disable disparity frames

see https://github.com/luxonis/depthai-experiments/tree/master/gen2-mobile-object-localizer

.Dockerignore

@@ -1,2 +1,6 @@
 venv
+dist/*
+build-docker.sh
+Dockerfile
+
 

.gitignore

@@ -3,3 +3,6 @@
 *.egg-info
 .idea
 */__pycache__/
+/dist/
+build
+__pycache__

.pylintrc

@@ -0,0 +1,618 @@
+[MAIN]
+
+# Analyse import fallback blocks. This can be used to support both Python 2 and
+# 3 compatible code, which means that the block might have code that exists
+# only in one or another interpreter, leading to false positives when analysed.
+analyse-fallback-blocks=no
+
+# Load and enable all available extensions. Use --list-extensions to see a list
+# all available extensions.
+#enable-all-extensions=
+
+# In error mode, messages with a category besides ERROR or FATAL are
+# suppressed, and no reports are done by default. Error mode is compatible with
+# disabling specific errors.
+#errors-only=
+
+# Always return a 0 (non-error) status code, even if lint errors are found.
+# This is primarily useful in continuous integration scripts.
+#exit-zero=
+
+# A comma-separated list of package or module names from where C extensions may
+# be loaded. Extensions are loading into the active Python interpreter and may
+# run arbitrary code.
+extension-pkg-allow-list=depthai,node,cv2,events.*
+
+# A comma-separated list of package or module names from where C extensions may
+# be loaded. Extensions are loading into the active Python interpreter and may
+# run arbitrary code. (This is an alternative name to extension-pkg-allow-list
+# for backward compatibility.)
+extension-pkg-whitelist=
+
+# Return non-zero exit code if any of these messages/categories are detected,
+# even if score is above --fail-under value. Syntax same as enable. Messages
+# specified are enabled, while categories only check already-enabled messages.
+fail-on=
+
+# Specify a score threshold under which the program will exit with error.
+fail-under=10
+
+# Interpret the stdin as a python script, whose filename needs to be passed as
+# the module_or_package argument.
+#from-stdin=
+
+# Files or directories to be skipped. They should be base names, not paths.
+ignore=CVS
+
+# Add files or directories matching the regular expressions patterns to the
+# ignore-list. The regex matches against paths and can be in Posix or Windows
+# format. Because '\' represents the directory delimiter on Windows systems, it
+# can't be used as an escape character.
+ignore-paths=
+
+# Files or directories matching the regular expression patterns are skipped.
+# The regex matches against base names, not paths. The default value ignores
+# Emacs file locks
+ignore-patterns=^\.#,test_.*?py
+
+# List of module names for which member attributes should not be checked
+# (useful for modules/projects where namespaces are manipulated during runtime
+# and thus existing member attributes cannot be deduced by static analysis). It
+# supports qualified module names, as well as Unix pattern matching.
+ignored-modules=
+
+# Python code to execute, usually for sys.path manipulation such as
+# pygtk.require().
+#init-hook=
+
+# Use multiple processes to speed up Pylint. Specifying 0 will auto-detect the
+# number of processors available to use, and will cap the count on Windows to
+# avoid hangs.
+jobs=1
+
+# Control the amount of potential inferred values when inferring a single
+# object. This can help the performance when dealing with large functions or
+# complex, nested conditions.
+limit-inference-results=100
+
+# List of plugins (as comma separated values of python module names) to load,
+# usually to register additional checkers.
+load-plugins=
+
+# Pickle collected data for later comparisons.
+persistent=yes
+
+# Minimum Python version to use for version dependent checks. Will default to
+# the version used to run pylint.
+py-version=3.10
+
+# Discover python modules and packages in the file system subtree.
+recursive=yes
+
+# When enabled, pylint would attempt to guess common misconfiguration and emit
+# user-friendly hints instead of false-positive error messages.
+suggestion-mode=yes
+
+# Allow loading of arbitrary C extensions. Extensions are imported into the
+# active Python interpreter and may run arbitrary code.
+unsafe-load-any-extension=no
+
+# In verbose mode, extra non-checker-related info will be displayed.
+#verbose=
+
+
+[REPORTS]
+
+# Python expression which should return a score less than or equal to 10. You
+# have access to the variables 'fatal', 'error', 'warning', 'refactor',
+# 'convention', and 'info' which contain the number of messages in each
+# category, as well as 'statement' which is the total number of statements
+# analyzed. This score is used by the global evaluation report (RP0004).
+evaluation=max(0, 0 if fatal else 10.0 - ((float(5 * error + warning + refactor + convention) / statement) * 10))
+
+# Template used to display messages. This is a python new-style format string
+# used to format the message information. See doc for all details.
+msg-template=
+
+# Set the output format. Available formats are text, parseable, colorized, json
+# and msvs (visual studio). You can also give a reporter class, e.g.
+# mypackage.mymodule.MyReporterClass.
+#output-format=
+
+# Tells whether to display a full report or only the messages.
+reports=no
+
+# Activate the evaluation score.
+score=yes
+
+
+[MESSAGES CONTROL]
+
+# Only show warnings with the listed confidence levels. Leave empty to show
+# all. Valid levels: HIGH, CONTROL_FLOW, INFERENCE, INFERENCE_FAILURE,
+# UNDEFINED.
+confidence=HIGH,
+           CONTROL_FLOW,
+           INFERENCE,
+           INFERENCE_FAILURE,
+           UNDEFINED
+
+# Disable the message, report, category or checker with the given id(s). You
+# can either give multiple identifiers separated by comma (,) or put this
+# option multiple times (only on the command line, not in the configuration
+# file where it should appear only once). You can also use "--disable=all" to
+# disable everything first and then re-enable specific checks. For example, if
+# you want to run only the similarities checker, you can use "--disable=all
+# --enable=similarities". If you want to run only the classes checker, but have
+# no Warning level messages displayed, use "--disable=all --enable=classes
+# --disable=W".
+disable=raw-checker-failed,
+        bad-inline-option,
+        locally-disabled,
+        file-ignored,
+        suppressed-message,
+        useless-suppression,
+        deprecated-pragma,
+        use-symbolic-message-instead
+
+# Enable the message, report, category or checker with the given id(s). You can
+# either give multiple identifier separated by comma (,) or put this option
+# multiple time (only on the command line, not in the configuration file where
+# it should appear only once). See also the "--disable" option for examples.
+enable=c-extension-no-member
+
+
+[LOGGING]
+
+# The type of string formatting that logging methods do. `old` means using %
+# formatting, `new` is for `{}` formatting.
+logging-format-style=old
+
+# Logging modules to check that the string format arguments are in logging
+# function parameter format.
+logging-modules=logging
+
+
+[SPELLING]
+
+# Limits count of emitted suggestions for spelling mistakes.
+max-spelling-suggestions=4
+
+# Spelling dictionary name. Available dictionaries: none. To make it work,
+# install the 'python-enchant' package.
+spelling-dict=
+
+# List of comma separated words that should be considered directives if they
+# appear at the beginning of a comment and should not be checked.
+spelling-ignore-comment-directives=fmt: on,fmt: off,noqa:,noqa,nosec,isort:skip,mypy:
+
+# List of comma separated words that should not be checked.
+spelling-ignore-words=
+
+# A path to a file that contains the private dictionary; one word per line.
+spelling-private-dict-file=
+
+# Tells whether to store unknown words to the private dictionary (see the
+# --spelling-private-dict-file option) instead of raising a message.
+spelling-store-unknown-words=no
+
+
+[MISCELLANEOUS]
+
+# List of note tags to take in consideration, separated by a comma.
+notes=FIXME,
+      XXX,
+      TODO
+
+# Regular expression of note tags to take in consideration.
+notes-rgx=
+
+
+[TYPECHECK]
+
+# List of decorators that produce context managers, such as
+# contextlib.contextmanager. Add to this list to register other decorators that
+# produce valid context managers.
+contextmanager-decorators=contextlib.contextmanager
+
+# List of members which are set dynamically and missed by pylint inference
+# system, and so shouldn't trigger E1101 when accessed. Python regular
+# expressions are accepted.
+generated-members=cv2,events.events_pb2,depthai.*,dai.*
+
+# Tells whether to warn about missing members when the owner of the attribute
+# is inferred to be None.
+ignore-none=yes
+
+# This flag controls whether pylint should warn about no-member and similar
+# checks whenever an opaque object is returned when inferring. The inference
+# can return multiple potential results while evaluating a Python object, but
+# some branches might not be evaluated, which results in partial inference. In
+# that case, it might be useful to still emit no-member and other checks for
+# the rest of the inferred objects.
+ignore-on-opaque-inference=yes
+
+# List of symbolic message names to ignore for Mixin members.
+ignored-checks-for-mixins=no-member,
+                          not-async-context-manager,
+                          not-context-manager,
+                          attribute-defined-outside-init
+
+# List of class names for which member attributes should not be checked (useful
+# for classes with dynamically set attributes). This supports the use of
+# qualified names.
+ignored-classes=optparse.Values,thread._local,_thread._local,argparse.Namespace
+
+# Show a hint with possible names when a member name was not found. The aspect
+# of finding the hint is based on edit distance.
+missing-member-hint=yes
+
+# The minimum edit distance a name should have in order to be considered a
+# similar match for a missing member name.
+missing-member-hint-distance=1
+
+# The total number of similar names that should be taken in consideration when
+
+missing-member-max-choices=1
+
+# Regex pattern to define which classes are considered mixins.
+mixin-class-rgx=.*[Mm]ixin
+
+# List of decorators that change the signature of a decorated function.
+signature-mutators=
+
+
+[CLASSES]
+
+# Warn about protected attribute access inside special methods
+check-protected-access-in-special-methods=no
+
+# List of method names used to declare (i.e. assign) instance attributes.
+defining-attr-methods=__init__,
+                      __new__,
+                      setUp,
+                      __post_init__
+
+# List of member names, which should be excluded from the protected access
+# warning.
+exclude-protected=_asdict,
+                  _fields,
+                  _replace,
+                  _source,
+                  _make
+
+# List of valid names for the first argument in a class method.
+valid-classmethod-first-arg=cls
+
+# List of valid names for the first argument in a metaclass class method.
+valid-metaclass-classmethod-first-arg=cls
+
+
+[VARIABLES]
+
+# List of additional names supposed to be defined in builtins. Remember that
+# you should avoid defining new builtins when possible.
+additional-builtins=
+
+# Tells whether unused global variables should be treated as a violation.
+allow-global-unused-variables=yes
+
+# List of names allowed to shadow builtins
+allowed-redefined-builtins=
+
+# List of strings which can identify a callback function by name. A callback
+# name must start or end with one of those strings.
+callbacks=cb_,
+          _cb
+
+# A regular expression matching the name of dummy variables (i.e. expected to
+# not be used).
+dummy-variables-rgx=_+$|(_[a-zA-Z0-9_]*[a-zA-Z0-9]+?$)|dummy|^ignored_|^unused_
+
+# Argument names that match this expression will be ignored.
+ignored-argument-names=_.*|^ignored_|^unused_
+
+# Tells whether we should check for unused import in __init__ files.
+init-import=no
+
+# List of qualified module names which can have objects that can redefine
+# builtins.
+redefining-builtins-modules=six.moves,past.builtins,future.builtins,builtins,io
+
+
+[FORMAT]
+
+# Expected format of line ending, e.g. empty (any line ending), LF or CRLF.
+expected-line-ending-format=
+
+# Regexp for a line that is allowed to be longer than the limit.
+ignore-long-lines=^\s*(# )?<?https?://\S+>?$
+
+# Number of spaces of indent required inside a hanging or continued line.
+indent-after-paren=4
+
+# String used as indentation unit. This is usually "    " (4 spaces) or "\t" (1
+# tab).
+indent-string='    '
+
+# Maximum number of characters on a single line.
+max-line-length=120
+
+# Maximum number of lines in a module.
+max-module-lines=1000
+
+# Allow the body of a class to be on the same line as the declaration if body
+# contains single statement.
+single-line-class-stmt=no
+
+# Allow the body of an if to be on the same line as the test if there is no
+# else.
+single-line-if-stmt=no
+
+
+[IMPORTS]
+
+# List of modules that can be imported at any level, not just the top level
+# one.
+allow-any-import-level=
+
+# Allow wildcard imports from modules that define __all__.
+allow-wildcard-with-all=no
+
+# Deprecated modules which should not be used, separated by a comma.
+deprecated-modules=
+
+# Output a graph (.gv or any supported image format) of external dependencies
+# to the given file (report RP0402 must not be disabled).
+ext-import-graph=
+
+# Output a graph (.gv or any supported image format) of all (i.e. internal and
+# external) dependencies to the given file (report RP0402 must not be
+# disabled).
+import-graph=
+
+# Output a graph (.gv or any supported image format) of internal dependencies
+# to the given file (report RP0402 must not be disabled).
+int-import-graph=
+
+# Force import order to recognize a module as part of the standard
+# compatibility libraries.
+known-standard-library=
+
+# Force import order to recognize a module as part of a third party library.
+known-third-party=enchant
+
+# Couples of modules and preferred modules, separated by a comma.
+preferred-modules=
+
+
+[METHOD_ARGS]
+
+# List of qualified names (i.e., library.method) which require a timeout
+# parameter e.g. 'requests.api.get,requests.api.post'
+timeout-methods=requests.api.delete,requests.api.get,requests.api.head,requests.api.options,requests.api.patch,requests.api.post,requests.api.put,requests.api.request
+
+
+[EXCEPTIONS]
+
+# Exceptions that will emit a warning when caught.
+overgeneral-exceptions=BaseException,
+                       Exception
+
+
+[REFACTORING]
+
+# Maximum number of nested blocks for function / method body
+max-nested-blocks=5
+
+# Complete name of functions that never returns. When checking for
+# inconsistent-return-statements if a never returning function is called then
+# it will be considered as an explicit return statement and no message will be
+# printed.
+never-returning-functions=sys.exit,argparse.parse_error
+
+
+[SIMILARITIES]
+
+# Comments are removed from the similarity computation
+ignore-comments=yes
+
+# Docstrings are removed from the similarity computation
+ignore-docstrings=yes
+
+# Imports are removed from the similarity computation
+ignore-imports=yes
+
+# Signatures are removed from the similarity computation
+ignore-signatures=yes
+
+# Minimum lines number of a similarity.
+min-similarity-lines=4
+
+
+[DESIGN]
+
+# List of regular expressions of class ancestor names to ignore when counting
+# public methods (see R0903)
+exclude-too-few-public-methods=
+
+# List of qualified class names to ignore when counting class parents (see
+# R0901)
+ignored-parents=
+
+# Maximum number of arguments for function / method.
+max-args=5
+
+# Maximum number of attributes for a class (see R0902).
+max-attributes=7
+
+# Maximum number of boolean expressions in an if statement (see R0916).
+max-bool-expr=5
+
+# Maximum number of branch for function / method body.
+max-branches=12
+
+# Maximum number of locals for function / method body.
+max-locals=15
+
+# Maximum number of parents for a class (see R0901).
+max-parents=7
+
+# Maximum number of public methods for a class (see R0904).
+max-public-methods=20
+
+# Maximum number of return / yield for function / method body.
+max-returns=6
+
+# Maximum number of statements in function / method body.
+max-statements=50
+
+# Minimum number of public methods for a class (see R0903).
+min-public-methods=1
+
+
+[STRING]
+
+# This flag controls whether inconsistent-quotes generates a warning when the
+# character used as a quote delimiter is used inconsistently within a module.
+check-quote-consistency=no
+
+# This flag controls whether the implicit-str-concat should generate a warning
+# on implicit string concatenation in sequences defined over several lines.
+check-str-concat-over-line-jumps=no
+
+
+[BASIC]
+
+# Naming style matching correct argument names.
+argument-naming-style=snake_case
+
+# Regular expression matching correct argument names. Overrides argument-
+# naming-style. If left empty, argument names will be checked with the set
+# naming style.
+#argument-rgx=
+
+# Naming style matching correct attribute names.
+attr-naming-style=snake_case
+
+# Regular expression matching correct attribute names. Overrides attr-naming-
+# style. If left empty, attribute names will be checked with the set naming
+# style.
+#attr-rgx=
+
+# Bad variable names which should always be refused, separated by a comma.
+bad-names=foo,
+          bar,
+          baz,
+          toto,
+          tutu,
+          tata
+
+# Bad variable names regexes, separated by a comma. If names match any regex,
+# they will always be refused
+bad-names-rgxs=
+
+# Naming style matching correct class attribute names.
+class-attribute-naming-style=any
+
+# Regular expression matching correct class attribute names. Overrides class-
+# attribute-naming-style. If left empty, class attribute names will be checked
+# with the set naming style.
+#class-attribute-rgx=
+
+# Naming style matching correct class constant names.
+class-const-naming-style=UPPER_CASE
+
+# Regular expression matching correct class constant names. Overrides class-
+# const-naming-style. If left empty, class constant names will be checked with
+# the set naming style.
+#class-const-rgx=
+
+# Naming style matching correct class names.
+class-naming-style=PascalCase
+
+# Regular expression matching correct class names. Overrides class-naming-
+# style. If left empty, class names will be checked with the set naming style.
+#class-rgx=
+
+# Naming style matching correct constant names.
+const-naming-style=UPPER_CASE
+
+# Regular expression matching correct constant names. Overrides const-naming-
+# style. If left empty, constant names will be checked with the set naming
+# style.
+#const-rgx=
+
+# Minimum line length for functions/classes that require docstrings, shorter
+# ones are exempt.
+docstring-min-length=-1
+
+# Naming style matching correct function names.
+function-naming-style=snake_case
+
+# Regular expression matching correct function names. Overrides function-
+# naming-style. If left empty, function names will be checked with the set
+# naming style.
+#function-rgx=
+
+# Good variable names which should always be accepted, separated by a comma.
+good-names=i,
+           j,
+           k,
+           ex,
+           Run,
+           _
+
+# Good variable names regexes, separated by a comma. If names match any regex,
+# they will always be accepted
+good-names-rgxs=
+
+# Include a hint for the correct naming format with invalid-name.
+include-naming-hint=no
+
+# Naming style matching correct inline iteration names.
+inlinevar-naming-style=any
+
+# Regular expression matching correct inline iteration names. Overrides
+# inlinevar-naming-style. If left empty, inline iteration names will be checked
+# with the set naming style.
+#inlinevar-rgx=
+
+# Naming style matching correct method names.
+method-naming-style=snake_case
+
+# Regular expression matching correct method names. Overrides method-naming-
+# style. If left empty, method names will be checked with the set naming style.
+#method-rgx=
+
+# Naming style matching correct module names.
+module-naming-style=snake_case
+
+# Regular expression matching correct module names. Overrides module-naming-
+# style. If left empty, module names will be checked with the set naming style.
+#module-rgx=
+
+# Colon-delimited sets of names that determine each other's naming style when
+# the name regexes allow several styles.
+name-group=
+
+# Regular expression which should only match function or class names that do
+# not require a docstring.
+no-docstring-rgx=^_
+
+# List of decorators that produce properties, such as abc.abstractproperty. Add
+# to this list to register other decorators that produce valid properties.
+# These decorators are taken in consideration only for invalid-name.
+property-classes=abc.abstractproperty
+
+# Regular expression matching correct type variable names. If left empty, type
+# variable names will be checked with the set naming style.
+#typevar-rgx=
+
+# Naming style matching correct variable names.
+variable-naming-style=snake_case
+
+# Regular expression matching correct variable names. Overrides variable-
+# naming-style. If left empty, variable names will be checked with the set
+# naming style.
+#variable-rgx=

