410 lines
14 KiB
Python
410 lines
14 KiB
Python
"""
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Camera event loop
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"""
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import abc
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import datetime
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import logging
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import pathlib
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import time
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import typing
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from dataclasses import dataclass
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import cv2
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import depthai as dai
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import events.events_pb2 as evt
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import numpy as np
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import numpy.typing as npt
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import paho.mqtt.client as mqtt
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from depthai import Device
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logger = logging.getLogger(__name__)
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_NN_PATH = "/models/mobile_object_localizer_192x192_openvino_2021.4_6shave.blob"
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_NN_WIDTH = 192
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_NN_HEIGHT = 192
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_PREVIEW_WIDTH = 640
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_PREVIEW_HEIGHT = 480
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class ObjectProcessor:
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"""
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Processor for Object detection
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"""
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def __init__(self, mqtt_client: mqtt.Client, objects_topic: str, objects_threshold: float):
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self._mqtt_client = mqtt_client
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self._objects_topic = objects_topic
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self._objects_threshold = objects_threshold
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def process(self, in_nn: dai.NNData, frame_ref: evt.FrameRef) -> None:
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"""
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Parse and publish result of NeuralNetwork result
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:param in_nn: NeuralNetwork result read from device
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:param frame_ref: Id of the frame where objects are been detected
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:return:
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"""
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detection_boxes = np.array(in_nn.getLayerFp16("ExpandDims")).reshape((100, 4))
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detection_scores = np.array(in_nn.getLayerFp16("ExpandDims_2")).reshape((100,))
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# keep boxes bigger than threshold
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mask = detection_scores >= self._objects_threshold
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boxes = detection_boxes[mask]
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scores = detection_scores[mask]
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if boxes.shape[0] > 0:
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self._publish_objects(boxes, frame_ref, scores)
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def _publish_objects(self, boxes: npt.NDArray[np.float64], frame_ref: evt.FrameRef, scores: npt.NDArray[np.float64]) -> None:
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objects_msg = evt.ObjectsMessage()
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objs = []
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for i in range(boxes.shape[0]):
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logger.debug("new object detected: %s", str(boxes[i]))
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objs.append(_bbox_to_object(boxes[i], scores[i].astype(float)))
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objects_msg.objects.extend(objs)
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objects_msg.frame_ref.name = frame_ref.name
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objects_msg.frame_ref.id = frame_ref.id
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objects_msg.frame_ref.created_at.FromDatetime(frame_ref.created_at.ToDatetime())
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logger.debug("publish object event to %s", self._objects_topic)
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self._mqtt_client.publish(topic=self._objects_topic,
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payload=objects_msg.SerializeToString(),
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qos=0,
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retain=False)
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class FrameProcessError(Exception):
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"""
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Error base for invalid frame processing
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Attributes:
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message -- explanation of the error
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"""
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def __init__(self, message: str):
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"""
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:param message: explanation of the error
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"""
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self.message = message
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class FrameProcessor:
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"""
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Processor for camera frames
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"""
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def __init__(self, mqtt_client: mqtt.Client, frame_topic: str):
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self._mqtt_client = mqtt_client
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self._frame_topic = frame_topic
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def process(self, img: dai.ImgFrame) -> typing.Any:
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"""
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Publish camera frames
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:param img: image read from camera
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:return:
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id frame reference
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:raise:
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FrameProcessError if frame can't be processed
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"""
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im_resize = img.getCvFrame()
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is_success, im_buf_arr = cv2.imencode(".jpg", im_resize)
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if not is_success:
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raise FrameProcessError("unable to process to encode frame to jpg")
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byte_im = im_buf_arr.tobytes()
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now = datetime.datetime.now()
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frame_msg = evt.FrameMessage()
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frame_msg.id.name = "robocar-oak-camera-oak"
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frame_msg.id.id = str(int(now.timestamp() * 1000))
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frame_msg.id.created_at.FromDatetime(now)
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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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return frame_msg.id
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class Source(abc.ABC):
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"""Base class for image source"""
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@abc.abstractmethod
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def get_stream_name(self) -> str:
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"""
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Queue/stream name to use to get data
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:return: steam name
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"""
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@abc.abstractmethod
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def link(self, input_node: dai.Node.Input) -> None:
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"""
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Link this source to the input node
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:param: input_node: input node to link
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"""
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class ObjectDetectionNN:
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"""
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Node to detect objects into image
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Read image as input and apply resize transformation before to run NN on it
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Result is available with 'get_stream_name()' stream
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"""
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def __init__(self, pipeline: dai.Pipeline):
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# Define a neural network that will make predictions based on the source frames
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detection_nn = pipeline.createNeuralNetwork()
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detection_nn.setBlobPath(pathlib.Path(_NN_PATH))
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detection_nn.setNumPoolFrames(4)
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detection_nn.input.setBlocking(False)
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detection_nn.setNumInferenceThreads(2)
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self._detection_nn = detection_nn
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self._xout = self._configure_xout_nn(pipeline)
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self._detection_nn.out.link(self._xout.input)
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self._manip_image = self._configure_manip(pipeline)
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self._manip_image.out.link(self._detection_nn.input)
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@staticmethod
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def _configure_manip(pipeline: dai.Pipeline) -> dai.node.ImageManip:
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# Resize image
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manip = pipeline.createImageManip()
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manip.initialConfig.setResize(_NN_WIDTH, _NN_HEIGHT)
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manip.initialConfig.setFrameType(dai.ImgFrame.Type.RGB888p)
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manip.initialConfig.setKeepAspectRatio(False)
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return manip
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@staticmethod
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def _configure_xout_nn(pipeline: dai.Pipeline) -> dai.node.XLinkOut:
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xout_nn = pipeline.createXLinkOut()
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xout_nn.setStreamName("nn")
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xout_nn.input.setBlocking(False)
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return xout_nn
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def get_stream_name(self) -> str:
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"""
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Queue/stream name to use to get data
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:return: stream name
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"""
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return self._xout.getStreamName()
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def get_input(self) -> dai.Node.Input:
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"""
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Get input node to use to link with source node
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:return: input to link with source output, see Source.link()
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"""
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return self._manip_image.inputImage
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class CameraSource(Source):
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"""Image source based on camera preview"""
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def __init__(self, pipeline: dai.Pipeline, img_width: int, img_height: int, fps: int):
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self._cam_rgb = pipeline.createColorCamera()
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self._xout_rgb = pipeline.createXLinkOut()
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self._xout_rgb.setStreamName("rgb")
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# Properties
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self._cam_rgb.setBoardSocket(dai.CameraBoardSocket.RGB)
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self._cam_rgb.setPreviewSize(width=_PREVIEW_WIDTH, height=_PREVIEW_HEIGHT)
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self._cam_rgb.setInterleaved(False)
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self._cam_rgb.setColorOrder(dai.ColorCameraProperties.ColorOrder.RGB)
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self._cam_rgb.setFps(fps)
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self._resize_manip = self._configure_manip(pipeline=pipeline, img_width=img_width, img_height=img_height)
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# link camera preview to output
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self._cam_rgb.preview.link(self._resize_manip.inputImage)
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self._resize_manip.out.link(self._xout_rgb.input)
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def link(self, input_node: dai.Node.Input) -> None:
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self._cam_rgb.preview.link(input_node)
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def get_stream_name(self) -> str:
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return self._xout_rgb.getStreamName()
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@staticmethod
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def _configure_manip(pipeline: dai.Pipeline, img_width: int, img_height: int) -> dai.node.ImageManip:
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# Resize image
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manip = pipeline.createImageManip()
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manip.initialConfig.setResize(img_width, img_height)
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manip.initialConfig.setFrameType(dai.ImgFrame.Type.RGB888p)
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manip.initialConfig.setKeepAspectRatio(False)
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return manip
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@dataclass
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class MqttConfig:
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"""MQTT configuration"""
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host: str
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topic: str
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port: int = 1883
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qos: int = 0
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class MqttSource(Source):
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"""Image source based onto mqtt stream"""
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def __init__(self, device: Device, pipeline: dai.Pipeline, mqtt_config: MqttConfig):
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self._mqtt_config = mqtt_config
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self._client = mqtt.Client()
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self._client.user_data_set(mqtt_config)
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self._client.on_connect = self._on_connect
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self._client.on_message = self._on_message
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self._img_in = pipeline.createXLinkIn()
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self._img_in.setStreamName("img_input")
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self._img_out = pipeline.createXLinkOut()
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self._img_out.setStreamName("img_output")
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self._img_in.out.link(self._img_out.input)
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self._img_in_queue = device.getInputQueue(self._img_in.getStreamName())
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def run(self) -> None:
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""" Connect and start mqtt loop """
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self._client.connect(host=self._mqtt_config.host, port=self._mqtt_config.port)
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self._client.loop_start()
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def stop(self) -> None:
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"""Stop and disconnect mqtt loop"""
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self._client.loop_stop()
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self._client.disconnect()
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@staticmethod
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# pylint: disable=unused-argument
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def _on_connect(client: mqtt.Client, userdata: MqttConfig, flags: typing.Any,
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result_connection: typing.Any) -> None:
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# if we lose the connection and reconnect then subscriptions will be renewed.
