fix: frame msg created with bad id and timestamp

This reverts commit 1f302934bd.

.gitignore

@@ -1 +1,5 @@
 /venv/
+.eggs
+*.egg-info
+.idea
+*/__pycache__/

Dockerfile

@@ -3,24 +3,21 @@ FROM docker.io/library/python:3.9-slim
 # 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 apt-get update && apt-get install -y libusb-1.0-0
-
+RUN apt-get update && apt-get install -y libgl1 libglib2.0-0
 
 RUN pip3 install numpy
 
-ADD requirements.txt .
+ADD requirements.txt requirements.txt
 
 RUN pip3 install -r requirements.txt
 
-ADD events .
-ADD camera .
-ADD setup.cfg .
-ADD setup.py .
-
+ADD events events
+ADD camera camera
+ADD setup.cfg setup.cfg
+ADD setup.py setup.py
 
 ENV PYTHON_EGG_CACHE=/tmp/cache
-RUN python3 setup.py install && rm -rf /src
-#RUN mkdir -p ${PYTHON_EGG_CACHE}
+RUN python3 setup.py install
 
 WORKDIR /tmp
 USER 1234

build-docker.sh

@@ -3,7 +3,10 @@
 IMAGE_NAME=robocar-oak-camera
 TAG=$(git describe)
 FULL_IMAGE_NAME=docker.io/cyrilix/${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 build . --platform linux/amd64,linux/arm64,linux/arm/v7 --manifest ${IMAGE_NAME}
-podman manifest push --format v2s2 --rm "localhost/${IMAGE_NAME}" "docker://${FULL_IMAGE_NAME}"
+printf "\nImage %s published" "docker://${FULL_IMAGE_NAME}"

camera/cli.py

@@ -1,8 +1,9 @@
 """
 Publish data from oak-lite device
 
-Usage: rc-oak-robocar-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]
+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.
@@ -16,7 +17,7 @@ Options:
 """
 import logging
 import os
-import camera.depthai as cam
+from . import depthai as cam
 from docopt import docopt
 import paho.mqtt.client as mqtt
 
@@ -31,7 +32,7 @@ def init_mqtt_client(broker_host: str, user: str, password: str, client_id: str)
     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")
+    logger.info("Connect to mqtt broker "+ broker_host)
     client.connect(host=broker_host, port=1883, keepalive=60)
     logger.info("Connected to mqtt broker")
     return client
@@ -54,9 +55,7 @@ def execute_from_command_line():
                                          frame_topic=frame_topic,
                                          img_width=int(get_default_value(args["--image-width"], "IMAGE_WIDTH", 160)),
                                          img_height=int(get_default_value(args["--image-height"], "IMAGE_HEIGHT", 120)))
-    frame_processor.start()
-
-    client.loop_forever()
+    frame_processor.run()
 
 
 def get_default_value(value, env_var: str, default_value) -> str:

camera/depthai.py

@@ -1,36 +1,17 @@
+import datetime
 import logging
 import paho.mqtt.client as mqtt
 
 import events.events_pb2
-from google.protobuf.timestamp_pb2 import Timestamp
 
 import depthai as dai
 import cv2
 
-
-from threading import Thread
-
 logger = logging.getLogger(__name__)
 
-"""
-This example shows usage of Camera Control message as well as ColorCamera configInput to change crop x and y
-Uses 'WASD' controls to move the crop window, 'C' to capture a still image, 'T' to trigger autofocus, 'IOKL,.[]'
-for manual exposure/focus/white-balance:
-  Control:      key[dec/inc]  min..max
-  exposure time:     I   O      1..33000 [us]
-  sensitivity iso:   K   L    100..1600
-  focus:             ,   .      0..255 [far..near]
-  white balance:     [   ]   1000..12000 (light color temperature K)
-To go back to auto controls:
-  'E' - autoexposure
-  'F' - autofocus (continuous)
-  'B' - auto white-balance
-"""
 
-
-class FramePublisher(Thread):
+class FramePublisher:
     def __init__(self, mqtt_client: mqtt.Client, frame_topic: str, img_width: int, img_height: int):
-        super().__init__(name="FrameProcessor")
         self._mqtt_client = mqtt_client
         self._frame_topic = frame_topic
         self._img_width = img_width
@@ -40,59 +21,60 @@ class FramePublisher(Thread):
     def _configure_pipeline(self) -> dai.Pipeline:
         logger.info("configure pipeline")
         pipeline = dai.Pipeline()
+
         cam_rgb = pipeline.create(dai.node.ColorCamera)
-        cam_rgb.setResolution(dai.ColorCameraProperties.SensorResolution.THE_1080_P)
-        cam_rgb.setInterleaved(False)
-        cam_rgb.setColorOrder(dai.ColorCameraProperties.ColorOrder.RGB)
+        xout_rgb = pipeline.create(dai.node.XLinkOut)
 
-        # Define sources and outputs
-        manip = pipeline.create(dai.node.ImageManip)
-
-        manip_out = pipeline.create(dai.node.XLinkOut)
-
-        manip_out.setStreamName("manip")
+        xout_rgb.setStreamName("rgb")
 
         # Properties
         cam_rgb.setBoardSocket(dai.CameraBoardSocket.RGB)
-        cam_rgb.setResolution(dai.ColorCameraProperties.SensorResolution.THE_1080_P)
-
-        manip.initialConfig.setResize(self._img_width, self._img_height)
+        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.video.link(manip.inputImage)
-        manip.out.link(manip_out.input)
+        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 = 8
-            queue_manip = device.getOutputQueue("manip", queue_size)
+            queue_size = 4
+            q_rgb = device.getOutputQueue("rgb", maxSize=queue_size, blocking=False)
 
             while True:
                 try:
-                    while queue_manip.has():
-                        im_resize = queue_manip.get().getData().getCvFrame()
+                    logger.debug("wait for new frame")
+                    inRgb = q_rgb.get()  # blocking call, will wait until a new data has arrived
+
+                    im_resize = inRgb.getCvFrame()
 
                     is_success, im_buf_arr = cv2.imencode(".jpg", im_resize)
                     byte_im = im_buf_arr.tobytes()
 
-                        timestamp = Timestamp()
+                    now = datetime.datetime.now()
                     frame_msg = events.events_pb2.FrameMessage()
-                        frame_msg.id = events.events_pb2.FrameRef()
                     frame_msg.id.name = "robocar-oak-camera-oak"
-                        frame_msg.id.id = timestamp.ToMilliseconds()
-                        frame_msg.id.created_at = timestamp.GetCurrentTime()
+                    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")
-
-
+                    logger.exception("unexpected error: %s", str(e))

requirements.txt

@@ -3,4 +3,5 @@ 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