Dockerfile

@@ -1,23 +1,47 @@
-FROM docker.io/library/python:3.9-slim
+FROM docker.io/library/python:3.12-slim as base
 
 # 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 echo -n "[global]\n" > /etc/pip.conf &&\
+    echo -n "extra-index-url = https://www.piwheels.org/simple https://git.cyrilix.bzh/api/packages/robocars/pypi/simple \n" >> /etc/pip.conf
 
-RUN apt-get update && apt-get install -y libgl1 libglib2.0-0
+RUN apt-get update && apt-get install -y libgl1 libglib2.0-0 procps cmake g++ gcc
 
-RUN pip3 install numpy
+#################
+FROM base as model-builder
 
-ADD requirements.txt requirements.txt
+RUN python3 -m pip install blobconverter
 
-RUN pip3 install -r requirements.txt
+RUN mkdir -p /models
 
-ADD events events
+RUN blobconverter --zoo-name mobile_object_localizer_192x192 --zoo-type depthai --shaves 6 --version 2021.4 --output-dir /models || echo ""
+
+#################
+FROM base as builder
+
+RUN apt-get install -y git && \
+    pip3 install poetry && \
+    poetry self add "poetry-dynamic-versioning[plugin]"
+
+ADD poetry.lock .
+ADD pyproject.toml .
 ADD camera camera
-ADD setup.cfg setup.cfg
+ADD README.md .
-ADD setup.py setup.py
 
-ENV PYTHON_EGG_CACHE=/tmp/cache
+# Poetry expect to found a git project
-RUN python3 setup.py install
+ADD .git .git
+
+RUN poetry build
+
+#################
+FROM base
+
+COPY camera_tunning /camera_tuning
+
+RUN mkdir /models
+COPY --from=model-builder /models/mobile_object_localizer_192x192_openvino_2021.4_6shave.blob /models/mobile_object_localizer_192x192_openvino_2021.4_6shave.blob
+
+COPY --from=builder dist/*.whl /tmp/
+RUN pip3 install /tmp/*.whl
 
