Supported uncompressed image for comm stream. (#408)

ProjectNeura · Sep 30, 2024 · a5f4f6d · a5f4f6d
1 parent caa0ff2
commit a5f4f6d
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Showing 3 changed files with 14 additions and 11 deletions.
diff --git a/leads_vec/cli.py b/leads_vec/cli.py
@@ -1,3 +1,4 @@
+from base64 import b64encode
 from datetime import datetime as _datetime
 from threading import Thread as _Thread
 from time import time as _time, sleep as _sleep
@@ -72,8 +73,8 @@ def _() -> None:
             if rd.comm_stream.num_connections() < 1:
                 _sleep(.01)
             for tag in FRONT_VIEW_CAMERA, LEFT_VIEW_CAMERA, RIGHT_VIEW_CAMERA, REAR_VIEW_CAMERA:
-                if (cam := get_camera(tag, Base64Camera)) and (frame := cam.read()):
-                    rd.comm_stream_notify(tag, frame)
+                if (cam := get_camera(tag)) and (frame := cam.read_numpy()) is not None:
+                    rd.comm_stream_notify(tag, b64encode(Base64Camera.encode(frame)))
 
     _Thread(name="comm streamer", target=_, daemon=True).start()
 

diff --git a/leads_vec/devices_visual.py b/leads_vec/devices_visual.py
@@ -14,19 +14,19 @@
 config: Config = require_config()
 CAMERA_RESOLUTION: tuple[int, int] | None = config.get("camera_resolution")
 CAMERA_TAGS: list[str] = []
-CAMERA_ARGS: list[tuple[int, tuple[int, int] | None]] = []
+CAMERA_ARGS: list[tuple[int, tuple[int, int] | None, int]] = []
 if (port := config.get("front_view_camera_port")) is not None:
     CAMERA_TAGS.append(FRONT_VIEW_CAMERA)
-    CAMERA_ARGS.append((port, CAMERA_RESOLUTION))
+    CAMERA_ARGS.append((port, CAMERA_RESOLUTION, 25))
 if (port := config.get("left_view_camera_port")) is not None:
     CAMERA_TAGS.append(LEFT_VIEW_CAMERA)
-    CAMERA_ARGS.append((port, CAMERA_RESOLUTION))
+    CAMERA_ARGS.append((port, CAMERA_RESOLUTION, 25))
 if (port := config.get("right_view_camera_port")) is not None:
     CAMERA_TAGS.append(RIGHT_VIEW_CAMERA)
-    CAMERA_ARGS.append((port, CAMERA_RESOLUTION))
+    CAMERA_ARGS.append((port, CAMERA_RESOLUTION, 25))
 if (port := config.get("rear_view_camera_port")) is not None:
     CAMERA_TAGS.append(REAR_VIEW_CAMERA)
-    CAMERA_ARGS.append((port, CAMERA_RESOLUTION))
+    CAMERA_ARGS.append((port, CAMERA_RESOLUTION, 25))
 
 
 @device(CAMERA_TAGS, MAIN_CONTROLLER, CAMERA_ARGS)

diff --git a/leads_video/camera.py b/leads_video/camera.py
@@ -95,11 +95,13 @@ def __init__(self, port: int, resolution: tuple[int, int] | None = None, quality
     def loop(self) -> None:
         super().loop()
 
+    @staticmethod
+    def encode(frame: _ndarray, quality: int = 100) -> bytes:
+        return _imencode(".jpg", _cvtColor(frame, _COLOR_RGB2BGR), (_IMWRITE_JPEG_QUALITY, quality))[1].tobytes()
+
     def loop2(self) -> None:
-        if (local_frame := self._frame) is not None:
-            _, local_frame = _imencode(".jpg", _cvtColor(local_frame, _COLOR_RGB2BGR),
-                                       (_IMWRITE_JPEG_QUALITY, self._quality))
-            self._bytes = local_frame.tobytes()
+        if (frame := self._frame) is not None:
+            self._bytes = Base64Camera.encode(frame, self._quality)
             self._base64 = _b64encode(self._bytes).decode()
 
     def run2(self) -> None: