WIP

camera/depthai.py

@@ -6,9 +6,16 @@ import events.events_pb2
 
 import depthai as dai
 import cv2
+import numpy as np
 
 logger = logging.getLogger(__name__)
 
+# Closer-in minimum depth, disparity range is doubled (from 95 to 190):
+extended_disparity = False
+# Better accuracy for longer distance, fractional disparity 32-levels:
+subpixel = True
+# Better handling for occlusions:
+lr_check = True
 
 class FramePublisher:
     def __init__(self, mqtt_client: mqtt.Client, frame_topic: str, img_width: int, img_height: int):
@@ -16,6 +23,7 @@ class FramePublisher:
         self._frame_topic = frame_topic
         self._img_width = img_width
         self._img_height = img_height
+        self._depth = None
         self._pipeline = self._configure_pipeline()
 
     def _configure_pipeline(self) -> dai.Pipeline:
@@ -27,6 +35,45 @@ class FramePublisher:
 
         xout_rgb.setStreamName("rgb")
 
+        monoLeft = pipeline.create(dai.node.MonoCamera)
+        monoRight = pipeline.create(dai.node.MonoCamera)
+        depth = pipeline.create(dai.node.StereoDepth)
+        xout = pipeline.create(dai.node.XLinkOut)
+        self._depth = depth
+
+        xout.setStreamName("disparity")
+
+        # Properties
+        monoLeft.setResolution(dai.MonoCameraProperties.SensorResolution.THE_400_P)
+        monoLeft.setBoardSocket(dai.CameraBoardSocket.LEFT)
+        monoRight.setResolution(dai.MonoCameraProperties.SensorResolution.THE_400_P)
+        monoRight.setBoardSocket(dai.CameraBoardSocket.RIGHT)
+
+        # Create a node that will produce the depth map (using disparity output as it's easier to visualize depth this way)
+        depth.setDefaultProfilePreset(dai.node.StereoDepth.PresetMode.HIGH_DENSITY)
+        # Options: MEDIAN_OFF, KERNEL_3x3, KERNEL_5x5, KERNEL_7x7 (default)
+        depth.initialConfig.setMedianFilter(dai.MedianFilter.KERNEL_7x7)
+        depth.setLeftRightCheck(lr_check)
+        depth.setExtendedDisparity(extended_disparity)
+        depth.setSubpixel(subpixel)
+
+        config = depth.initialConfig.get()
+        config.postProcessing.speckleFilter.enable = True
+        config.postProcessing.speckleFilter.speckleRange = 50
+        config.postProcessing.temporalFilter.enable = False
+        config.postProcessing.spatialFilter.enable = False
+        config.postProcessing.spatialFilter.holeFillingRadius = 2
+        config.postProcessing.spatialFilter.numIterations = 1
+        #config.postProcessing.thresholdFilter.minRange = 400
+        #config.postProcessing.thresholdFilter.maxRange = 15000
+        config.postProcessing.decimationFilter.decimationFactor = 2
+        depth.initialConfig.set(config)
+
+        # Linking
+        monoLeft.out.link(depth.left)
+        monoRight.out.link(depth.right)
+        depth.disparity.link(xout.input)
+
         # Properties
         cam_rgb.setBoardSocket(dai.CameraBoardSocket.RGB)
         cam_rgb.setPreviewSize(width=self._img_width, height=self._img_height)
@@ -53,12 +100,22 @@ class FramePublisher:
             queue_size = 4
             q_rgb = device.getOutputQueue("rgb", maxSize=queue_size, blocking=False)
 
+            # Output queue will be used to get the disparity frames from the outputs defined above
+            q_disparity = device.getOutputQueue(name="disparity", maxSize=4, blocking=False)
+
             while True:
                 try:
                     logger.debug("wait for new frame")
                     inRgb = q_rgb.get()  # blocking call, will wait until a new data has arrived
+                    inDisparity = q_disparity.get()
+                    # im_resize = inRgb.getCvFrame()
+                    im_resize = inDisparity.getCvFrame()
 
-                    im_resize = inRgb.getCvFrame()
+                    # Normalization for better visualization
+                    im_resize = (im_resize * (255 / self._depth.initialConfig.getMaxDisparity())).astype(np.uint8)
+
+                    # Available color maps: https://docs.opencv.org/3.4/d3/d50/group__imgproc__colormap.html
+                    # im_resize = cv2.applyColorMap(im_resize, cv2.COLORMAP_JET)
 
                     is_success, im_buf_arr = cv2.imencode(".jpg", im_resize)
                     byte_im = im_buf_arr.tobytes()

events/events_pb2.py

@@ -1,11 +1,10 @@
 # -*- coding: utf-8 -*-
 # Generated by the protocol buffer compiler.  DO NOT EDIT!
 # source: events/events.proto
-
-from google.protobuf.internal import enum_type_wrapper
+"""Generated protocol buffer code."""
+from google.protobuf.internal import builder as _builder
 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 descriptor_pool as _descriptor_pool
 from google.protobuf import symbol_database as _symbol_database
 # @@protoc_insertion_point(imports)
 
@@ -15,744 +14,40 @@ _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,])
+DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(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\nZ\x08./eventsb\x06proto3')
 
-_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)
+_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, globals())
+_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'events.events_pb2', globals())
+if _descriptor._USE_C_DESCRIPTORS == False:
 
-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
+  DESCRIPTOR._options = None
+  DESCRIPTOR._serialized_options = b'Z\010./events'
+  _DRIVEMODE._serialized_start=1196
+  _DRIVEMODE._serialized_end=1241
+  _TYPEOBJECT._serialized_start=1243
+  _TYPEOBJECT._serialized_end=1293
+  _FRAMEREF._serialized_start=72
+  _FRAMEREF._serialized_end=156
+  _FRAMEMESSAGE._serialized_start=158
+  _FRAMEMESSAGE._serialized_end=225
+  _STEERINGMESSAGE._serialized_start=227
+  _STEERINGMESSAGE._serialized_end=327
+  _THROTTLEMESSAGE._serialized_start=329
+  _THROTTLEMESSAGE._serialized_end=429
+  _DRIVEMODEMESSAGE._serialized_start=431
+  _DRIVEMODEMESSAGE._serialized_end=496
+  _OBJECTSMESSAGE._serialized_start=498
+  _OBJECTSMESSAGE._serialized_end=600
+  _OBJECT._serialized_start=603
+  _OBJECT._serialized_end=731
+  _SWITCHRECORDMESSAGE._serialized_start=733
+  _SWITCHRECORDMESSAGE._serialized_end=771
+  _ROADMESSAGE._serialized_start=774
+  _ROADMESSAGE._serialized_end=914
+  _POINT._serialized_start=916
+  _POINT._serialized_end=945
+  _ELLIPSE._serialized_start=947
+  _ELLIPSE._serialized_end=1061
+  _RECORDMESSAGE._serialized_start=1064
+  _RECORDMESSAGE._serialized_end=1194
 # @@protoc_insertion_point(module_scope)

requirements.txt

@@ -5,3 +5,4 @@ opencv-python~=4.5.5.62
 google~=3.0.0
 google-api-core~=2.4.0
 setuptools==60.5.0
+protobuf3