 WORKDIR /tmp
 USER 1234

README.md

@@ -9,3 +9,136 @@ To build images, run script:
 ```bash 
 ./build-docker.sh
 ```
+
+## Usage
+
+```shell
+usage: cli.py [-h] [-u MQTT_USERNAME] [-p MQTT_PASSWORD] [-b MQTT_BROKER_HOST]
+              [-P MQTT_BROKER_PORT] [-C MQTT_CLIENT_ID]
+              [-c MQTT_TOPIC_ROBOCAR_OAK_CAMERA]
+              [-o MQTT_TOPIC_ROBOCAR_OBJECTS] [-t OBJECTS_THRESHOLD]
+              [-d MQTT_TOPIC_ROBOCAR_DISPARITY] [-f CAMERA_FPS]
+              [--camera-tuning-exposition {default,500us,8300us}]
+              [-H IMAGE_HEIGHT] [-W IMAGE_WIDTH] [--log {info,debug}]
+              [--stereo-mode-lr-check] [--stereo-mode-extended-disparity]
+              [--stereo-mode-subpixel]
+              [--stereo-post-processing-median-filter]
+              [--stereo-post-processing-median-value {MEDIAN_OFF,KERNEL_3x3,KERNEL_5x5,KERNEL_7x7}]
+              [--stereo-post-processing-speckle-filter]
+              [--stereo-post-processing-speckle-enable STEREO_POST_PROCESSING_SPECKLE_ENABLE]
+              [--stereo-post-processing-speckle-range STEREO_POST_PROCESSING_SPECKLE_RANGE]
+              [--stereo-post-processing-temporal-filter]
+              [--stereo-post-processing-temporal-persistency-mode {PERSISTENCY_OFF,VALID_8_OUT_OF_8,VALID_2_IN_LAST_3,VALID_2_IN_LAST_4,VALID_2_OUT_OF_8,VALID_1_IN_LAST_2,VALID_1_IN_LAST_5,VALID_1_IN_LAST_8,PERSISTENCY_INDEFINITELY}]
+              [--stereo-post-processing-temporal-alpha STEREO_POST_PROCESSING_TEMPORAL_ALPHA]
+              [--stereo-post-processing-temporal-delta STEREO_POST_PROCESSING_TEMPORAL_DELTA]
+              [--stereo-post-processing-spatial-filter]
+              [--stereo-post-processing-spatial-enable STEREO_POST_PROCESSING_SPATIAL_ENABLE]
+              [--stereo-post-processing-spatial-hole-filling-radius STEREO_POST_PROCESSING_SPATIAL_HOLE_FILLING_RADIUS]
+              [--stereo-post-processing-spatial-alpha STEREO_POST_PROCESSING_SPATIAL_ALPHA]
+              [--stereo-post-processing-spatial-delta STEREO_POST_PROCESSING_SPATIAL_DELTA]
+              [--stereo-post-processing-spatial-num-iterations STEREO_POST_PROCESSING_SPATIAL_NUM_ITERATIONS]
+              [--stereo-post-processing-threshold-filter]
+              [--stereo-post-processing-threshold-min-range STEREO_POST_PROCESSING_THRESHOLD_MIN_RANGE]
+              [--stereo-post-processing-threshold-max-range STEREO_POST_PROCESSING_THRESHOLD_MAX_RANGE]
+              [--stereo-post-processing-decimation-filter]
+              [--stereo-post-processing-decimation-decimal-factor {1,2,3,4}]
+              [--stereo-post-processing-decimation-mode {PIXEL_SKIPPING,NON_ZERO_MEDIAN,NON_ZERO_MEAN}]
+
+options:
+  -h, --help            show this help message and exit
+  -u MQTT_USERNAME, --mqtt-username MQTT_USERNAME
+                        MQTT user
+  -p MQTT_PASSWORD, --mqtt-password MQTT_PASSWORD
+                        MQTT password
+  -b MQTT_BROKER_HOST, --mqtt-broker-host MQTT_BROKER_HOST
+                        MQTT broker host
+  -P MQTT_BROKER_PORT, --mqtt-broker-port MQTT_BROKER_PORT
+                        MQTT broker port
+  -C MQTT_CLIENT_ID, --mqtt-client-id MQTT_CLIENT_ID
+                        MQTT client id
+  -c MQTT_TOPIC_ROBOCAR_OAK_CAMERA, --mqtt-topic-robocar-oak-camera MQTT_TOPIC_ROBOCAR_OAK_CAMERA
+                        MQTT topic where to publish robocar-oak-camera frames
+  -o MQTT_TOPIC_ROBOCAR_OBJECTS, ---mqtt-topic-robocar-objects MQTT_TOPIC_ROBOCAR_OBJECTS
+                        MQTT topic where to publish objects detection results
+  -t OBJECTS_THRESHOLD, --objects-threshold OBJECTS_THRESHOLD
+                        threshold to filter detected objects
+  -d MQTT_TOPIC_ROBOCAR_DISPARITY, ---mqtt-topic-robocar-disparity MQTT_TOPIC_ROBOCAR_DISPARITY
+                        MQTT topic where to publish disparity results
+  -f CAMERA_FPS, --camera-fps CAMERA_FPS
+                        set rate at which camera should produce frames
+  --camera-tuning-exposition {default,500us,8300us}
+                        override camera exposition configuration
+  -H IMAGE_HEIGHT, --image-height IMAGE_HEIGHT
+                        image height
+  -W IMAGE_WIDTH, --image-width IMAGE_WIDTH
+                        image width
+  --log {info,debug}    Log level
+  --stereo-mode-lr-check
+                        remove incorrectly calculated disparity pixels due to
+                        occlusions at object borders
+  --stereo-mode-extended-disparity
+                        allows detecting closer distance objects for the given
+                        baseline. This increases the maximum disparity search
+                        from 96 to 191, meaning the range is now: [0..190]
+  --stereo-mode-subpixel
+                        iimproves the precision and is especially useful for
+                        long range measurements
+  --stereo-post-processing-median-filter
+                        enable post-processing median filter
+  --stereo-post-processing-median-value {MEDIAN_OFF,KERNEL_3x3,KERNEL_5x5,KERNEL_7x7}
+                        Median filter config
+  --stereo-post-processing-speckle-filter
+                        enable post-processing speckle filter
+  --stereo-post-processing-speckle-enable STEREO_POST_PROCESSING_SPECKLE_ENABLE
+                        enable post-processing speckle filter
+  --stereo-post-processing-speckle-range STEREO_POST_PROCESSING_SPECKLE_RANGE
+                        Speckle search range
+  --stereo-post-processing-temporal-filter
+                        enable post-processing temporal filter
+  --stereo-post-processing-temporal-persistency-mode {PERSISTENCY_OFF,VALID_8_OUT_OF_8,VALID_2_IN_LAST_3,VALID_2_IN_LAST_4,VALID_2_OUT_OF_8,VALID_1_IN_LAST_2,VALID_1_IN_LAST_5,VALID_1_IN_LAST_8,PERSISTENCY_INDEFINITELY}
+                        Persistency mode.
+  --stereo-post-processing-temporal-alpha STEREO_POST_PROCESSING_TEMPORAL_ALPHA
+                        The Alpha factor in an exponential moving average with
+                        Alpha=1 - no filter. Alpha = 0 - infinite filter.
+                        Determines the extent of the temporal history that
+                        should be averaged.
+  --stereo-post-processing-temporal-delta STEREO_POST_PROCESSING_TEMPORAL_DELTA
+                        Step-size boundary. Establishes the threshold used to
+                        preserve surfaces (edges). If the disparity value
+                        between neighboring pixels exceed the disparity
+                        threshold set by this delta parameter, then filtering
+                        will be temporarily disabled. Default value 0 means
+                        auto: 3 disparity integer levels. In case of subpixel
+                        mode it’s 3*number of subpixel levels.
+  --stereo-post-processing-spatial-filter
+                        enable post-processing spatial filter
+  --stereo-post-processing-spatial-enable STEREO_POST_PROCESSING_SPATIAL_ENABLE
+                        Whether to enable or disable the filter
+  --stereo-post-processing-spatial-hole-filling-radius STEREO_POST_PROCESSING_SPATIAL_HOLE_FILLING_RADIUS
+                        An in-place heuristic symmetric hole-filling mode
+                        applied horizontally during the filter passes
+  --stereo-post-processing-spatial-alpha STEREO_POST_PROCESSING_SPATIAL_ALPHA
+                        The Alpha factor in an exponential moving average with
+                        Alpha=1 - no filter. Alpha = 0 - infinite filter
+  --stereo-post-processing-spatial-delta STEREO_POST_PROCESSING_SPATIAL_DELTA
+                        Step-size boundary. Establishes the threshold used to
+                        preserve edges
+  --stereo-post-processing-spatial-num-iterations STEREO_POST_PROCESSING_SPATIAL_NUM_ITERATIONS
+                        Number of iterations over the image in both horizontal
+                        and vertical direction
+  --stereo-post-processing-threshold-filter
+                        enable post-processing threshold filter
+  --stereo-post-processing-threshold-min-range STEREO_POST_PROCESSING_THRESHOLD_MIN_RANGE
+                        Minimum range in depth units. Depth values under this
+                        value are invalidated
+  --stereo-post-processing-threshold-max-range STEREO_POST_PROCESSING_THRESHOLD_MAX_RANGE
+                        Maximum range in depth units. Depth values over this
+                        value are invalidated.
+  --stereo-post-processing-decimation-filter
+                        enable post-processing decimation filter
+  --stereo-post-processing-decimation-decimal-factor {1,2,3,4}
+                        Decimation factor
+  --stereo-post-processing-decimation-mode {PIXEL_SKIPPING,NON_ZERO_MEDIAN,NON_ZERO_MEAN}
+                        Decimation algorithm type
+
+```

build-docker.sh

@@ -2,11 +2,11 @@
 
 IMAGE_NAME=robocar-oak-camera
 TAG=$(git describe)
-FULL_IMAGE_NAME=docker.io/cyrilix/${IMAGE_NAME}:${TAG}
+FULL_IMAGE_NAME=git.cyrilix.bzh/robocars/${IMAGE_NAME}:${TAG}
 PLATFORM="linux/amd64,linux/arm64"
 #PLATFORM="linux/amd64,linux/arm64,linux/arm/v7"
 
 podman build . --platform "${PLATFORM}" --manifest "${IMAGE_NAME}:${TAG}"
-podman manifest push --format v2s2 "localhost/${IMAGE_NAME}:${TAG}" "docker://${FULL_IMAGE_NAME}"
+podman manifest push --all "localhost/${IMAGE_NAME}:${TAG}" "docker://${FULL_IMAGE_NAME}"
 
 printf "\nImage %s published" "docker://${FULL_IMAGE_NAME}"

camera/cli.py

@@ -1,66 +1,373 @@
 """
-Publish data from oak-lite device
+Mqtt gateway for oak-lite device
-
-Usage: rc-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] \
-    [-H IMG_HEIGHT | --image-height=IMG_HEIGHT] [-W IMG_WIDTH | --image-width=IMG_width]
-
-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 argparse
 import logging
 import os
-from . import depthai as cam
+import signal
-from docopt import docopt
+import types
+import typing
+from typing import List
+
+import depthai as dai
 import paho.mqtt.client as mqtt
 
+from camera import oak_pipeline as cam
+from camera.oak_pipeline import StereoDepthPostFilter, MedianFilter, SpeckleFilter, TemporalFilter, SpatialFilter, \
+    ThresholdFilter, DecimationFilter
+
+CAMERA_EXPOSITION_DEFAULT = "default"
+CAMERA_EXPOSITION_8300US = "8300us"
+CAMERA_EXPOSITION_500US = "500us"
+
 logger = logging.getLogger(__name__)
-logging.basicConfig(level=logging.INFO)
 
-default_client_id = "robocar-depthai"
+_DEFAULT_CLIENT_ID = "robocar-depthai"
 
