feat: refactor and option to configure camera fps

Dockerfile

@@ -1,4 +1,4 @@
-FROM docker.io/library/python:3.10-slim as base
+FROM docker.io/library/python:3.11-slim as base
 
 # Configure piwheels repo to use pre-compiled numpy wheels for arm
 RUN echo -n "[global]\n" > /etc/pip.conf &&\
@@ -19,7 +19,7 @@ RUN blobconverter --zoo-name mobile_object_localizer_192x192 --zoo-type depthai
 FROM base as builder
 
 RUN apt-get install -y git && \
-    pip3 install poetry==1.2.0 && \
+    pip3 install poetry && \
     poetry self add "poetry-dynamic-versioning[plugin]"
 
 ADD poetry.lock .

camera/cli.py

@@ -10,7 +10,7 @@ import typing, types
 import depthai as dai
 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__)
 
@@ -45,6 +45,10 @@ def _parse_args_cli() -> argparse.Namespace:
                         help="threshold to filter detected objects",
                         type=float,
                         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",
                         type=int,
                         default=_get_env_int_value("IMAGE_HEIGHT", 120))
@@ -101,6 +105,7 @@ def execute_from_command_line() -> None:
                                                  camera=cam.CameraSource(pipeline=pipeline,
                                                                          img_width=args.image_width,
                                                                          img_height=args.image_height,
+                                                                         fps=args.camera_fps,
                                                                          ))
 
     def sigterm_handler(signum: int, frame: typing.Optional[

camera/oak_pipeline.py

@@ -196,7 +196,7 @@ class ObjectDetectionNN:
 class CameraSource(Source):
     """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._xout_rgb = pipeline.createXLinkOut()
         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.setInterleaved(False)
         self._cam_rgb.setColorOrder(dai.ColorCameraProperties.ColorOrder.RGB)
-        self._cam_rgb.setFps(30)
+        self._cam_rgb.setFps(fps)
 
         # link camera preview to output
         self._cam_rgb.preview.link(self._xout_rgb.input)

pyproject.toml

@@ -9,15 +9,14 @@ packages = [
 ]
 
 [tool.poetry.dependencies]
-python = "^3.10"
+python = "^3.11"
 paho-mqtt = "^1.6.1"
-depthai = "^2.19.0"
+depthai = "^2.22.0"
 protobuf3 = "^0.2.1"
 google = "^3.0.0"
-blobconverter = "^1.3.0"
 protobuf = "^4.21.8"
 opencv-python-headless = "^4.6.0.66"
-robocar-protobuf = {version = "^1.1.2", source = "robocar"}
+robocar-protobuf = {version = "^1.3.0", source = "robocar"}
 
 
 [tool.poetry.group.test.dependencies]
@@ -35,8 +34,7 @@ types-protobuf = "^3.20.4.2"
 [[tool.poetry.source]]
 name = "robocar"
 url = "https://git.cyrilix.bzh/api/packages/robocars/pypi/simple"
-default = false
+priority = "explicit"
-secondary = false
 
 [build-system]
 requires = ["poetry-core>=1.0.0", "poetry-dynamic-versioning"]