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client.subscribe(topic=userdata.topic, qos=userdata.qos)
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# pylint: disable=unused-argument
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def _on_message(self, _: mqtt.Client, user_data: MqttConfig, msg: mqtt.MQTTMessage) -> None:
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frame_msg = evt.FrameMessage()
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frame_msg.ParseFromString(msg.payload)
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frame = np.asarray(frame_msg.frame, dtype="uint8")
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frame = cv2.imdecode(frame, cv2.IMREAD_COLOR)
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nn_data = dai.NNData()
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nn_data.setLayer("data", _to_planar(frame, (300, 300)))
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self._img_in_queue.send(nn_data)
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def get_stream_name(self) -> str:
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return self._img_out.getStreamName()
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def link(self, input_node: dai.Node.Input) -> None:
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self._img_in.out.link(input_node)
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def _to_planar(arr: npt.NDArray[np.uint8], shape: tuple[int, int]) -> list[int]:
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return [val for channel in cv2.resize(arr, shape).transpose(2, 0, 1) for y_col in channel for val in y_col]
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class PipelineController:
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"""
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Pipeline controller that drive camera device
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"""
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def __init__(self, frame_processor: FrameProcessor,
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object_processor: ObjectProcessor, camera: Source, object_node: ObjectDetectionNN,
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pipeline: dai.Pipeline):
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self._frame_processor = frame_processor
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self._object_processor = object_processor
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self._camera = camera
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self._object_node = object_node
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self._stop = False
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self._pipeline = pipeline
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self._configure_pipeline()
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def _configure_pipeline(self) -> None:
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logger.info("configure pipeline")
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self._pipeline.setOpenVINOVersion(version=dai.OpenVINO.VERSION_2021_4)
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# Link preview to manip and manip to nn
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self._camera.link(self._object_node.get_input())
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logger.info("pipeline configured")
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def run(self) -> None:
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"""
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Start event loop
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:return:
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"""
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# Connect to device and start pipeline
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with Device(pipeline=self._pipeline) as dev:
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logger.info('MxId: %s', dev.getDeviceInfo().getMxId())
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logger.info('USB speed: %s', dev.getUsbSpeed())
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logger.info('Connected cameras: %s', str(dev.getConnectedCameras()))
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logger.info("output queues found: %s", str(''.join(dev.getOutputQueueNames()))) # type: ignore
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dev.startPipeline()
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# Queues
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queue_size = 4
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q_rgb = dev.getOutputQueue(name=self._camera.get_stream_name(), maxSize=queue_size, # type: ignore
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blocking=False)
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q_nn = dev.getOutputQueue(name=self._object_node.get_stream_name(), maxSize=queue_size, # type: ignore
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blocking=False)
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start_time = time.time()
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counter = 0
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fps = 0
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display_time = time.time()
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self._stop = False
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while True:
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if self._stop:
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logger.info("stop loop event")
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return
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try:
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self._loop_on_camera_events(q_nn, q_rgb)
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# pylint: disable=broad-except # bad frame or event must not stop loop
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except Exception as ex:
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logger.exception("unexpected error: %s", str(ex))
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counter += 1
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if (time.time() - start_time) > 1:
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fps = counter / (time.time() - start_time)
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counter = 0
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start_time = time.time()
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if (time.time() - display_time) >= 10:
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display_time = time.time()
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logger.info("fps: %s", fps)
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def _loop_on_camera_events(self, q_nn: dai.DataOutputQueue, q_rgb: dai.DataOutputQueue) -> None:
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logger.debug("wait for new frame")
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# Wait for frame
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in_rgb: dai.ImgFrame = q_rgb.get() # type: ignore # blocking call, will wait until a new data has arrived
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try:
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logger.debug("process frame")
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frame_ref = self._frame_processor.process(in_rgb)
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except FrameProcessError as ex:
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logger.error("unable to process frame: %s", str(ex))
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return
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logger.debug("frame processed")
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logger.debug("wait for nn response")
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# Read NN result
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in_nn: dai.NNData = q_nn.get() # type: ignore
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logger.debug("process objects")
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self._object_processor.process(in_nn, frame_ref)
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logger.debug("objects processed")
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def stop(self) -> None:
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"""
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Stop event loop, if loop is not running, do nothing
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:return:
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"""
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self._stop = True
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def _bbox_to_object(bbox: npt.NDArray[np.float64], score: float) -> evt.Object:
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obj = evt.Object()
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obj.type = evt.TypeObject.ANY
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obj.top = bbox[0].astype(float)
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obj.right = bbox[3].astype(float)
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obj.bottom = bbox[2].astype(float)
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obj.left = bbox[1].astype(float)
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obj.confidence = score
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return obj
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