 
-def init_mqtt_client(broker_host: str, user: str, password: str, client_id: str) -> mqtt.Client:
+def _parse_args_cli() -> argparse.Namespace:
+    parser = argparse.ArgumentParser()
+    parser.add_argument("-u", "--mqtt-username",
+                        help="MQTT user",
+                        default=_get_env_value("MQTT_USERNAME", ""))
+    parser.add_argument("-p", "--mqtt-password",
+                        help="MQTT password",
+                        default=_get_env_value("MQTT_PASSWORD", ""))
+    parser.add_argument("-b", "--mqtt-broker-host",
+                        help="MQTT broker host",
+                        default=_get_env_value("MQTT_BROKER_HOST", "localhost"))
+    parser.add_argument("-P", "--mqtt-broker-port",
+                        help="MQTT broker port",
+                        type=int,
+                        default=_get_env_int_value("MQTT_BROKER_PORT", 1883))
+    parser.add_argument("-C", "--mqtt-client-id",
+                        help="MQTT client id",
+                        default=_get_env_value("MQTT_CLIENT_ID", _DEFAULT_CLIENT_ID))
+    parser.add_argument("-c", "--mqtt-topic-robocar-oak-camera",
+                        help="MQTT topic where to publish robocar-oak-camera frames",
+                        default=_get_env_value("MQTT_TOPIC_CAMERA", "/oak/camera_rgb"))
+    parser.add_argument("-o", "---mqtt-topic-robocar-objects",
+                        help="MQTT topic where to publish objects detection results",
+                        default=_get_env_value("MQTT_TOPIC_OBJECTS", "/objects"))
+    parser.add_argument("-t", "--objects-threshold",
+                        help="threshold to filter detected objects",
+                        type=float,
+                        default=_get_env_float_value("OBJECTS_THRESHOLD", 0.2))
+    parser.add_argument("-d", "---mqtt-topic-robocar-disparity",
+                        help="MQTT topic where to publish disparity results",
+                        default=_get_env_value("MQTT_TOPIC_DISPARITY", "/disparity"))
+    parser.add_argument("-f", "--camera-fps",
+                        help="set rate at which camera should produce frames",
+                        type=int,
+                        default=30)
+    parser.add_argument("--camera-tuning-exposition", type=str,
+                        default=CAMERA_EXPOSITION_DEFAULT,
+                        help="override camera exposition configuration",
+                        choices=[CAMERA_EXPOSITION_DEFAULT, CAMERA_EXPOSITION_500US, CAMERA_EXPOSITION_8300US])
+    parser.add_argument("-H", "--image-height", help="image height",
+                        type=int,
+                        default=_get_env_int_value("IMAGE_HEIGHT", 120))
+    parser.add_argument("-W", "--image-width", help="image width",
+                        type=int,
+                        default=_get_env_int_value("IMAGE_WIDTH", 126))
+    parser.add_argument("--log", help="Log level",
+                        type=str,
+                        default="info",
+                        choices=["info", "debug"])
+
+    parser.add_argument("--disable-disparity", action="store_true",
+                    help="enable disparity frame",
+                    default=False
+                    )
+    parser.add_argument("--stereo-mode-lr-check",
+                        help="remove incorrectly calculated disparity pixels due to occlusions at object borders",
+                        default=False, action="store_true"
+                        )
+    parser.add_argument("--stereo-mode-extended-disparity",
+                        help="allows detecting closer distance objects for the given baseline. This increases the maximum disparity search from 96 to 191, meaning the range is now: [0..190]",
+                        default=False, action="store_true"
+                        )
+    parser.add_argument("--stereo-mode-subpixel",
+                        help="iimproves the precision and is especially useful for long range measurements",
+                        default=False, action="store_true"
+                        )
+
+
+    parser.add_argument("--stereo-post-processing-median-filter",
+                        help="enable post-processing median filter",
+                        default=False, action="store_true"
+                        )
+    parser.add_argument("--stereo-post-processing-median-value",
+                        help="Median filter config ",
+                        type=str,
+                        choices=["MEDIAN_OFF", "KERNEL_3x3", "KERNEL_5x5", "KERNEL_7x7"],
+                        default="KERNEL_7x7",
+                        )
+    parser.add_argument("--stereo-post-processing-speckle-filter",
+                        help="enable post-processing speckle filter",
+                        default=False, action="store_true"
+                        )
+    parser.add_argument("--stereo-post-processing-speckle-enable",
+                        help="enable post-processing speckle filter",
+                        type=bool, default=False
+                        )
+    parser.add_argument("--stereo-post-processing-speckle-range",
+                        help="Speckle search range",
+                        type=int, default=50
+                        )
+
+    parser.add_argument("--stereo-post-processing-temporal-filter",
+                        help="enable post-processing temporal filter",
+                        default=False, action="store_true"
+                        )
+    parser.add_argument("--stereo-post-processing-temporal-persistency-mode",
+                        help="Persistency mode.",
+                        type=str, default="VALID_2_IN_LAST_4",
+                        choices=["PERSISTENCY_OFF", "VALID_8_OUT_OF_8", "VALID_2_IN_LAST_3", "VALID_2_IN_LAST_4",
+                                 "VALID_2_OUT_OF_8", "VALID_1_IN_LAST_2", "VALID_1_IN_LAST_5", "VALID_1_IN_LAST_8",
+                                 "PERSISTENCY_INDEFINITELY"]
+                        )
+    parser.add_argument("--stereo-post-processing-temporal-alpha",
+                        help="The Alpha factor in an exponential moving average with Alpha=1 - no filter. "
+                             "Alpha = 0 - infinite filter. Determines the extent of the temporal history that should be "
+                             "averaged. ",
+                        type=float, default=0.4,
+                        )
+    parser.add_argument("--stereo-post-processing-temporal-delta",
+                        help="Step-size boundary. Establishes the threshold used to preserve surfaces (edges). "
+                             "If the disparity value between neighboring pixels exceed the disparity threshold set by "
+                             "this delta parameter, then filtering will be temporarily disabled. Default value 0 means "
+                             "auto: 3 disparity integer levels. In case of subpixel mode it’s 3*number of subpixel "
+                             "levels.",
+                        type=int, default=0,
+                        )
+
+    parser.add_argument("--stereo-post-processing-spatial-filter",
+                        help="enable post-processing spatial filter",
+                        default=False, action="store_true"
+                        )
+    parser.add_argument("--stereo-post-processing-spatial-enable",
+                        help="Whether to enable or disable the filter",
+                        type=bool, default=False,
+                        )
+    parser.add_argument("--stereo-post-processing-spatial-hole-filling-radius",
+                        help="An in-place heuristic symmetric hole-filling mode applied horizontally during the filter passes",
+                        type=int, default=2,
+                        )
+    parser.add_argument("--stereo-post-processing-spatial-alpha",
+                        help="The Alpha factor in an exponential moving average with Alpha=1 - no filter. Alpha = 0 - infinite filter",
+                        type=float, default=0.5,
+                        )
+    parser.add_argument("--stereo-post-processing-spatial-delta",
+                        help="Step-size boundary. Establishes the threshold used to preserve edges",
+                        type=int, default=0,
+                        )
+    parser.add_argument("--stereo-post-processing-spatial-num-iterations",
+                        help="Number of iterations over the image in both horizontal and vertical direction",
+                        type=int, default=1,
+                        )
+
+    parser.add_argument("--stereo-post-processing-threshold-filter",
+                        help="enable post-processing threshold filter",
+                        default=False, action="store_true"
+                        )
+    parser.add_argument("--stereo-post-processing-threshold-min-range",
+                        help="Minimum range in depth units. Depth values under this value are invalidated",
+                        type=int, default=500,
+                        )
+    parser.add_argument("--stereo-post-processing-threshold-max-range",
+                        help="Maximum range in depth units. Depth values over this value are invalidated.",
+                        type=int, default=15000,
+                        )
+
+    parser.add_argument("--stereo-post-processing-decimation-filter",
+                        help="enable post-processing decimation filter",
+                        default=False, action="store_true"
+                        )
+    parser.add_argument("--stereo-post-processing-decimation-decimal-factor",
+                        help="Decimation factor",
+                        type=int, default=1, choices=[1, 2, 3, 4]
+                        )
+    parser.add_argument("--stereo-post-processing-decimation-mode",
+                        help="Decimation algorithm type",
+                        type=str, default="PIXEL_SKIPPING",
+                        choices=["PIXEL_SKIPPING", "NON_ZERO_MEDIAN", "NON_ZERO_MEAN"]
+                        )
+
+    args = parser.parse_args()
+    return args
+
+
+def _init_mqtt_client(broker_host: str, broker_port: int, 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 "+ broker_host)
+    logger.info("Connect to mqtt broker %s", broker_host)
-    client.connect(host=broker_host, port=1883, keepalive=60)
+    client.connect(host=broker_host, port=broker_port, keepalive=60)
     logger.info("Connected to mqtt broker")
     return client
 
 
-def execute_from_command_line():
+def execute_from_command_line() -> None:
-    logging.basicConfig(level=logging.INFO)
+    """
+    Cli entrypoint
+    :return:
+    """
 
-    args = docopt(__doc__)
+    args = _parse_args_cli()
+    if args.log == "info":
+        logging.basicConfig(level=logging.INFO)
+    elif args.log == "debug":
+        logging.basicConfig(level=logging.DEBUG)
 
-    client = init_mqtt_client(broker_host=get_default_value(args["--mqtt-broker"], "MQTT_BROKER", "localhost"),
+    client = _init_mqtt_client(broker_host=args.mqtt_broker_host,
-                              user=get_default_value(args["--mqtt-username"], "MQTT_USERNAME", ""),
+                               broker_port=args.mqtt_broker_port,
-                              password=get_default_value(args["--mqtt-password"], "MQTT_PASSWORD", ""),
+                               user=args.mqtt_username,
-                              client_id=get_default_value(args["--mqtt-client-id"], "MQTT_CLIENT_ID",
+                               password=args.mqtt_password,
-                                                          default_client_id),
+                               client_id=args.mqtt_client_id,
-                              )
+                               )
-    frame_topic = get_default_value(args["--mqtt-topic-robocar-oak-camera"], "MQTT_TOPIC_CAMERA", "/oak/camera_rgb")
+    frame_processor = cam.FrameProcessor(mqtt_client=client, frame_topic=args.mqtt_topic_robocar_oak_camera)
+    object_processor = cam.ObjectProcessor(mqtt_client=client,
+                                           objects_topic=args.mqtt_topic_robocar_objects,
+                                           objects_threshold=args.objects_threshold)
+    if args.disable_disparity == False:
+        depth_source = cam.DepthSource(pipeline=pipeline,
+                                       extended_disparity=args.stereo_mode_extended_disparity,
+                                       subpixel=args.stereo_mode_subpixel,
+                                       lr_check=args.stereo_mode_lr_check,
+                                       stereo_filters=stereo_filters),
+        disparity_processor = cam.DisparityProcessor(mqtt_client=client, disparity_topic=args.mqtt_topic_robocar_disparity)
+    else:
+        disparity_processor = None
+        depth_source = None
 
-    frame_processor = cam.FramePublisher(mqtt_client=client,
+    pipeline = dai.Pipeline()
-                                         frame_topic=frame_topic,
+    if args.camera_tuning_exposition == CAMERA_EXPOSITION_500US:
-                                         img_width=int(get_default_value(args["--image-width"], "IMAGE_WIDTH", 160)),
+        pipeline.setCameraTuningBlobPath('/camera_tuning/tuning_exp_limit_500us.bin')
-                                         img_height=int(get_default_value(args["--image-height"], "IMAGE_HEIGHT", 120)))
+    elif args.camera_tuning_exposition == CAMERA_EXPOSITION_8300US:
-    frame_processor.run()
+        pipeline.setCameraTuningBlobPath('/camera_tuning/tuning_exp_limit_8300us.bin')
+
+    stereo_filters = _get_stereo_filters(args)
+
+    pipeline_controller = cam.PipelineController(pipeline=pipeline,
+                                                 frame_processor=frame_processor,
+                                                 object_processor=object_processor,
+                                                 object_node=cam.ObjectDetectionNN(pipeline=pipeline),
+                                                 camera=cam.CameraSource(pipeline=pipeline,
+                                                                         img_width=args.image_width,
+                                                                         img_height=args.image_height,
+                                                                         fps=args.camera_fps,
+                                                                         ),
+                                                 depth_source=depth_source,
+                                                 disparity_processor=disparity_processor)
+
+    def sigterm_handler(signum: int, frame: typing.Optional[
+        types.FrameType]) -> None:  # pylint: disable=unused-argument  # need to implement handler signature
+        logger.info("exit on SIGTERM")
+        pipeline_controller.stop()
+
+    signal.signal(signal.SIGTERM, sigterm_handler)
+    pipeline_controller.run()
 
