WIP

fix: regenerate event struct with recent version of protobuf compiler
2022-08-02 12:27:48 +02:00 · 2022-08-02 12:27:15 +02:00
20 changed files with 324 additions and 6311 deletions
--- a/.Dockerignore
+++ b/.Dockerignore
@@ -1,6 +1,2 @@
 venv
-dist/*
-build-docker.sh
-Dockerfile
-

--- a/.gitignore
+++ b/.gitignore
@@ -3,6 +3,3 @@
 *.egg-info
 .idea
 */__pycache__/
-/dist/
-build
-__pycache__
--- a/.pylintrc
+++ b/.pylintrc
@@ -1,618 +0,0 @@
-[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
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-
-# Files or directories matching the regular expression patterns are skipped.
-# The regex matches against base names, not paths. The default value ignores
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-
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-
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-
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-
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-limit-inference-results=100
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-# List of plugins (as comma separated values of python module names) to load,
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-
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-persistent=yes
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-# Minimum Python version to use for version dependent checks. Will default to
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-unsafe-load-any-extension=no
-
-# In verbose mode, extra non-checker-related info will be displayed.
-#verbose=
-
-
-[REPORTS]
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-# Python expression which should return a score less than or equal to 10. You
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-# 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.
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-# Tells whether to display a full report or only the messages.
-reports=no
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-# Activate the evaluation score.
-score=yes
-
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-[MESSAGES CONTROL]
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-# Only show warnings with the listed confidence levels. Leave empty to show
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-# UNDEFINED.
-confidence=HIGH,
-           CONTROL_FLOW,
-           INFERENCE,
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-# Disable the message, report, category or checker with the given id(s). You
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-disable=raw-checker-failed,
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-        suppressed-message,
-        useless-suppression,
-        deprecated-pragma,
-        use-symbolic-message-instead
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-# 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
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-enable=c-extension-no-member
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-
-[LOGGING]
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-# The type of string formatting that logging methods do. `old` means using %
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-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:
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-spelling-ignore-words=
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-spelling-private-dict-file=
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-# --spelling-private-dict-file option) instead of raising a message.
-spelling-store-unknown-words=no
-
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-[MISCELLANEOUS]
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-
-# Regular expression of note tags to take in consideration.
-notes-rgx=
-
-
-[TYPECHECK]
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-# List of decorators that produce context managers, such as
-# contextlib.contextmanager. Add to this list to register other decorators that
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-contextmanager-decorators=contextlib.contextmanager
-
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-# 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
-
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-
-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
-
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-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
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-valid-classmethod-first-arg=cls
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-[VARIABLES]
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-# you should avoid defining new builtins when possible.
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-allow-global-unused-variables=yes
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-
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-# name must start or end with one of those strings.
-callbacks=cb_,
-          _cb
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-# 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_
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-init-import=no
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-# builtins.
-redefining-builtins-modules=six.moves,past.builtins,future.builtins,builtins,io
-
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-[FORMAT]
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-# Expected format of line ending, e.g. empty (any line ending), LF or CRLF.
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-ignore-long-lines=^\s*(# )?<?https?://\S+>?$
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-[METHOD_ARGS]
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-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
-
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-[EXCEPTIONS]
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-# Exceptions that will emit a warning when caught.
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-                       Exception
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-[REFACTORING]
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-
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-[SIMILARITIES]
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-[DESIGN]
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-# 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.
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-# 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
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-# 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,
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-          tata
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-# they will always be refused
-bad-names-rgxs=
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-# 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=
-
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-class-const-naming-style=UPPER_CASE
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-# const-naming-style. If left empty, class constant names will be checked with
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-#class-const-rgx=
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-class-naming-style=PascalCase
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-# ones are exempt.
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-           j,
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-module-naming-style=snake_case
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-# style. If left empty, module names will be checked with the set naming style.
-#module-rgx=
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-# the name regexes allow several styles.
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--- a/46
+++ b/46
@@ -1,47 +1,23 @@
-FROM docker.io/library/python:3.12-slim as base
+FROM docker.io/library/python:3.9-slim

