ocellus 0.1.9

Ocellus API Python Client

ocellus-python-client

Autogenerated python client from byte-motion/ProtobufDefs

Installation

pip install ocellus

Build test locally

$ python3 setup.py sdist bdist_wheel
$ twine check dist/*
$ twine upload dist/*

Example Usage

from __future__ import print_function

import cv2
import sys
import logging
import grpc
import numpy as np
import threading
import time
import queue
import ocellus.ocellus_module_service_pb2 as ocellus_module_service_pb2
import ocellus.ocellus_module_service_pb2_grpc as ocellus_module_service_pb2_grpc
import ocellus.ocellus_types_pb2 as ocellus_types_pb2


def handle(parentCamera):
    # mocked outputs
    return ocellus_module_service_pb2.OutputData(
        items=[
            ocellus_types_pb2.Item(
                id=1,
                name="CoffeCup1",
                parentCamera=parentCamera,
                position=ocellus_types_pb2.Position(
                    local=ocellus_types_pb2.Position(
                        x=1.0,
                        y=0.5,
                        z=0.4
                    )
                ),
                quaternion=ocellus_types_pb2.Quaternion(
                    local=ocellus_types_pb2.Quaternion(
                        x=0.3996381,
                        y=0.3996381,
                        z=0.3996381,
                        w=-0.721712
                    )
                ),
                pathPlan=[ocellus_types_pb2.PathPoint(
                    deltaTime=0,
                    position=ocellus_types_pb2.Position(
                        local=ocellus_types_pb2.Position(
                            x=0.1,
                            y=0.1,
                            z=0.1
                        )
                    ),
                    eulerAngles=ocellus_types_pb2.EulerAngles(
                        local=ocellus_types_pb2.EulerAngles(
                            yaw=0.1,
                            pitch=0.1,
                            roll=0.1
                        )
                    ),
                    # Not required if eulerAngles is set
                    quaternion=ocellus_types_pb2.Quaternion(
                        local=ocellus_types_pb2.Quaternion(
                            x=0.3996381,
                            y=0.3996381,
                            z=0.3996381,
                            w=-0.721712
                        )
                    )
                )
            ]),
            ocellus_types_pb2.Item(
                id=2,
                name="CoffeCup2",
                parentCamera=parentCamera,
                position=ocellus_types_pb2.Position(
                    local=ocellus_types_pb2.Position(
                        x=1.1,
                        y=0.6,
                        z=0.5
                    )
                ),
                quaternion=ocellus_types_pb2.Quaternion(
                    local=ocellus_types_pb2.Quaternion(
                        x=0.3996381,
                        y=0.3996381,
                        z=0.3996381,
                        w=-0.721712
                    )
                ),
                pathPlan=[ocellus_types_pb2.PathPoint(
                    deltaTime=3000,
                    position=ocellus_types_pb2.Position(
                        local=ocellus_types_pb2.Position(
                            x=10.0,
                            y=10.0,
                            z=10.0
                        )
                    ),
                    # Not required if quartinion is set
                    eulerAngles=ocellus_types_pb2.EulerAngles(
                        local=ocellus_types_pb2.EulerAngles(
                            yaw=0.1,
                            pitch=0.1,
                            roll=0.1
                        )
                    ),
                    quaternion=ocellus_types_pb2.Quaternion(
                        local=ocellus_types_pb2.Quaternion(
                            x=0.3996381,
                            y=0.3996381,
                            z=0.3996381,
                            w=-0.721712
                        )
                    )
                )
            ])
        ]
    )


def event_stream(output_queue):
    # Initial bind request to open stream
    bindRequest = ocellus_module_service_pb2.BindRequest(
        name='RemoteTestModule'
    )
    print("Sending bindRequest")
    yield ocellus_module_service_pb2.ModuleData(bindRequest=bindRequest)

    while True:
        time.sleep(.1)
        item = output_queue.get()
        if item is not None:
            print("Sending data")
            yield ocellus_module_service_pb2.ModuleData(data=item)


MB = 1024 * 1024
GRPC_CHANNEL_OPTIONS = [('grpc.max_message_length', 128 * MB),
                        ('grpc.max_receive_message_length', 128 * MB)]


def run(host):
    with grpc.insecure_channel('{}:50052'.format(host), options=GRPC_CHANNEL_OPTIONS) as channel:
        stub = ocellus_module_service_pb2_grpc.OcellusModuleServiceStub(
            channel)
        try:
            lock = threading.Lock()
            output_queue = queue.Queue()
            gen = event_stream(output_queue)
            for event in stub.Bind(gen):
                print(f"Received event: {event}")
                # First event after bind will not contain data, it will be an ack
                if not event.HasField("data"):
                    output_queue.put(ocellus_module_service_pb2.OutputData())
                    continue
                # Note that the 'rs' would be, for example, a Realsense module
                # named "rs" configured before the Remote module
                print(event.data.pointClouds['rs/POINTCLOUD'])

                refReq = ocellus_module_service_pb2.DownloadRefRequest(
                    urn=event.data.pointClouds['rs/POINTCLOUD'] +
                    "?format=depth"
                )
                refResponse = stub.DownloadRef(refReq)
                data = refResponse.pointCloud.mat32FC1Data
                rows = refResponse.pointCloud.height
                cols = refResponse.pointCloud.width

                arr = np.frombuffer(data, dtype=np.float32)
                arr = np.reshape(arr, (rows, cols))
                arr = cv2.normalize(
                    arr, arr, 0, 255, cv2.NORM_MINMAX, cv2.CV_8UC1)
                cv2.imwrite('./depth.jpg', arr)

                print(len(refResponse.pointCloud.vertices))
                refReq = ocellus_module_service_pb2.DownloadRefRequest(
                    urn=event.data.rgbaImages['rs/RGBA_IMAGE']
                )
                refResponse = stub.DownloadRef(refReq)
                print(len(refResponse.data))
                with open('./rbga.png', 'wb') as f:
                    f.write(refResponse.data)

                parentCamera = event.data.cameras['rs/CAMERA']
                response = handle(parentCamera)
                output_queue.put(response)

        except grpc._channel._Rendezvous as err:
            print(err)


if __name__ == '__main__':
    logging.basicConfig()
    host = sys.argv[1] if 1 < len(sys.argv) else '0.0.0.0'
    while True:
        run(host)
        time.sleep(5)