 
-def get_default_value(value, env_var: str, default_value) -> str:
+def _get_env_value(env_var: str, default_value: str) -> str:
-    if value:
-        return value
     if env_var in os.environ:
         return os.environ[env_var]
     return default_value
+
+
+def _get_env_int_value(env_var: str, default_value: int) -> int:
+    value = _get_env_value(env_var, str(default_value))
+    return int(value)
+
+
+def _get_env_float_value(env_var: str, default_value: float) -> float:
+    value = _get_env_value(env_var, str(default_value))
+    return float(value)
+
+
+def _get_stereo_filters(args: argparse.Namespace) -> List[StereoDepthPostFilter]:
+    filters = []
+
+    if args.stereo_post_processing_median_filter:
+        if args.stereo_post_processing_median_value == "MEDIAN_OFF":
+            value = dai.MedianFilter.MEDIAN_OFF
+        elif args.stereo_post_processing_median_value == "KERNEL_3x3":
+            value = dai.MedianFilter.KERNEL_3x3
+        elif args.stereo_post_processing_median_value == "KERNEL_5x5":
+            value = dai.MedianFilter.KERNEL_5x5
+        elif args.stereo_post_processing_median_value == "KERNEL_7x7":
+            value = dai.MedianFilter.KERNEL_7x7
+        else:
+            value = dai.MedianFilter.KERNEL_7x7
+
+        filters.append(MedianFilter(value=value))
+
+    if args.stereo_post_processing_speckle_filter:
+        filters.append(SpeckleFilter(enable=args.stereo_post_processing_speckle_enable,
+                                     speckle_range=args.stereo_post_processing_speckle_range))
+
+    if args.stereo_post_processing_temporal_filter:
+        if args.stereo_post_processing_temporal_persistency-mode == "PERSISTENCY_OFF":
+            mode=dai.RawStereoDepthConfig.PostProcessing.TemporalFilter.PersistencyMode.PERSISTENCY_OFF
+        elif args.stereo_post_processing_temporal_persistency-mode == "VALID_8_OUT_OF_8":
+            mode=dai.RawStereoDepthConfig.PostProcessing.TemporalFilter.PersistencyMode.VALID_8_OUT_OF_8
+        elif args.stereo_post_processing_temporal_persistency-mode == "VALID_2_IN_LAST_3":
+            mode=dai.RawStereoDepthConfig.PostProcessing.TemporalFilter.PersistencyMode.VALID_2_IN_LAST_3
+        elif args.stereo_post_processing_temporal_persistency-mode == "VALID_2_IN_LAST_4":
+            mode=dai.RawStereoDepthConfig.PostProcessing.TemporalFilter.PersistencyMode.VALID_2_IN_LAST_4
+        elif args.stereo_post_processing_temporal_persistency-mode == "VALID_2_OUT_OF_8":
+            mode=dai.RawStereoDepthConfig.PostProcessing.TemporalFilter.PersistencyMode.VALID_2_OUT_OF_8
+        elif args.stereo_post_processing_temporal_persistency-mode == "VALID_1_IN_LAST_2":
+            mode=dai.RawStereoDepthConfig.PostProcessing.TemporalFilter.PersistencyMode.VALID_1_IN_LAST_2
+        elif args.stereo_post_processing_temporal_persistency-mode == "VALID_1_IN_LAST_5":
+            mode=dai.RawStereoDepthConfig.PostProcessing.TemporalFilter.PersistencyMode.VALID_1_IN_LAST_5
+        elif args.stereo_post_processing_temporal_persistency-mode == "VALID_1_IN_LAST_8":
+            mode=dai.RawStereoDepthConfig.PostProcessing.TemporalFilter.PersistencyMode.VALID_1_IN_LAST_8
+        elif args.stereo_post_processing_temporal_persistency-mode == "PERSISTENCY_INDEFINITELY":
+            mode=dai.RawStereoDepthConfig.PostProcessing.TemporalFilter.PersistencyMode.PERSISTENCY_INDEFINITELY
+        else:
+            mode=dai.RawStereoDepthConfig.PostProcessing.TemporalFilter.PersistencyMode.VALID_2_IN_LAST_4
+
+        filters.append(TemporalFilter(
+            enable=args.stereo_post_processing_temporal_enable,
+            persistencyMode=mode,
+            alpha=args.stereo_post_processing_temporal_alpha,
+            delta=args.stereo_post_processing_temporal_delta
+        ))
+
+        if args.stereo_post_processing_spatial_filter:
+            filters.append(SpatialFilter(enable=args.stereo_post_processing_spatial_enable,
+                                         hole_filling_radius=args.stereo_post_processing_spatial_hole_filling_radius,
+                                         alpha=args.stereo_post_processing_spatial_alpha,
+                                         delta=args.stereo_post_processing_spatial_delta,
+                                         num_iterations=args.stereo_post_processing_spatial_num_iterations,
+                                         ))
+
+        if args.stereo_post_processing_threshold_filter:
+            filters.append(ThresholdFilter(
+                min_range=args.stereo_post_processing_threshold_min_range,
+                max_range=args.stereo_post_processing_threshold_max_range,
+            ))
+
+        if args.stereo_post_processing_decimation_filter:
+
+            if args.stereo_post_processing_decimation_mode == "PIXEL_SKIPPING":
+                mode=dai.RawStereoDepthConfig.PostProcessing.DecimationFilter.DecimationMode.PIXEL_SKIPPING
+            if args.stereo_post_processing_decimation_mode == "NON_ZERO_MEDIAN":
+                mode=dai.RawStereoDepthConfig.PostProcessing.DecimationFilter.DecimationMode.NON_ZERO_MEDIAN
+            if args.stereo_post_processing_decimation_mode == "NON_ZERO_MEAN":
+                mode=dai.RawStereoDepthConfig.PostProcessing.DecimationFilter.DecimationMode.NON_ZERO_MEAN
+            else:
+                mode=dai.RawStereoDepthConfig.PostProcessing.DecimationFilter.DecimationMode.PIXEL_SKIPPING
+
+            filters.append(DecimationFilter(
+                decimation_factor=args.stereo_post_processing_decimation_decimal_factor,
+                mode=mode
+            ))
+
+    return filters
+
+if __name__ == '__main__':
+    execute_from_command_line()

camera/depthai.py

@@ -1,137 +0,0 @@
-import datetime
-import logging
-import paho.mqtt.client as mqtt
-
-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):
-        self._mqtt_client = mqtt_client
-        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:
-        logger.info("configure pipeline")
-        pipeline = dai.Pipeline()
-
-        cam_rgb = pipeline.create(dai.node.ColorCamera)
-        xout_rgb = pipeline.create(dai.node.XLinkOut)
-
-        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)
-        cam_rgb.setInterleaved(False)
-        cam_rgb.setColorOrder(dai.ColorCameraProperties.ColorOrder.RGB)
-        cam_rgb.setFps(30)
-
-        # Linking
-        cam_rgb.preview.link(xout_rgb.input)
-        logger.info("pipeline configured")
-        return pipeline
-
-    def run(self):
-        # Connect to device and start pipeline
-        with dai.Device(self._pipeline) as device:
-            logger.info('MxId: %s', device.getDeviceInfo().getMxId())
-            logger.info('USB speed: %s', device.getUsbSpeed())
-            logger.info('Connected cameras: %s', device.getConnectedCameras())
-
-            logger.info("output queues found: %s", device.getOutputQueueNames())
-
-            device.startPipeline()
-            # Queues
-            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()
-
-                    # 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()
-
-                    now = datetime.datetime.now()
-                    frame_msg = events.events_pb2.FrameMessage()
-                    frame_msg.id.name = "robocar-oak-camera-oak"
-                    frame_msg.id.id = str(int(now.timestamp() * 1000))
-                    frame_msg.id.created_at.FromDatetime(now)
-                    frame_msg.frame = byte_im
-
-                    logger.debug("publish frame event to %s", self._frame_topic)
-                    self._mqtt_client.publish(topic=self._frame_topic,
-                                              payload=frame_msg.SerializeToString(),
-                                              qos=0,
-                                              retain=False)
-
-                except Exception as e:
-                    logger.exception("unexpected error: %s", str(e))

