84 lines
3.2 KiB
Python
84 lines
3.2 KiB
Python
import logging
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import paho.mqtt.client as mqtt
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import events.events_pb2
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from google.protobuf.timestamp_pb2 import Timestamp
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import depthai as dai
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from depthai_sdk import getDeviceInfo
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import cv2
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logger = logging.getLogger(__name__)
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class FramePublisher:
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def __init__(self, mqtt_client: mqtt.Client, frame_topic: str, img_width: int, img_height: int):
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self._mqtt_client = mqtt_client
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self._frame_topic = frame_topic
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self._img_width = img_width
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self._img_height = img_height
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self._pipeline = self._configure_pipeline()
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self._device_info = getDeviceInfo("18443010012F6C1200")
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def _configure_pipeline(self) -> dai.Pipeline:
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logger.info("configure pipeline")
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pipeline = dai.Pipeline()
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cam_rgb = pipeline.create(dai.node.ColorCamera)
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xout_rgb = pipeline.create(dai.node.XLinkOut)
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xout_rgb.setStreamName("rgb")
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# Properties
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cam_rgb.setBoardSocket(dai.CameraBoardSocket.RGB)
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cam_rgb.setPreviewSize(width=self._img_width, height=self._img_height)
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cam_rgb.setInterleaved(False)
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cam_rgb.setColorOrder(dai.ColorCameraProperties.ColorOrder.RGB)
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cam_rgb.setFps(30)
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# Linking
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cam_rgb.video.link(xout_rgb.input)
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logger.info("pipeline configured")
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return pipeline
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def run(self):
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logger.debug("device %s", self._device_info)
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# Connect to device and start pipeline
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with dai.Device(self._pipeline, devInfo=self._device_info, usb2Mode=False) as device:
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logger.info('MxId: %s', device.getDeviceInfo().getMxId())
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logger.info('USB speed: %s', device.getUsbSpeed())
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logger.info('Connected cameras: %s', device.getConnectedCameras())
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logger.info("output queues found: %s", device.getOutputQueueNames())
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device.startPipeline()
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# Queues
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queue_size = 4
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q_rgb = device.getOutputQueue("rgb", maxSize=queue_size, blocking=False)
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while True:
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try:
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logger.debug("wait for new frame")
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inRgb = q_rgb.get() # blocking call, will wait until a new data has arrived
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im_resize = inRgb.getCvFrame()
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is_success, im_buf_arr = cv2.imencode(".jpg", im_resize)
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byte_im = im_buf_arr.tobytes()
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timestamp = Timestamp()
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frame_msg = events.events_pb2.FrameMessage()
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frame_msg.id.name = "robocar-oak-camera-oak"
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frame_msg.id.id = str(timestamp.ToMilliseconds())
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frame_msg.id.created_at.FromMilliseconds(timestamp.ToMilliseconds())
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frame_msg.frame = byte_im
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logger.debug("publish frame event to %s", self._frame_topic)
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self._mqtt_client.publish(topic=self._frame_topic,
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payload=frame_msg.SerializeToString(),
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qos=0,
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retain=False)
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except Exception as e:
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logger.exception("unexpected error: %s", str(e))
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