refactor(cli): add argument to override mqtt port

camera/cli.py

@@ -1,7 +1,8 @@
 """
 Publish data from oak-lite device
 
-Usage: rc-oak-camera [-u USERNAME | --mqtt-username=USERNAME] [--mqtt-password=PASSWORD] [--mqtt-broker=HOSTNAME] \
+Usage: rc-oak-camera [-u USERNAME | --mqtt-username=USERNAME] [--mqtt-password=PASSWORD] \
+    [--mqtt-broker-host=HOSTNAME] [--mqtt-broker-port=PORT] \
     [--mqtt-topic-robocar-oak-camera="TOPIC_CAMERA"] [--mqtt-topic-robocar-objects="TOPIC_OBJECTS"] \
     [--mqtt-client-id=CLIENT_ID] \
     [-H IMG_HEIGHT | --image-height=IMG_HEIGHT] [-W IMG_WIDTH | --image-width=IMG_width] \
@@ -11,7 +12,8 @@ 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
+-b HOSTNAME --mqtt-broker-host=HOSTNAME                 MQTT broker host
+-P HOSTNAME --mqtt-broker-port=PORT                     MQTT broker port
 -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
 -o TOPIC_OBJECTS --mqtt-topic-robocar-objects=TOPIC_OBJECTS         MQTT topic where to publish objects detection results
@@ -31,13 +33,13 @@ logging.basicConfig(level=logging.INFO)
 default_client_id = "robocar-depthai"
 
 
-def init_mqtt_client(broker_host: str, user: str, password: str, client_id: str) -> mqtt.Client:
+def init_mqtt_client(broker_host: str, broker_port, 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)
-    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
 
@@ -47,7 +49,8 @@ def execute_from_command_line():
 
     args = docopt(__doc__)
 
-    client = init_mqtt_client(broker_host=get_default_value(args["--mqtt-broker"], "MQTT_BROKER", "localhost"),
+    client = init_mqtt_client(broker_host=get_default_value(args["--mqtt-broker-host"], "MQTT_BROKER_HOST", "localhost"),
+                              broker_port=int(get_default_value(args["--mqtt-broker-port"], "MQTT_BROKER_PORT", "1883")),
                               user=get_default_value(args["--mqtt-username"], "MQTT_USERNAME", ""),
                               password=get_default_value(args["--mqtt-password"], "MQTT_PASSWORD", ""),
                               client_id=get_default_value(args["--mqtt-client-id"], "MQTT_CLIENT_ID",

camera/depthai.py

@@ -130,9 +130,9 @@ class FramePublisher:
                             o = events.events_pb2.Object()
                             o.type = events.events_pb2.TypeObject.ANY
                             o.top = bbox[0].astype(float)
-                            o.right = bbox[1].astype(float)
+                            o.right = bbox[3].astype(float)
                             o.bottom = bbox[2].astype(float)
-                            o.left = bbox[3].astype(float)
+                            o.left = bbox[1].astype(float)
                             o.confidence = scores[i].astype(float)
                             objs.append(o)
                         objects_msg.objects.extend(objs)