camera/oak_pipeline.py

@@ -0,0 +1,666 @@
+"""
+Camera event loop
+"""
+import abc
+import datetime
+import logging
+import pathlib
+import time
+from dataclasses import dataclass
+from typing import List, Any
+
+import cv2
+import depthai as dai
+import events.events_pb2 as evt
+import numpy as np
+import numpy.typing as npt
+import paho.mqtt.client as mqtt
+from depthai import Device
+
+logger = logging.getLogger(__name__)
+
+_NN_PATH = "/models/mobile_object_localizer_192x192_openvino_2021.4_6shave.blob"
+_NN_WIDTH = 192
+_NN_HEIGHT = 192
+
+_PREVIEW_WIDTH = 640
+_PREVIEW_HEIGHT = 480
+
+_CAMERA_BASELINE_IN_MM = 75
+
+
+class ObjectProcessor:
+    """
+    Processor for Object detection
+    """
+
+    def __init__(self, mqtt_client: mqtt.Client, objects_topic: str, objects_threshold: float):
+        self._mqtt_client = mqtt_client
+        self._objects_topic = objects_topic
+        self._objects_threshold = objects_threshold
+
+    def process(self, in_nn: dai.NNData, frame_ref: evt.FrameRef) -> None:
+        """
+        Parse and publish result of NeuralNetwork result
+        :param in_nn: NeuralNetwork result read from device
+        :param frame_ref: Id of the frame where objects are been detected
+        :return:
+        """
+        detection_boxes = np.array(in_nn.getLayerFp16("ExpandDims")).reshape((100, 4))
+        detection_scores = np.array(in_nn.getLayerFp16("ExpandDims_2")).reshape((100,))
+        # keep boxes bigger than threshold
+        mask = detection_scores >= self._objects_threshold
+        boxes = detection_boxes[mask]
+        scores = detection_scores[mask]
+
+        if boxes.shape[0] > 0:
+            self._publish_objects(boxes, frame_ref, scores)
+
+    def _publish_objects(self, boxes: npt.NDArray[np.float64], frame_ref: evt.FrameRef, scores: npt.NDArray[np.float64]) -> None:
+        objects_msg = evt.ObjectsMessage()
+        objs = []
+        for i in range(boxes.shape[0]):
+            logger.debug("new object detected: %s", str(boxes[i]))
+            objs.append(_bbox_to_object(boxes[i], scores[i].astype(float)))
+        objects_msg.objects.extend(objs)
+        objects_msg.frame_ref.name = frame_ref.name
+        objects_msg.frame_ref.id = frame_ref.id
+        objects_msg.frame_ref.created_at.FromDatetime(frame_ref.created_at.ToDatetime())
+        logger.debug("publish object event to %s", self._objects_topic)
+        self._mqtt_client.publish(topic=self._objects_topic,
+                                  payload=objects_msg.SerializeToString(),
+                                  qos=0,
+                                  retain=False)
+
+
+class FrameProcessError(Exception):
+    """
+    Error base for invalid frame processing
+
+    Attributes:
+        message -- explanation of the error
+    """
+
+    def __init__(self, message: str):
+        """
+        :param message: explanation of the error
+        """
+        self.message = message
+
+
+class FrameProcessor:
+    """
+    Processor for camera frames
+    """
+
+    def __init__(self, mqtt_client: mqtt.Client, frame_topic: str):
+        self._mqtt_client = mqtt_client
+        self._frame_topic = frame_topic
+
+    def process(self, img: dai.ImgFrame) -> Any:
+        """
+        Publish camera frames
+        :param img: image read from camera
+        :return:
+            id frame reference
+        :raise:
+            FrameProcessError if frame can't be processed
+        """
+        im_resize = img.getCvFrame()
+        is_success, im_buf_arr = cv2.imencode(".jpg", im_resize)
+        if not is_success:
+            raise FrameProcessError("unable to process to encode frame to jpg")
+        byte_im = im_buf_arr.tobytes()
+
+        now = datetime.datetime.now()
+        frame_msg = evt.FrameMessage()
+        frame_msg.id.name = "robocar-oak-camera-oak"
+        frame_msg.id.id = str(int(now.timestamp() * 1000))
+        frame_msg.id.created_at.FromDatetime(now)
+        frame_msg.frame = byte_im
+        logger.debug("publish frame event to %s", self._frame_topic)
+        self._mqtt_client.publish(topic=self._frame_topic,
+                                  payload=frame_msg.SerializeToString(),
+                                  qos=0,
+                                  retain=False)
+        return frame_msg.id
+
+
+class DisparityProcessor:
+    """
+       Processor for camera frames
+       """
+
+    def __init__(self, mqtt_client: mqtt.Client, disparity_topic: str):
+        self._mqtt_client = mqtt_client
+        self._disparity_topic = disparity_topic
+
+    def process(self, img: dai.ImgFrame, frame_ref: evt.FrameRef, focal_length_in_pixels: float,
+                baseline_mm: float = _CAMERA_BASELINE_IN_MM) -> None:
+        im_frame = img.getCvFrame()
+        is_success, im_buf_arr = cv2.imencode(".jpg", im_frame)
+        if not is_success:
+            raise FrameProcessError("unable to process to encode frame to jpg")
+        byte_im = im_buf_arr.tobytes()
+
+        disparity_msg = evt.DisparityMessage()
+        disparity_msg.disparity = byte_im
+        disparity_msg.frame_ref.name = frame_ref.name
+        disparity_msg.frame_ref.id = frame_ref.id
+        disparity_msg.frame_ref.created_at.FromDatetime(frame_ref.created_at.ToDatetime())
+        disparity_msg.focal_length_in_pixels = focal_length_in_pixels
+        disparity_msg.baseline_in_mm = baseline_mm
+
+        self._mqtt_client.publish(topic=self._disparity_topic,
+                                  payload=disparity_msg.SerializeToString(),
+                                  qos=0,
+                                  retain=False)
+
+
+class Source(abc.ABC):
+    """Base class for image source"""
+
+    @abc.abstractmethod
+    def get_stream_name(self) -> str:
+        """
+        Queue/stream name to use to get data
+
+        :return: steam name
+        """
+
+    @abc.abstractmethod
+    def link(self, input_node: dai.Node.Input) -> None:
+        """
+        Link this source to the input node
+
+        :param: input_node:  input node to link
+        """
+
+
+class ObjectDetectionNN:
+    """
+    Node to detect objects into image
+
+    Read image as input and apply resize transformation before to run NN on it
+    Result is available with 'get_stream_name()' stream
+    """
+
+    def __init__(self, pipeline: dai.Pipeline):
+        # Define a neural network that will make predictions based on the source frames
+        detection_nn = pipeline.createNeuralNetwork()
+        detection_nn.setBlobPath(pathlib.Path(_NN_PATH))
+        detection_nn.setNumPoolFrames(4)
+        detection_nn.input.setBlocking(False)
+        detection_nn.setNumInferenceThreads(2)
+        self._detection_nn = detection_nn
+        self._xout = self._configure_xout_nn(pipeline)
+        self._detection_nn.out.link(self._xout.input)
+        self._manip_image = self._configure_manip(pipeline)
+        self._manip_image.out.link(self._detection_nn.input)
+
+    @staticmethod
+    def _configure_manip(pipeline: dai.Pipeline) -> dai.node.ImageManip:
+        # Resize image
+        manip = pipeline.createImageManip()
+        manip.initialConfig.setResize(_NN_WIDTH, _NN_HEIGHT)
+        manip.initialConfig.setFrameType(dai.ImgFrame.Type.RGB888p)
+        manip.initialConfig.setKeepAspectRatio(False)
+        return manip
+
+    @staticmethod
+    def _configure_xout_nn(pipeline: dai.Pipeline) -> dai.node.XLinkOut:
+        xout_nn = pipeline.createXLinkOut()
+        xout_nn.setStreamName("nn")
+        xout_nn.input.setBlocking(False)
+        return xout_nn
+
+    def get_stream_name(self) -> str:
+        """
+        Queue/stream name to use to get data
+
+        :return: stream name
+        """
+        return self._xout.getStreamName()
+
+    def get_input(self) -> dai.Node.Input:
+        """
+        Get input node to use to link with source node
+        :return: input to link with source output, see Source.link()
+        """
+        return self._manip_image.inputImage
+
+
+class CameraSource(Source):
+    """Image source based on camera preview"""
+
+    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")
+
+        # Properties
+        self._cam_rgb.setBoardSocket(dai.CameraBoardSocket.RGB)
+        self._cam_rgb.setPreviewSize(width=_PREVIEW_WIDTH, height=_PREVIEW_HEIGHT)
+        self._cam_rgb.setInterleaved(False)
+        self._cam_rgb.setColorOrder(dai.ColorCameraProperties.ColorOrder.RGB)
+        self._cam_rgb.setFps(fps)
+        self._resize_manip = self._configure_manip(pipeline=pipeline, img_width=img_width, img_height=img_height)
+
+        # link camera preview to output
+        self._cam_rgb.preview.link(self._resize_manip.inputImage)
+        self._resize_manip.out.link(self._xout_rgb.input)
+
+    def link(self, input_node: dai.Node.Input) -> None:
+        self._cam_rgb.preview.link(input_node)
+
+    def get_stream_name(self) -> str:
+        return self._xout_rgb.getStreamName()
+
+    @staticmethod
+    def _configure_manip(pipeline: dai.Pipeline, img_width: int, img_height: int) -> dai.node.ImageManip:
+        # Resize image
+        manip = pipeline.createImageManip()
+        manip.initialConfig.setResize(img_width, img_height)
+        manip.initialConfig.setFrameType(dai.ImgFrame.Type.RGB888p)
+        manip.initialConfig.setKeepAspectRatio(False)
+        return manip
+
+
+class StereoDepthPostFilter(abc.ABC):
+    @abc.abstractmethod
+    def apply(self, config: dai.RawStereoDepthConfig) -> None:
+        pass
+
+
+class MedianFilter(StereoDepthPostFilter):
+    """
+    This is a non-edge preserving Median filter, which can be used to reduce noise and smoothen the depth map.
+    Median filter is implemented in hardware, so it’s the fastest filter.
+    """
+    def __init__(self, value: dai.MedianFilter = dai.MedianFilter.KERNEL_7x7) -> None:
+        self._value = value
+
+    def apply(self, config: dai.RawStereoDepthConfig) -> None:
+        config.postProcessing.median.value = self._value
+
+
+class SpeckleFilter(StereoDepthPostFilter):
+    """
+    Speckle Filter is used to reduce the speckle noise. Speckle noise is a region with huge variance between
+    neighboring disparity/depth pixels, and speckle filter tries to filter this region.
+    """
+    def __init__(self, enable: bool = True, speckle_range: int = 50) -> None:
+        """
+        :param enable: Whether to enable or disable the filter.
+        :param speckle_range: Speckle search range.
+        """
+        self._enable = enable
+        self._speckle_range = speckle_range
+
+    def apply(self, config: dai.RawStereoDepthConfig) -> None:
+        config.postProcessing.speckleFilter.enable = self._enable
+        config.postProcessing.speckleFilter.speckleRange = self._speckle_range
+
+
+class TemporalFilter(StereoDepthPostFilter):
+    """
+    Temporal Filter is intended to improve the depth data persistency by manipulating per-pixel values based on
+    previous frames. The filter performs a single pass on the data, adjusting the depth values while also updating the
+    tracking history. In cases where the pixel data is missing or invalid, the filter uses a user-defined persistency
+    mode to decide whether the missing value should be rectified with stored data. Note that due to its reliance on
+    historic data the filter may introduce visible blurring/smearing artifacts, and therefore is best-suited for
+    static scenes.
+    """
+    def __init__(self,
+                 enable: bool = True,
+                 persistencyMode: dai.RawStereoDepthConfig.PostProcessing.TemporalFilter.PersistencyMode=dai.RawStereoDepthConfig.PostProcessing.TemporalFilter.PersistencyMode.VALID_2_IN_LAST_4,
+                 alpha: float = 0.4,
+                 delta: int = 0):
+        """
+        :param enable: Whether to enable or disable the filter.
+        :param persistencyMode: Persistency mode. If the current disparity/depth value is invalid, it will be replaced
+        by an older value, based on persistency mode.
+        :param alpha: The Alpha factor in an exponential moving average with Alpha=1 - no filter.
+        Alpha = 0 - infinite filter. Determines the extent of the temporal history that should be averaged.
+        :param delta: Step-size boundary. Establishes the threshold used to preserve surfaces (edges).
+        If the disparity value between neighboring pixels exceed the disparity threshold set by this delta parameter,
+        then filtering will be temporarily disabled. Default value 0 means auto: 3 disparity integer levels.
+        In case of subpixel mode it’s 3*number of subpixel levels.
+        """
+        self._enable = enable
+        self._persistencyMode = persistencyMode
+        self._alpha = alpha
+        self._delta = delta
+
+    def apply(self, config: dai.RawStereoDepthConfig) -> None:
+        config.postProcessing.temporalFilter.enable = self._enable
+        config.postProcessing.temporalFilter.persistencyMode = self._persistencyMode
+        config.postProcessing.temporalFilter.alpha = self._alpha
+        config.postProcessing.temporalFilter.delta = self._delta
+
+
+class SpatialFilter(StereoDepthPostFilter):
+    """
+    Spatial Edge-Preserving Filter will fill invalid depth pixels with valid neighboring depth pixels. It performs a
+    series of 1D horizontal and vertical passes or iterations, to enhance the smoothness of the reconstructed data.
+    """
+    def __init__(self,
+                 enable: bool = True,
+                 hole_filling_radius: int = 2,
+                 alpha: float = 0.5,
+                 delta: int = 0,
+                 num_iterations: int = 1):
+        """
