feat: tune camera exposition

.Dockerignore

@@ -1,5 +1,5 @@
 venv
-dist/
+dist/*
 build-docker.sh
 Dockerfile
 

Dockerfile

@@ -1,7 +1,8 @@
-FROM docker.io/library/python:3.10-slim as base
+FROM docker.io/library/python:3.11-slim as base
 
 # Configure piwheels repo to use pre-compiled numpy wheels for arm
-RUN echo -n "[global]\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
 
@@ -18,20 +19,29 @@ RUN blobconverter --zoo-name mobile_object_localizer_192x192 --zoo-type depthai
 FROM base as builder
 
 RUN apt-get install -y git && \
-    pip3 install poetry==1.2.0 && \
+    pip3 install poetry && \
     poetry self add "poetry-dynamic-versioning[plugin]"
-ADD . .
+
+ADD poetry.lock .
+ADD pyproject.toml .
+ADD camera camera
+ADD README.md .
+
+# Poetry expect to found a git project
+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
+RUN pip3 install /tmp/*.whl
 
 WORKDIR /tmp
 USER 1234

build-docker.sh

@@ -7,6 +7,6 @@ PLATFORM="linux/amd64,linux/arm64"
 #PLATFORM="linux/amd64,linux/arm64,linux/arm/v7"
 
 podman build . --platform "${PLATFORM}" --manifest "${IMAGE_NAME}:${TAG}"
-podman manifest push --all --format v2s2 "localhost/${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

@@ -10,10 +10,13 @@ import typing, types
 import depthai as dai
 import paho.mqtt.client as mqtt
 
-from . import depthai as cam  # pylint: disable=reimported
+from camera import oak_pipeline as cam
+
+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"
 
@@ -46,12 +49,24 @@ def _parse_args_cli() -> argparse.Namespace:
                         help="threshold to filter detected objects",
                         type=float,
                         default=_get_env_float_value("OBJECTS_THRESHOLD", 0.2))
+    parser.add_argument("-f", "--camera-fps",
+                        help="set rate at which camera should produce frames",
+                        type=int,
+                        default=30)
+    parser.add_argument("--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"])
     args = parser.parse_args()
     return args
 
@@ -72,9 +87,12 @@ def execute_from_command_line() -> None:
     Cli entrypoint
     :return:
     """
-    logging.basicConfig(level=logging.INFO)
 
     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=args.mqtt_broker_host,
                                broker_port=args.mqtt_broker_port,
@@ -88,12 +106,20 @@ def execute_from_command_line() -> None:
                                            objects_threshold=args.objects_threshold)
 
     pipeline = dai.Pipeline()
-    pipeline_controller = cam.PipelineController(frame_processor=frame_processor,
+    if args.camera_tuning_exposition == CAMERA_EXPOSITION_500US:
+        pipeline.setCameraTuningBlobPath('/camera_tuning/tuning_exp_limit_500us.bin')
+    elif args.camera_tuning_exposition == CAMERA_EXPOSITION_8300US:
+        pipeline.setCameraTuningBlobPath('/camera_tuning/tuning_exp_limit_8300us.bin')
+
+
+    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_width,
+                                                                         img_height=args.image_height,
+                                                                         fps=args.camera_fps,
                                                                          ))
 
     def sigterm_handler(signum: int, frame: typing.Optional[

camera/oak_pipeline.py

@@ -5,6 +5,7 @@ import abc
 import datetime
 import logging
 import pathlib
+import time
 import typing
 from dataclasses import dataclass
 
@@ -22,6 +23,9 @@ _NN_PATH = "/models/mobile_object_localizer_192x192_openvino_2021.4_6shave.blob"
 _NN_WIDTH = 192
 _NN_HEIGHT = 192
 
+_PREVIEW_WIDTH = 640
+_PREVIEW_HEIGHT = 480
+
 
 class ObjectProcessor:
     """
@@ -159,6 +163,7 @@ class ObjectDetectionNN:
         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:
@@ -195,23 +200,22 @@ class ObjectDetectionNN:
 class CameraSource(Source):
     """Image source based on camera preview"""
 
-    def __init__(self, pipeline: dai.Pipeline, img_width: int, img_height: int):
-        cam_rgb = pipeline.createColorCamera()
-        xout_rgb = pipeline.createXLinkOut()
-        xout_rgb.setStreamName("rgb")
-
-        self._cam_rgb = cam_rgb
-        self._xout_rgb = xout_rgb
+    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
-        cam_rgb.setBoardSocket(dai.CameraBoardSocket.RGB)
-        cam_rgb.setPreviewSize(width=img_width, height=img_height)
-        cam_rgb.setInterleaved(False)
-        cam_rgb.setColorOrder(dai.ColorCameraProperties.ColorOrder.RGB)
-        cam_rgb.setFps(30)
+        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
-        cam_rgb.preview.link(xout_rgb.input)
+        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)
@@ -219,6 +223,15 @@ class CameraSource(Source):
     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
+
 
 @dataclass
 class MqttConfig:
@@ -292,25 +305,25 @@ class PipelineController:
     """
 
     def __init__(self, frame_processor: FrameProcessor,
-                 object_processor: ObjectProcessor, camera: Source, object_node: ObjectDetectionNN):
-        self._pipeline = self._configure_pipeline()
+                 object_processor: ObjectProcessor, camera: Source, object_node: ObjectDetectionNN,
+                 pipeline: dai.Pipeline):
         self._frame_processor = frame_processor
         self._object_processor = object_processor
         self._camera = camera
         self._object_node = object_node
         self._stop = False
+        self._pipeline = pipeline
+        self._configure_pipeline()
 
-    def _configure_pipeline(self) -> dai.Pipeline:
+    def _configure_pipeline(self) -> None:
         logger.info("configure pipeline")
-        pipeline = dai.Pipeline()
 
-        pipeline.setOpenVINOVersion(version=dai.OpenVINO.VERSION_2021_4)
+        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")
-        return pipeline
 
     def run(self) -> None:
         """
@@ -332,6 +345,10 @@ class PipelineController:
             q_nn = dev.getOutputQueue(name=self._object_node.get_stream_name(), maxSize=queue_size,  # type: ignore
                                       blocking=False)
 
+            start_time = time.time()
+            counter = 0
+            fps = 0
+            display_time = time.time()
             self._stop = False
             while True:
                 if self._stop:
@@ -343,19 +360,36 @@ class PipelineController:
                 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) -> 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")
+
 
     def stop(self) -> None:
         """

pyproject.toml

@@ -9,15 +9,14 @@ packages = [
 ]
 
 [tool.poetry.dependencies]
-python = "^3.10"
+python = "^3.11"
 paho-mqtt = "^1.6.1"
-depthai = "^2.17.4.0"
+depthai = "^2.22.0"
 protobuf3 = "^0.2.1"
 google = "^3.0.0"
-blobconverter = "^1.3.0"
 protobuf = "^4.21.8"
 opencv-python-headless = "^4.6.0.66"
-robocar-protobuf = { version = "^1.1.1", source = "robocar" }
+robocar-protobuf = {version = "^1.3.0", source = "robocar"}
 
 
 [tool.poetry.group.test.dependencies]
@@ -35,8 +34,7 @@ types-protobuf = "^3.20.4.2"
 [[tool.poetry.source]]
 name = "robocar"
 url = "https://git.cyrilix.bzh/api/packages/robocars/pypi/simple"
-default = false
-secondary = false
+priority = "explicit"
 
 [build-system]
 requires = ["poetry-core>=1.0.0", "poetry-dynamic-versioning"]