feat: tune camera exposition

Dockerfile

@@ -1,4 +1,4 @@
-FROM docker.io/library/python:3.10-slim as base
+FROM docker.io/library/python:3.11-slim as base
 
 # Configure piwheels repo to use pre-compiled numpy wheels for arm
 RUN echo -n "[global]\n" > /etc/pip.conf &&\
@@ -19,7 +19,7 @@ RUN blobconverter --zoo-name mobile_object_localizer_192x192 --zoo-type depthai
 FROM base as builder
 
 RUN apt-get install -y git && \
-    pip3 install poetry==1.2.0 && \
+    pip3 install poetry && \
     poetry self add "poetry-dynamic-versioning[plugin]"
 
 ADD poetry.lock .
@@ -35,6 +35,8 @@ 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
 

camera/cli.py

@@ -10,7 +10,11 @@ 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__)
 
@@ -45,6 +49,14 @@ 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))
@@ -94,6 +106,12 @@ def execute_from_command_line() -> None:
                                            objects_threshold=args.objects_threshold)
 
     pipeline = dai.Pipeline()
+    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,
@@ -101,6 +119,7 @@ def execute_from_command_line() -> None:
                                                  camera=cam.CameraSource(pipeline=pipeline,
                                                                          img_width=args.image_width,
                                                                          img_height=args.image_height,
+                                                                         fps=args.camera_fps,
                                                                          ))
 
     def sigterm_handler(signum: int, frame: typing.Optional[

camera/oak_pipeline.py

@@ -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:
     """
@@ -196,20 +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):
+    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=img_width, height=img_height)
+        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(30)
+        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._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)
@@ -217,6 +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:
@@ -330,6 +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:
@@ -341,6 +360,16 @@ 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")
 
@@ -361,6 +390,7 @@ class PipelineController:
         self._object_processor.process(in_nn, frame_ref)
         logger.debug("objects processed")
 
+
     def stop(self) -> None:
         """
         Stop event loop, if loop is not running, do nothing

pyproject.toml

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