:05 +02:00
parent 2593d5d953
commit d4f8a12577
2 changed files with 8 additions and 3 deletions
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7
camera/cli.py
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@ -10,7 +10,7 @@ import typing, types
import depthai as dai import depthai as dai
import paho.mqtt.client as mqtt import paho.mqtt.client as mqtt
from . import depthai as cam # pylint: disable=reimported from camera import oak_pipeline as cam
logger = logging.getLogger(__name__) logger = logging.getLogger(__name__)
@ -45,6 +45,10 @@ def _parse_args_cli() -> argparse.Namespace:
help="threshold to filter detected objects", help="threshold to filter detected objects",
type=float, type=float,
default=_get_env_float_value("OBJECTS_THRESHOLD", 0.2)) default=_get_env_float_value("OBJECTS_THRESHOLD", 0.2))
parser.add_argument("-f", "--camera-fps",
help="set rate at which camera should produce frames",
type=int,
default=30)
parser.add_argument("-H", "--image-height", help="image height", parser.add_argument("-H", "--image-height", help="image height",
type=int, type=int,
default=_get_env_int_value("IMAGE_HEIGHT", 120)) default=_get_env_int_value("IMAGE_HEIGHT", 120))
@ -101,6 +105,7 @@ def execute_from_command_line() -> None:
camera=cam.CameraSource(pipeline=pipeline, camera=cam.CameraSource(pipeline=pipeline,
img_width=args.image_width, img_width=args.image_width,
img_height=args.image_height, img_height=args.image_height,
fps=args.camera_fps,
)) ))
def sigterm_handler(signum: int, frame: typing.Optional[ def sigterm_handler(signum: int, frame: typing.Optional[

4
camera/depthai.py → camera/oak_pipeline.py
View File

@ -196,7 +196,7 @@ class ObjectDetectionNN:
class CameraSource(Source): class CameraSource(Source):
"""Image source based on camera preview""" """Image source based on camera preview"""
def __init__(self, pipeline: dai.Pipeline, img_width: int, img_height: int): def __init__(self, pipeline: dai.Pipeline, img_width: int, img_height: int, fps: int):
self._cam_rgb = pipeline.createColorCamera() self._cam_rgb = pipeline.createColorCamera()
self._xout_rgb = pipeline.createXLinkOut() self._xout_rgb = pipeline.createXLinkOut()
self._xout_rgb.setStreamName("rgb") self._xout_rgb.setStreamName("rgb")
@ -206,7 +206,7 @@ class CameraSource(Source):
self._cam_rgb.setPreviewSize(width=img_width, height=img_height) self._cam_rgb.setPreviewSize(width=img_width, height=img_height)
self._cam_rgb.setInterleaved(False) self._cam_rgb.setInterleaved(False)
self._cam_rgb.setColorOrder(dai.ColorCameraProperties.ColorOrder.RGB) self._cam_rgb.setColorOrder(dai.ColorCameraProperties.ColorOrder.RGB)
self._cam_rgb.setFps(30) self._cam_rgb.setFps(fps)
# link camera preview to output # link camera preview to output
self._cam_rgb.preview.link(self._xout_rgb.input) self._cam_rgb.preview.link(self._xout_rgb.input)