+        :param enable: Whether to enable or disable the filter.
+        :param hole_filling_radius: An in-place heuristic symmetric hole-filling mode applied horizontally during
+        the filter passes. Intended to rectify minor artefacts with minimal performance impact. Search radius for
+        hole filling.
+        :param alpha: The Alpha factor in an exponential moving average with Alpha=1 - no filter.
+        Alpha = 0 - infinite filter. Determines the amount of smoothing.
+        :param delta: Step-size boundary. Establishes the threshold used to preserve “edges”. If the disparity value
+        between neighboring pixels exceed the disparity threshold set by this delta parameter, then filtering will be
+        temporarily disabled. Default value 0 means auto: 3 disparity integer levels. In case of subpixel mode it’s
+        3*number of subpixel levels.
+        :param num_iterations: Number of iterations over the image in both horizontal and vertical direction.
+        """
+        self._enable = enable
+        self._hole_filling_radius = hole_filling_radius
+        self._alpha = alpha
+        self._delta = delta
+        self._num_iterations = num_iterations
+
+    def apply(self, config: dai.RawStereoDepthConfig) -> None:
+        config.postProcessing.spatialFilter.enable = self._enable
+        config.postProcessing.spatialFilter.holeFillingRadius = self._hole_filling_radius
+        config.postProcessing.spatialFilter.alpha = self._alpha
+        config.postProcessing.spatialFilter.delta = self._delta
+        config.postProcessing.spatialFilter.numIterations = self._num_iterations
+
+
+class ThresholdFilter(StereoDepthPostFilter):
+    """
+    Threshold Filter filters out all disparity/depth pixels outside the configured min/max threshold values.
+    """
+    def __init__(self, min_range: int = 400, max_range: int = 15000):
+        """
+        :param min_range: Minimum range in depth units. Depth values under this value are invalidated.
+        :param max_range: Maximum range in depth units. Depth values over this value are invalidated.
+        """
+        self._min_range = min_range
+        self._max_range = max_range
+
+    def apply(self, config: dai.RawStereoDepthConfig) -> None:
+        config.postProcessing.thresholdFilter.minRange = self._min_range
+        config.postProcessing.thresholdFilter.maxRange = self._max_range
+
+
+class DecimationFilter(StereoDepthPostFilter):
+    """
+    Decimation Filter will sub-samples the depth map, which means it reduces the depth scene complexity and allows
+    other filters to run faster. Setting decimationFactor to 2 will downscale 1280x800 depth map to 640x400.
+    """
+    def __init__(self,
+                 decimation_factor: int = 1,
+                 decimation_mode: dai.RawStereoDepthConfig.PostProcessing.DecimationFilter.DecimationMode = dai.RawStereoDepthConfig.PostProcessing.DecimationFilter.DecimationMode.PIXEL_SKIPPING
+                 ):
+        """
+        :param decimation_factor: Decimation factor. Valid values are 1,2,3,4. Disparity/depth map x/y resolution will
+        be decimated with this value.
+        :param decimation_mode: Decimation algorithm type.
+        """
+        self._decimation_factor = decimation_factor
+        self._mode = decimation_mode
+
+    def apply(self, config: dai.RawStereoDepthConfig) -> None:
+        config.postProcessing.decimationFilter.decimationFactor = self._decimation_factor
+        config.postProcessing.decimationFilter.decimationMode = self._mode
+
+
+class DepthSource(Source):
+    def __init__(self, pipeline: dai.Pipeline,
+                 extended_disparity: bool = False,
+                 subpixel: bool = False,
+                 lr_check: bool = True,
+                 stereo_filters: List[StereoDepthPostFilter] = []
+                 ) -> None:
+        """
+        # 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 = False
+        # Better handling for occlusions:
+        lr_check = True
+        """
+        self._monoLeft = pipeline.create(dai.node.MonoCamera)
+        self._monoRight = pipeline.create(dai.node.MonoCamera)
+        self._depth = pipeline.create(dai.node.StereoDepth)
+        self._xout_disparity = pipeline.create(dai.node.XLinkOut)
+
+        self._xout_disparity.setStreamName("disparity")
+
+        # Properties
+        self._monoLeft.setResolution(dai.MonoCameraProperties.SensorResolution.THE_400_P)
+        self._monoLeft.setCamera("left")
+        self._monoLeft.out.link(self._depth.left)
+        self._monoRight.setResolution(dai.MonoCameraProperties.SensorResolution.THE_400_P)
+        self._monoRight.setCamera("right")
+        self._monoRight.out.link(self._depth.right)
+
+        # Create a node that will produce the depth map
+        # (using disparity output as it's easier to visualize depth this way)
+        self._depth.setDefaultProfilePreset(dai.node.StereoDepth.PresetMode.HIGH_DENSITY)
+        # Options: MEDIAN_OFF, KERNEL_3x3, KERNEL_5x5, KERNEL_7x7 (default)
+        self._depth.initialConfig.setMedianFilter(dai.MedianFilter.KERNEL_7x7)
+        self._depth.setLeftRightCheck(lr_check)
+        self._depth.setExtendedDisparity(extended_disparity)
+        self._depth.setSubpixel(subpixel)
+        self._depth.disparity.link(self._xout_disparity.input)
+
+        if len(stereo_filters) > 0:
+            # Configure post-processing filters
+            config = self._depth.initialConfig.get()
+            for filter in stereo_filters:
+                filter.apply(config)
+            self._depth.initialConfig.set(config)
+
+    def get_stream_name(self) -> str:
+        return self._xout_disparity.getStreamName()
+
+    def link(self, input_node: dai.Node.Input) -> None:
+        self._depth.disparity.link(input_node)
+
+
+@dataclass
+class MqttConfig:
+    """MQTT configuration"""
+    host: str
+    topic: str
+    port: int = 1883
+    qos: int = 0
+
+
+class MqttSource(Source):
+    """Image source based onto mqtt stream"""
+
+    def __init__(self, device: Device, pipeline: dai.Pipeline, mqtt_config: MqttConfig):
+        self._mqtt_config = mqtt_config
+        self._client = mqtt.Client()
+        self._client.user_data_set(mqtt_config)
+        self._client.on_connect = self._on_connect
+        self._client.on_message = self._on_message
+
+        self._img_in = pipeline.createXLinkIn()
+        self._img_in.setStreamName("img_input")
+        self._img_out = pipeline.createXLinkOut()
+        self._img_out.setStreamName("img_output")
+        self._img_in.out.link(self._img_out.input)
+
+        self._img_in_queue = device.getInputQueue(self._img_in.getStreamName())
+
+    def run(self) -> None:
+        """ Connect and start mqtt loop """
+        self._client.connect(host=self._mqtt_config.host, port=self._mqtt_config.port)
+        self._client.loop_start()
+
+    def stop(self) -> None:
+        """Stop and disconnect mqtt loop"""
+        self._client.loop_stop()
+        self._client.disconnect()
+
+    @staticmethod
+    # pylint: disable=unused-argument
+    def _on_connect(client: mqtt.Client, userdata: MqttConfig, flags: Any,
+                    result_connection: Any) -> None:
+        # if we lose the connection and reconnect then subscriptions will be renewed.
+        client.subscribe(topic=userdata.topic, qos=userdata.qos)
+
+    # pylint: disable=unused-argument
+    def _on_message(self, _: mqtt.Client, user_data: MqttConfig, msg: mqtt.MQTTMessage) -> None:
+        frame_msg = evt.FrameMessage()
+        frame_msg.ParseFromString(msg.payload)
+
+        frame = np.asarray(frame_msg.frame, dtype="uint8")
+        frame = cv2.imdecode(frame, cv2.IMREAD_COLOR)
+        nn_data = dai.NNData()
+        nn_data.setLayer("data", _to_planar(frame, (300, 300)))
+        self._img_in_queue.send(nn_data)
+
+    def get_stream_name(self) -> str:
+        return self._img_out.getStreamName()
+
+    def link(self, input_node: dai.Node.Input) -> None:
+        self._img_in.out.link(input_node)
+
+
+def _to_planar(arr: npt.NDArray[np.uint8], shape: tuple[int, int]) -> list[int]:
+    return [val for channel in cv2.resize(arr, shape).transpose(2, 0, 1) for y_col in channel for val in y_col]
+
+
+class PipelineController:
+    """
+    Pipeline controller that drive camera device
+    """
+
+    def __init__(self, frame_processor: FrameProcessor,
+                 object_processor: ObjectProcessor, disparity_processor: DisparityProcessor,
+                 camera: Source, depth_source: Source, object_node: ObjectDetectionNN,
+                 pipeline: dai.Pipeline):
+        self._frame_processor = frame_processor
+        self._object_processor = object_processor
+        self._disparity_processor = disparity_processor
+        self._camera = camera
+        self._depth_source = depth_source
+        self._object_node = object_node
+        self._stop = False
+        self._pipeline = pipeline
+        self._configure_pipeline()
+        self._focal_length_in_pixels: float | None = None
+
+    def _configure_pipeline(self) -> None:
+        logger.info("configure pipeline")
+
+        self._pipeline.setOpenVINOVersion(version=dai.OpenVINO.VERSION_2021_4)
+
+        # Link preview to manip and manip to nn
+        self._camera.link(self._object_node.get_input())
+
+        logger.info("pipeline configured")
+
+    def run(self) -> None:
+        """
+        Start event loop
+        :return:
+        """
+        # Connect to device and start pipeline
+        with Device(pipeline=self._pipeline) as dev:
+            logger.info('MxId: %s', dev.getDeviceInfo().getMxId())
+            logger.info('USB speed: %s', dev.getUsbSpeed())
+            logger.info('Connected cameras: %s', str(dev.getConnectedCameras()))
+            logger.info("output queues found: %s", str(''.join(dev.getOutputQueueNames())))  # type: ignore
+
+            calib_data = dev.readCalibration()
+            intrinsics = calib_data.getCameraIntrinsics(dai.CameraBoardSocket.CAM_C)
+            self._focal_length_in_pixels = intrinsics[0][0]
+            logger.info('Right mono camera focal length in pixels: %s', self._focal_length_in_pixels)
+
+            dev.startPipeline()
+            # Queues
+            queue_size = 4
+            q_rgb = dev.getOutputQueue(name=self._camera.get_stream_name(), maxSize=queue_size,  # type: ignore
+                                       blocking=False)
+            q_nn = dev.getOutputQueue(name=self._object_node.get_stream_name(), maxSize=queue_size,  # type: ignore
+                                      blocking=False)
+            if self._disparity_processor is not None:
+                q_disparity = dev.getOutputQueue(name=self._depth_source.get_stream_name(), maxSize=queue_size,  # type: ignore
+                                                 blocking=False)
+            else:
+                q_disparity = None
+
+            start_time = time.time()
+            counter = 0
+            fps = 0
+            display_time = time.time()
+            self._stop = False
+            while True:
+                if self._stop:
+                    logger.info("stop loop event")
+                    return
+                try:
+                    self._loop_on_camera_events(q_nn, q_rgb, q_disparity)
+                # pylint: disable=broad-except # bad frame or event must not stop loop
+                except Exception as ex:
+                    logger.exception("unexpected error: %s", str(ex))
+
+                counter += 1
+                if (time.time() - start_time) > 1:
+                    fps = counter / (time.time() - start_time)
+                    counter = 0
+                    start_time = time.time()
+                if (time.time() - display_time) >= 10:
+                    display_time = time.time()
+                    logger.info("fps: %s", fps)
+
+    def _loop_on_camera_events(self, q_nn: dai.DataOutputQueue, q_rgb: dai.DataOutputQueue, q_disparity: dai.DataOutputQueue) -> None:
+        logger.debug("wait for new frame")
+
+        # Wait for frame
+        in_rgb: dai.ImgFrame = q_rgb.get()  # type: ignore # blocking call, will wait until a new data has arrived
+        try:
+            logger.debug("process frame")
+            frame_ref = self._frame_processor.process(in_rgb)
+        except FrameProcessError as ex:
+            logger.error("unable to process frame: %s", str(ex))
+            return
+        logger.debug("frame processed")
+
+        logger.debug("wait for nn response")
+        # Read NN result
+        in_nn: dai.NNData = q_nn.get()  # type: ignore
+        logger.debug("process objects")
+        self._object_processor.process(in_nn, frame_ref)
+        logger.debug("objects processed")
+
+        logger.debug("process disparity")
+        if self._disparity_processor is not None:
+            in_disparity: dai.ImgFrame = q_disparity.get()  # type: ignore
+            self._disparity_processor.process(in_disparity, frame_ref=frame_ref,
+                                              focal_length_in_pixels=self._focal_length_in_pixels)
+        logger.debug("disparity processed")
+
+    def stop(self) -> None:
+        """
+        Stop event loop, if loop is not running, do nothing
+        :return:
+        """
+        self._stop = True
+
+
+def _bbox_to_object(bbox: npt.NDArray[np.float64], score: float) -> evt.Object:
+    obj = evt.Object()
+    obj.type = evt.TypeObject.ANY
+    obj.top = bbox[0].astype(float)
+    obj.right = bbox[3].astype(float)
+    obj.bottom = bbox[2].astype(float)
+    obj.left = bbox[1].astype(float)
+    obj.confidence = score
+    return obj

