Camera client raw

py/examples/camera_client/main_raw.py

@@ -0,0 +1,106 @@
+"""Example of a camera service client."""
+# Copyright (c) farm-ng, inc.
+#
+# Licensed under the Amiga Development Kit License (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     https://github.com/farm-ng/amiga-dev-kit/blob/main/LICENSE
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+from __future__ import annotations
+
+import argparse
+import asyncio
+from pathlib import Path
+
+import cv2
+import numpy as np
+from farm_ng.core.event_client import EventClient
+from farm_ng.core.event_service_pb2 import EventServiceConfig
+from farm_ng.core.events_file_reader import proto_from_json_file
+from farm_ng.core.stamp import get_stamp_by_semantics_and_clock_type
+from farm_ng.core.stamp import StampSemantics
+
+
+# Convert YUV420 to BGR format (OpenCV uses BGR by default)
+def yuv420_to_bgr(yuv420, width, height):
+    yuv420 = np.frombuffer(yuv420, dtype=np.uint8)
+    y_size = width * height
+    uv_size = y_size // 4
+
+    y = yuv420[0:y_size].reshape((height, width))
+    u = yuv420[y_size : y_size + uv_size].reshape((height // 2, width // 2))
+    v = yuv420[y_size + uv_size :].reshape((height // 2, width // 2))
+
+    # Upscale U and V planes to match Y plane size
+    u = cv2.resize(u, (width, height), interpolation=cv2.INTER_LINEAR)
+    v = cv2.resize(v, (width, height), interpolation=cv2.INTER_LINEAR)
+
+    # Merge Y, U, and V channels back into a single image
+    yuv = cv2.merge((y, u, v))
+
+    # Convert YUV to BGR
+    bgr = cv2.cvtColor(yuv, cv2.COLOR_YUV2BGR)
+
+    return bgr
+
+
+async def main(service_config_path: Path) -> None:
+    """Run the camera service client.
+
+    Args:
+        service_config_path (Path): The path to the camera service config.
+    """
+    # Create a client to the camera service
+    config: EventServiceConfig = proto_from_json_file(service_config_path, EventServiceConfig())
+
+    async for event, message in EventClient(config).subscribe(config.subscriptions[0], decode=True):
+        # Find the monotonic driver receive timestamp, or the first timestamp if not available.
+        stamp = (
+            get_stamp_by_semantics_and_clock_type(event, StampSemantics.DRIVER_RECEIVE, "monotonic")
+            or event.timestamps[0].stamp
+        )
+
+        # "RAW" images only have /rgb and /left, no /right or /disparity
+        image = None
+        if event.uri.path == "/rgb":
+            width, height = (1920, 1080)
+            try:
+                image = yuv420_to_bgr(message.image_data, width, height)
+            except Exception as e:
+                print(f"Error converting YUV420 to BGR: {e}")
+                continue
+        elif event.uri.path == "/left":
+            width, height = (1280, 800)
+            try:
+                image = np.frombuffer(message.image_data, dtype=np.uint8).reshape(height, width)
+            except Exception as e:
+                print(f"Error converting left image to BGR: {e}")
+                continue
+        else:
+            print(f"Unknown image type: {event.uri.path}")
+            continue
+
+        if image is not None:
+            # Print the timestamp and metadata
+            print(f"Timestamp: {stamp}\n")
+            print(f"Meta: {message.meta}")
+            print("###################\n")
+
+            # Visualize the image
+            cv2.namedWindow("image", cv2.WINDOW_NORMAL)
+            cv2.imshow("image", image)
+            cv2.waitKey(1)
+
+
+if __name__ == "__main__":
+    parser = argparse.ArgumentParser(prog="python main.py", description="Amiga camera-stream.")
+    parser.add_argument("--service-config", type=Path, required=True, help="The camera config.")
+    args = parser.parse_args()
+
+    asyncio.run(main(args.service_config))

py/examples/camera_client/service_config.json

@@ -1,13 +1,13 @@
 {
-    "name": "oak0",
+    "name": "oak/0",
     "port": 50010,
     "host": "localhost",
     "log_level": "INFO",
     "subscriptions": [
         {
             "uri": {
                 "path": "/rgb",
-                "query": "service_name=oak0"
+                "query": "service_name=oak/0"
             },
             "every_n": 1
         }