 # Configure piwheels repo to use pre-compiled numpy wheels for arm
-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 echo -n "[global]\nextra-index-url=https://www.piwheels.org/simple\n" >> /etc/pip.conf

-RUN apt-get update && apt-get install -y libgl1 libglib2.0-0 procps cmake g++ gcc
+RUN apt-get update && apt-get install -y libgl1 libglib2.0-0

-#################
-FROM base as model-builder
+RUN pip3 install numpy

-RUN python3 -m pip install blobconverter
+ADD requirements.txt requirements.txt

-RUN mkdir -p /models
+RUN pip3 install -r requirements.txt

-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 events events
 ADD camera camera
-ADD README.md .
+ADD setup.cfg setup.cfg
+ADD setup.py setup.py

-# 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
+ENV PYTHON_EGG_CACHE=/tmp/cache
+RUN python3 setup.py install

 WORKDIR /tmp
 USER 1234
--- a/README.md
+++ b/README.md
@@ -9,136 +9,3 @@ 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
-
-```
--- a/build-docker.sh
+++ b/build-docker.sh
@@ -2,11 +2,11 @@

 IMAGE_NAME=robocar-oak-camera
 TAG=$(git describe)
-FULL_IMAGE_NAME=git.cyrilix.bzh/robocars/${IMAGE_NAME}:${TAG}
+FULL_IMAGE_NAME=docker.io/cyrilix/${IMAGE_NAME}:${TAG}
 PLATFORM="linux/amd64,linux/arm64"
 #PLATFORM="linux/amd64,linux/arm64,linux/arm/v7"

 podman build . --platform "${PLATFORM}" --manifest "${IMAGE_NAME}:${TAG}"
-podman manifest push --all "localhost/${IMAGE_NAME}:${TAG}" "docker://${FULL_IMAGE_NAME}"
+podman manifest push --format v2s2 "localhost/${IMAGE_NAME}:${TAG}" "docker://${FULL_IMAGE_NAME}"

 printf "\nImage %s published" "docker://${FULL_IMAGE_NAME}"
--- a/camera/cli.py
+++ b/camera/cli.py
@@ -1,365 +1,66 @@
 """
-Mqtt gateway for oak-lite device
+Publish data from 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
-import signal
-import types
-import typing
-from typing import List
-
-import depthai as dai
+from . import depthai as cam
+from docopt import docopt
 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 _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("--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:
+def init_mqtt_client(broker_host: str, 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 %s", broker_host)
-    client.connect(host=broker_host, port=broker_port, keepalive=60)
+    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


-def execute_from_command_line() -> None:
-    """
-    Cli entrypoint
-    :return:
-    """
+def execute_from_command_line():
+    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)
+    args = docopt(__doc__)

-    client = _init_mqtt_client(broker_host=args.mqtt_broker_host,
-                               broker_port=args.mqtt_broker_port,
-                               user=args.mqtt_username,
-                               password=args.mqtt_password,
-                               client_id=args.mqtt_client_id,
-                               )
-    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)
-    disparity_processor = cam.DisparityProcessor(mqtt_client=client, disparity_topic=args.mqtt_topic_robocar_disparity)
+    client = init_mqtt_client(broker_host=get_default_value(args["--mqtt-broker"], "MQTT_BROKER", "localhost"),
+                              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",
+                                                          default_client_id),
+                              )
+    frame_topic = get_default_value(args["--mqtt-topic-robocar-oak-camera"], "MQTT_TOPIC_CAMERA", "/oak/camera_rgb")

-    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')
-
-    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=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=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()
+    frame_processor = cam.FramePublisher(mqtt_client=client,
+                                         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.run()


-def _get_env_value(env_var: str, default_value: str) -> str:
+def get_default_value(value, env_var: str, default_value) -> 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()
--- a/camera/depthai.py
+++ b/camera/depthai.py
@@ -0,0 +1,137 @@
+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))
--- a/camera/oak_pipeline.py
+++ b/camera/oak_pipeline.py
@@ -1,662 +0,0 @@
-"""
-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)
-            q_disparity = dev.getOutputQueue(name=self._depth_source.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:
-                    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")
-        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
--- a/camera/tests/test_depthai.py
+++ b/camera/tests/test_depthai.py
@@ -1,201 +0,0 @@
-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"
--- a/camera_tunning/tuning_exp_limit_500us.bin
+++ b/camera_tunning/tuning_exp_limit_500us.bin
--- a/camera_tunning/tuning_exp_limit_8300us.bin
+++ b/camera_tunning/tuning_exp_limit_8300us.bin
--- a/cv2-stubs/init.pyi
+++ b/cv2-stubs/init.pyi
--- a/camera/tests/init.py
+++ b/camera/tests/init.py
--- a/events/events_pb2.py
+++ b/events/events_pb2.py
@@ -0,0 +1,53 @@
+# -*- 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
+
+
+DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\x13\x65vents/events.proto\x12\x0erobocar.events\x1a\x1fgoogle/protobuf/timestamp.proto\"T\n\x08\x46rameRef\x12\x0c\n\x04name\x18\x01 \x01(\t\x12\n\n\x02id\x18\x02 \x01(\t\x12.\n\ncreated_at\x18\x03 \x01(\x0b\x32\x1a.google.protobuf.Timestamp\"C\n\x0c\x46rameMessage\x12$\n\x02id\x18\x01 \x01(\x0b\x32\x18.robocar.events.FrameRef\x12\r\n\x05\x66rame\x18\x02 \x01(\x0c\"d\n\x0fSteeringMessage\x12\x10\n\x08steering\x18\x01 \x01(\x02\x12\x12\n\nconfidence\x18\x02 \x01(\x02\x12+\n\tframe_ref\x18\x03 \x01(\x0b\x32\x18.robocar.events.FrameRef\"d\n\x0fThrottleMessage\x12\x10\n\x08throttle\x18\x01 \x01(\x02\x12\x12\n\nconfidence\x18\x02 \x01(\x02\x12+\n\tframe_ref\x18\x03 \x01(\x0b\x32\x18.robocar.events.FrameRef\"A\n\x10\x44riveModeMessage\x12-\n\ndrive_mode\x18\x01 \x01(\x0e\x32\x19.robocar.events.DriveMode\"f\n\x0eObjectsMessage\x12\'\n\x07objects\x18\x01 \x03(\x0b\x32\x16.robocar.events.Object\x12+\n\tframe_ref\x18\x02 \x01(\x0b\x32\x18.robocar.events.FrameRef\"\x80\x01\n\x06Object\x12(\n\x04type\x18\x01 \x01(\x0e\x32\x1a.robocar.events.TypeObject\x12\x0c\n\x04left\x18\x02 \x01(\x05\x12\x0b\n\x03top\x18\x03 \x01(\x05\x12\r\n\x05right\x18\x04 \x01(\x05\x12\x0e\n\x06\x62ottom\x18\x05 \x01(\x05\x12\x12\n\nconfidence\x18\x06 \x01(\x02\"&\n\x13SwitchRecordMessage\x12\x0f\n\x07\x65nabled\x18\x01 \x01(\x08\"\x8c\x01\n\x0bRoadMessage\x12&\n\x07\x63ontour\x18\x01 \x03(\x0b\x32\x15.robocar.events.Point\x12(\n\x07\x65llipse\x18\x02 \x01(\x0b\x32\x17.robocar.events.Ellipse\x12+\n\tframe_ref\x18\x03 \x01(\x0b\x32\x18.robocar.events.FrameRef\"\x1d\n\x05Point\x12\t\n\x01x\x18\x01 \x01(\x05\x12\t\n\x01y\x18\x02 \x01(\x05\"r\n\x07\x45llipse\x12%\n\x06\x63\x65nter\x18\x01 \x01(\x0b\x32\x15.robocar.events.Point\x12\r\n\x05width\x18\x02 \x01(\x05\x12\x0e\n\x06height\x18\x03 \x01(\x05\x12\r\n\x05\x61ngle\x18\x04 \x01(\x02\x12\x12\n\nconfidence\x18\x05 \x01(\x02\"\x82\x01\n\rRecordMessage\x12+\n\x05\x66rame\x18\x01 \x01(\x0b\x32\x1c.robocar.events.FrameMessage\x12\x31\n\x08steering\x18\x02 \x01(\x0b\x32\x1f.robocar.events.SteeringMessage\x12\x11\n\trecordSet\x18\x03 \x01(\t*-\n\tDriveMode\x12\x0b\n\x07INVALID\x10\x00\x12\x08\n\x04USER\x10\x01\x12\t\n\x05PILOT\x10\x02*2\n\nTypeObject\x12\x07\n\x03\x41NY\x10\x00\x12\x07\n\x03\x43\x41R\x10\x01\x12\x08\n\x04\x42UMP\x10\x02\x12\x08\n\x04PLOT\x10\x03\x42\nZ\x08./eventsb\x06proto3')
+
+_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, globals())
+_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'events.events_pb2', globals())
+if _descriptor._USE_C_DESCRIPTORS == False:
+
+  DESCRIPTOR._options = None
+  DESCRIPTOR._serialized_options = b'Z\010./events'
+  _DRIVEMODE._serialized_start=1196
+  _DRIVEMODE._serialized_end=1241
+  _TYPEOBJECT._serialized_start=1243
+  _TYPEOBJECT._serialized_end=1293
+  _FRAMEREF._serialized_start=72
+  _FRAMEREF._serialized_end=156
+  _FRAMEMESSAGE._serialized_start=158
+  _FRAMEMESSAGE._serialized_end=225
+  _STEERINGMESSAGE._serialized_start=227
+  _STEERINGMESSAGE._serialized_end=327
+  _THROTTLEMESSAGE._serialized_start=329
+  _THROTTLEMESSAGE._serialized_end=429
+  _DRIVEMODEMESSAGE._serialized_start=431
+  _DRIVEMODEMESSAGE._serialized_end=496
+  _OBJECTSMESSAGE._serialized_start=498
+  _OBJECTSMESSAGE._serialized_end=600
+  _OBJECT._serialized_start=603
+  _OBJECT._serialized_end=731
+  _SWITCHRECORDMESSAGE._serialized_start=733
+  _SWITCHRECORDMESSAGE._serialized_end=771
+  _ROADMESSAGE._serialized_start=774
+  _ROADMESSAGE._serialized_end=914
+  _POINT._serialized_start=916
+  _POINT._serialized_end=945
+  _ELLIPSE._serialized_start=947
+  _ELLIPSE._serialized_end=1061
+  _RECORDMESSAGE._serialized_start=1064
+  _RECORDMESSAGE._serialized_end=1194
+# @@protoc_insertion_point(module_scope)
--- a/poetry.lock
+++ b/poetry.lock
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-]
-
-[metadata]
-lock-version = "2.0"
-python-versions = "^3.12"
-content-hash = "c40d76f962d6502e0946e1cbacedab80dd035d070de7e71e3ae68dc346b69b22"
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -1,56 +0,0 @@
-[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'
--- a/requirements.txt
+++ b/requirements.txt
@@ -0,0 +1,8 @@
+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
--- a/setup.cfg
+++ b/setup.cfg
@@ -0,0 +1,5 @@
+[metadata]
+description-file = README.md
+
+[aliases]
+test = pytest
--- a/setup.py
+++ b/setup.py
@@ -0,0 +1,68 @@
+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'])),
+      )
Author	SHA1	Message	Date
Cyrille Nofficial	32eb2f618f	WIP	2022-08-02 12:27:48 +02:00
Cyrille Nofficial	2c9c7d9078	fix: regenerate event struct with recent version of protobuf compiler	2022-08-02 12:27:15 +02:00