File size: 8,051 Bytes
0651b21 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239 240 241 242 243 244 | """ZMQ PUB/SUB transport and image serialisation for the camera server."""
import base64
from dataclasses import dataclass, field
from enum import Enum
from typing import Any
import cv2
import msgpack
import msgpack_numpy as m
import numpy as np
import zmq
# =============================================================================
# Pose Message Schema
# =============================================================================
@dataclass
class PoseData:
"""Single pose data point with quaternion orientation and translation."""
qx: float = 0.0
qy: float = 0.0
qz: float = 0.0
qw: float = 1.0
tx: float = 0.0
ty: float = 0.0
tz: float = 0.0
def to_dict(self) -> dict[str, float]:
return {
"qx": self.qx,
"qy": self.qy,
"qz": self.qz,
"qw": self.qw,
"tx": self.tx,
"ty": self.ty,
"tz": self.tz,
}
@staticmethod
def from_dict(data: dict[str, float]) -> "PoseData":
return PoseData(
qx=data.get("qx", 0.0),
qy=data.get("qy", 0.0),
qz=data.get("qz", 0.0),
qw=data.get("qw", 1.0),
tx=data.get("tx", 0.0),
ty=data.get("ty", 0.0),
tz=data.get("tz", 0.0),
)
def to_array(self) -> np.ndarray:
return np.array([self.qx, self.qy, self.qz, self.qw, self.tx, self.ty, self.tz])
@staticmethod
def from_array(arr: np.ndarray) -> "PoseData":
return PoseData(
qx=float(arr[0]),
qy=float(arr[1]),
qz=float(arr[2]),
qw=float(arr[3]),
tx=float(arr[4]),
ty=float(arr[5]),
tz=float(arr[6]),
)
@dataclass
class PoseMessageSchema:
"""Standardized message schema for pose / positional data."""
timestamp: float = 0.0
device_id: str = "iphone"
pose: PoseData = field(default_factory=PoseData)
def serialize(self) -> bytes:
data = {
"timestamp": self.timestamp,
"device_id": self.device_id,
"pose": self.pose.to_dict(),
}
return msgpack.packb(data, use_bin_type=True)
@staticmethod
def deserialize(packed_data: bytes) -> "PoseMessageSchema":
data = msgpack.unpackb(packed_data, object_hook=m.decode)
return PoseMessageSchema(
timestamp=data.get("timestamp", 0.0),
device_id=data.get("device_id", "iphone"),
pose=PoseData.from_dict(data.get("pose", {})),
)
def asdict(self) -> dict[str, Any]:
return {
"timestamp": self.timestamp,
"device_id": self.device_id,
"pose": self.pose.to_dict(),
}
# =============================================================================
# Image Message Schema
# =============================================================================
@dataclass
class ImageMessageSchema:
"""Standardized message schema for camera images.
Handles two encodings on the wire:
* **str** – legacy base64-encoded JPEG.
* **bytes** – raw JPEG from on-device MJPEG encoder (e.g. OAK).
"""
timestamps: dict[str, float]
images: dict[str, np.ndarray]
def serialize(self) -> dict[str, Any]:
serialized_msg: dict[str, Any] = {"timestamps": self.timestamps, "images": {}}
for key, image in self.images.items():
if isinstance(image, bytes | bytearray):
serialized_msg["images"][key] = image
else:
serialized_msg["images"][key] = ImageUtils.encode_image(image)
return serialized_msg
@staticmethod
def deserialize(data: dict[str, Any]) -> "ImageMessageSchema":
timestamps = data.get("timestamps", {})
images = {}
for key, value in data.get("images", {}).items():
if isinstance(value, bytes | bytearray):
mat = cv2.imdecode(np.frombuffer(value, dtype=np.uint8), cv2.IMREAD_COLOR)
images[key] = mat[..., ::-1] # BGR -> RGB
elif isinstance(value, str):
images[key] = ImageUtils.decode_image(value)
elif isinstance(value, np.ndarray):
images[key] = value
elif isinstance(value, dict) and b"nd" in value:
images[key] = m.decode(value)
else:
images[key] = value
return ImageMessageSchema(timestamps=timestamps, images=images)
def asdict(self) -> dict[str, Any]:
return {"timestamps": self.timestamps, "images": self.images}
# =============================================================================
# ZMQ Server / Client
# =============================================================================
class SensorServer:
"""ZMQ PUB server that streams msgpack-encoded sensor payloads."""
def start_server(self, port: int):
self.context = zmq.Context()
self.socket = self.context.socket(zmq.PUB)
self.socket.setsockopt(zmq.SNDHWM, 20)
self.socket.setsockopt(zmq.LINGER, 0)
self.socket.bind(f"tcp://*:{port}")
print(f"Sensor server running at tcp://*:{port}")
self.message_sent = 0
self.message_dropped = 0
def stop_server(self):
self.socket.close()
self.context.term()
def send_message(self, data: dict[str, Any]):
try:
packed = msgpack.packb(data, use_bin_type=True)
self.socket.send(packed, flags=zmq.NOBLOCK)
except zmq.Again:
self.message_dropped += 1
print(f"[Warning] message dropped: {self.message_dropped}")
self.message_sent += 1
if self.message_sent % 100 == 0:
print(
f"[Sensor server] Message sent: {self.message_sent}, "
f"message dropped: {self.message_dropped}"
)
class SensorClient:
"""ZMQ SUB client that receives msgpack-encoded sensor payloads."""
def start_client(self, server_ip: str, port: int):
self.context = zmq.Context()
self.socket = self.context.socket(zmq.SUB)
self.socket.setsockopt_string(zmq.SUBSCRIBE, "")
self.socket.setsockopt(zmq.CONFLATE, True)
self.socket.setsockopt(zmq.RCVHWM, 3)
self.socket.connect(f"tcp://{server_ip}:{port}")
def stop_client(self):
self.socket.close()
self.context.term()
def receive_message(self):
packed = self.socket.recv()
return msgpack.unpackb(packed, object_hook=m.decode)
def receive_message_nonblocking(self, timeout_ms: int = 0):
if self.socket.poll(timeout_ms):
packed = self.socket.recv()
return msgpack.unpackb(packed, object_hook=m.decode)
return None
# =============================================================================
# Helpers
# =============================================================================
class CameraMountPosition(Enum):
EGO_VIEW = "ego_view"
HEAD = "head"
LEFT_WRIST = "left_wrist"
RIGHT_WRIST = "right_wrist"
class ImageUtils:
@staticmethod
def encode_image(image: np.ndarray) -> str:
_, color_buffer = cv2.imencode(".jpg", image, [int(cv2.IMWRITE_JPEG_QUALITY), 80])
return base64.b64encode(color_buffer).decode("utf-8")
@staticmethod
def encode_depth_image(image: np.ndarray) -> str:
depth_compressed = cv2.imencode(".png", image)[1].tobytes()
return base64.b64encode(depth_compressed).decode("utf-8")
@staticmethod
def decode_image(image: str) -> np.ndarray:
color_data = base64.b64decode(image)
color_array = np.frombuffer(color_data, dtype=np.uint8)
return cv2.imdecode(color_array, cv2.IMREAD_COLOR)
@staticmethod
def decode_depth_image(image: str) -> np.ndarray:
depth_data = base64.b64decode(image)
depth_array = np.frombuffer(depth_data, dtype=np.uint8)
return cv2.imdecode(depth_array, cv2.IMREAD_UNCHANGED)
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