camera/tests/test_depthai.py

@@ -0,0 +1,201 @@
+import datetime
+import typing
+import unittest.mock
+
+import depthai as dai
+import events.events_pb2
+import numpy as np
+import numpy.typing as npt
+import paho.mqtt.client as mqtt
+import pytest
+import pytest_mock
+
+from camera.oak_pipeline import DisparityProcessor, ObjectProcessor, FrameProcessor, FrameProcessError
+
+Object = dict[str, float]
+
+
+@pytest.fixture
+def mqtt_client(mocker: pytest_mock.MockerFixture) -> mqtt.Client:
+    return mocker.MagicMock()  # type: ignore
+
+
+class TestObjectProcessor:
+    @pytest.fixture
+    def frame_ref(self) -> events.events_pb2.FrameRef:
+        now = datetime.datetime.now()
+        frame_msg = events.events_pb2.FrameMessage()
+        frame_msg.id.name = "robocar-oak-camera-oak"
+        frame_msg.id.id = str(int(now.timestamp() * 1000))
+        frame_msg.id.created_at.FromDatetime(now)
+        return frame_msg.id
+
+    @pytest.fixture
+    def object1(self) -> Object:
+        return {
+            "left": 0.3,
+            "right": 0.7,
+            "top": 0.1,
+            "bottom": 0.6,
+            "score": 0.8,
+        }
+
+    @pytest.fixture
+    def raw_objects_empty(self, mocker: pytest_mock.MockerFixture) -> dai.NNData:
+        raw_objects = mocker.MagicMock()
+
+        def mock_return(name: str) -> typing.List[typing.Union[int, typing.List[int]]]:
+            if name == "ExpandDims":
+                return [[0] * 4] * 100
+            elif name == "ExpandDims_2":
+                return [0] * 100
+            else:
+                raise ValueError(f"{name} is not a valid arg")
+
+        m = mocker.patch(target='depthai.NNData.getLayerFp16', autospec=True)
+        m.getLayerFp16 = mock_return
+        return m
+
+    @pytest.fixture
+    def raw_objects_one(self, mocker: pytest_mock.MockerFixture, object1: Object) -> dai.NNData:
+        def mock_return(name: str) -> typing.Union[npt.NDArray[np.int64], typing.List[float]]:
+            if name == "ExpandDims":  # Detection boxes
+                boxes: list[list[float]] = [[0.] * 4] * 100
+                boxes[0] = [object1["top"], object1["left"], object1["bottom"], object1["right"]]
+                return np.array(boxes)
+
+            elif name == "ExpandDims_2":  # Detection scores
+                scores: list[float] = [0.] * 100
+                scores[0] = object1["score"]
+                return scores
+            else:
+                raise ValueError(f"{name} is not a valid arg")
+
+        m = mocker.patch(target='depthai.NNData.getLayerFp16', autospec=True)
+        m.getLayerFp16 = mock_return
+        return m
+
+    @pytest.fixture
+    def object_processor(self, mqtt_client: mqtt.Client) -> ObjectProcessor:
+        return ObjectProcessor(mqtt_client, "topic/object", 0.2)
+
+    def test_process_without_object(self, object_processor: ObjectProcessor, mqtt_client: mqtt.Client,
+                                    raw_objects_empty: dai.NNData, frame_ref: events.events_pb2.FrameRef) -> None:
+        object_processor.process(raw_objects_empty, frame_ref)
+        publish_mock: unittest.mock.MagicMock = mqtt_client.publish  # type: ignore
+        publish_mock.assert_not_called()
+
+    def test_process_with_object_with_low_score(self, object_processor: ObjectProcessor,
+                                                mqtt_client: mqtt.Client, raw_objects_one: dai.NNData,
+                                                frame_ref: events.events_pb2.FrameRef) -> None:
+        object_processor._objects_threshold = 0.9
+        object_processor.process(raw_objects_one, frame_ref)
+        publish_mock: unittest.mock.MagicMock = mqtt_client.publish  # type: ignore
+        publish_mock.assert_not_called()
+
+    def test_process_with_one_object(self,
+                                     object_processor: ObjectProcessor, mqtt_client: mqtt.Client,
+                                     raw_objects_one: dai.NNData, frame_ref: events.events_pb2.FrameRef,
+                                     object1: Object) -> None:
+        object_processor.process(raw_objects_one, frame_ref)
+        left = object1["left"]
+        right = object1["right"]
+        top = object1["top"]
+        bottom = object1["bottom"]
+        score = object1["score"]
+
+        pub_mock: unittest.mock.MagicMock = mqtt_client.publish  # type: ignore
+        pub_mock.assert_called_once_with(payload=unittest.mock.ANY, qos=0, retain=False, topic="topic/object")
+        payload = pub_mock.call_args.kwargs['payload']
+        objects_msg = events.events_pb2.ObjectsMessage()
+        objects_msg.ParseFromString(payload)
+        assert len(objects_msg.objects) == 1
+        assert left - 0.0001 < objects_msg.objects[0].left < left + 0.0001
+        assert right - 0.0001 < objects_msg.objects[0].right < right + 0.0001
+        assert top - 0.0001 < objects_msg.objects[0].top < top + 0.0001
+        assert bottom - 0.0001 < objects_msg.objects[0].bottom < bottom + 0.0001
+        assert score - 0.0001 < objects_msg.objects[0].confidence < score + 0.0001
+        assert objects_msg.frame_ref == frame_ref
+
+
+class TestFrameProcessor:
+    @pytest.fixture
+    def frame_processor(self, mqtt_client: mqtt.Client) -> FrameProcessor:
+        return FrameProcessor(mqtt_client, "topic/frame")
+
+    def test_process(self, frame_processor: FrameProcessor, mocker: pytest_mock.MockerFixture,
+                     mqtt_client: mqtt.Client) -> None:
+        img: dai.ImgFrame = mocker.MagicMock()
+        mocker.patch(target="cv2.imencode").return_value = (True, np.array(b"img content"))
+
+        frame_ref = frame_processor.process(img)
+
+        pub_mock: unittest.mock.MagicMock = mqtt_client.publish  # type: ignore
+        pub_mock.assert_called_once_with(payload=unittest.mock.ANY, qos=0, retain=False, topic="topic/frame")
+        payload = pub_mock.call_args.kwargs['payload']
+        frame_msg = events.events_pb2.FrameMessage()
+        frame_msg.ParseFromString(payload)
+
+        assert frame_msg.id == frame_ref
+        assert frame_msg.frame == b"img content"
+
+        assert frame_msg.id.name == "robocar-oak-camera-oak"
+        assert len(frame_msg.id.id) is 13
+        now = datetime.datetime.now()
+        assert now - datetime.timedelta(
+            milliseconds=10) < frame_msg.id.created_at.ToDatetime() < now + datetime.timedelta(milliseconds=10)
+
+    def test_process_error(self, frame_processor: FrameProcessor, mocker: pytest_mock.MockerFixture,
+                           mqtt_client: mqtt.Client) -> None:
+        img: dai.ImgFrame = mocker.MagicMock()
+        mocker.patch(target="cv2.imencode").return_value = (False, None)
+
+        with pytest.raises(FrameProcessError) as ex:
+            _ = frame_processor.process(img)
+        exception_raised = ex.value
+        assert exception_raised.message == "unable to process to encode frame to jpg"
+
+
+class TestDisparityProcessor:
+    @pytest.fixture
+    def frame_ref(self) -> events.events_pb2.FrameRef:
+        now = datetime.datetime.now()
+        frame_msg = events.events_pb2.FrameMessage()
+        frame_msg.id.name = "robocar-oak-camera-oak"
+        frame_msg.id.id = str(int(now.timestamp() * 1000))
+        frame_msg.id.created_at.FromDatetime(now)
+        return frame_msg.id
+
+    @pytest.fixture
+    def disparity_processor(self, mqtt_client: mqtt.Client) -> DisparityProcessor:
+        return DisparityProcessor(mqtt_client, "topic/disparity")
+
+    def test_process(self, disparity_processor: DisparityProcessor, mocker: pytest_mock.MockerFixture,
+                     frame_ref: events.events_pb2.FrameRef,
+                     mqtt_client: mqtt.Client) -> None:
+        img: dai.ImgFrame = mocker.MagicMock()
+        mocker.patch(target="cv2.imencode").return_value = (True, np.array(b"img content"))
+
+        disparity_processor.process(img, frame_ref, 42)
+
+        pub_mock: unittest.mock.MagicMock = mqtt_client.publish  # type: ignore
+        pub_mock.assert_called_once_with(payload=unittest.mock.ANY, qos=0, retain=False, topic="topic/disparity")
+        payload = pub_mock.call_args.kwargs['payload']
+        disparity_msg = events.events_pb2.DisparityMessage()
+        disparity_msg.ParseFromString(payload)
+
+        assert disparity_msg.frame_ref == frame_ref
+        assert disparity_msg.disparity == b"img content"
+        assert disparity_msg.focal_length_in_pixels == 42
+        assert disparity_msg.baseline_in_mm == 75
+
+    def test_process_error(self, disparity_processor: DisparityProcessor, mocker: pytest_mock.MockerFixture,
+                           frame_ref: events.events_pb2.FrameRef,
+                           mqtt_client: mqtt.Client) -> None:
+        img: dai.ImgFrame = mocker.MagicMock()
+        mocker.patch(target="cv2.imencode").return_value = (False, None)
+
+        with pytest.raises(FrameProcessError) as ex:
+            disparity_processor.process(img, frame_ref, 42)
+        exception_raised = ex.value
+        assert exception_raised.message == "unable to process to encode frame to jpg"

events/events_pb2.py

@@ -1,53 +0,0 @@
-# -*- coding: utf-8 -*-
-# Generated by the protocol buffer compiler.  DO NOT EDIT!
-# source: events/events.proto
-"""Generated protocol buffer code."""
-from google.protobuf.internal import builder as _builder
-from google.protobuf import descriptor as _descriptor
-from google.protobuf import descriptor_pool as _descriptor_pool
-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
-
-
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-  DESCRIPTOR._options = None
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-  _DRIVEMODE._serialized_end=1241
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-  _RECORDMESSAGE._serialized_start=1064
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poetry.lock

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+]
+
+[metadata]
+lock-version = "2.0"
+python-versions = "^3.12"
+content-hash = "c40d76f962d6502e0946e1cbacedab80dd035d070de7e71e3ae68dc346b69b22"

pyproject.toml

@@ -0,0 +1,56 @@
+[tool.poetry]
+name = "robocar-oak-camera"
+version = "0.0.0"
+description = "Mqtt gateway for oak-lite device"
+authors = ["Cyrille Nofficial <cynoffic@cyrilix.fr>"]
+readme = "README.md"
+packages = [
+    { include = "camera" },
+]
+
+[tool.poetry.dependencies]
+python = "^3.12"
+paho-mqtt = "^1.6"
+depthai = "^2"
+protobuf3 = "^0.2.1"
+google = "^3.0.0"
+protobuf = "^4.21"
+opencv-python-headless = "^4.6.0"
+robocar-protobuf = {version = "^1.6", source = "robocar"}
+
+
+[tool.poetry.group.test.dependencies]
+pytest = "^7.1.3"
+pytest-mock = "^3.10.0"
+
+
+[tool.poetry.group.dev.dependencies]
+pylint = "^2.15.4"
+mypy = "^0.982"
+types-paho-mqtt = "^1.6.0.1"
+types-protobuf = "^3.20.4.2"
+
+
+[[tool.poetry.source]]
+name = "robocar"
+url = "https://git.cyrilix.bzh/api/packages/robocars/pypi/simple"
+priority = "explicit"
+
+[build-system]
+requires = ["poetry-core>=1.0.0", "poetry-dynamic-versioning"]
+build-backend = "poetry_dynamic_versioning.backend"
+
+[tool.poetry.scripts]
+rc-oak-camera = 'camera.cli:execute_from_command_line'
+
+[tool.poetry-dynamic-versioning]
+enable = true
+style = 'semver'
+vcs = 'git'
+dirty = true
+bump = true
+
+[tool.mypy]
+strict = true
+warn_unused_configs = true
+plugins = 'numpy.typing.mypy_plugin'

requirements.txt

@@ -1,8 +0,0 @@
-paho-mqtt~=1.6.1
-docopt~=0.6.2
-depthai==2.14.1.0
-opencv-python~=4.5.5.62
-google~=3.0.0
-google-api-core~=2.4.0
-setuptools==60.5.0
-protobuf3

setup.cfg

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

setup.py

@@ -1,68 +0,0 @@
-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'])),
-      )