Update farm_ng_amiga examples/tutorial (#190)

* update camera client * update the calibration readme * update camera settings example * add the camera to pointcloud example * minor updates to the file readers * add service client tutorial * remove people detection * add the service_counter tutorial * add the service propagation example * Update motor state stream example * Add vehicle twist example * Formatting & some typos * Rename so examples are all README (helps w/ links) * Update examples sidebar --------- Co-authored-by: Kyle Coble <[email protected]>
farm-ng · Sep 27, 2023 · e8322f5 · e8322f5
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diff --git a/website/docs/examples/camera_calibration/README.md b/website/docs/examples/camera_calibration/README.md
@@ -0,0 +1,100 @@
+---
+id: camera-calibration
+title: Camera Calibration
+---
+
+## Camera Calibration
+
+The requirements to run this example are to have a
+[**farm-ng brain**](/docs/brain/) running Oak cameras and that
+your PC is on the same local network as the brain.
+
+### 1. Install the [farm-ng Brain ADK package](/docs/brain/brain-install)
+
+### 2. Setup
+
+:::tip
+
+It is recommended to also install these dependencies and run the
+example in the brain ADK virtual environment.
+
+:::
+
+Create first a virtual environment
+
+```bash
+python3 -m venv venv
+source venv/bin/activate
+```
+
+```bash
+# assuming you're already in the amiga-dev-kit/ directory
+cd farm-ng-amiga/py/examples/camera_calibration
+```
+
+### 3. Install the example's dependencies
+
+```bash
+pip3 install -r requirements.txt
+```
+
+### 4. Execute the Python script
+
+```bash
+python3 main.py --service-config service_config.json
+```
+
+:::info
+By default, the camera address is assumed top be `localhost`.
+:::
+
+### 5. Customize run
+
+```bash
+# usage: amiga-camera-calibration [-h] --service-config SERVICE_CONFIG
+#
+# optional arguments:
+#   -h, --help            show this help message and exit
+#   --service-config SERVICE_CONFIG
+#                         The camera config.
+```
+
+### 6. Code overview
+
+In this example we use the `EventClient` with the `request_reply`
+method to receive the camera camera calibration.
+The `request_reply` method is a coroutine that returns a `Future` object.
+The `Future` object is used to retrieve the result of the request.
+
+The path to the calibration service is `/calibration` and the request message is `Empty`.
+The response message is `OakCalibration`, which is automatically decoded by the `request_reply`
+method using the `decode=True` argument.
+
+```python
+async def main(service_config_path: Path) -> None:
+    """Request the camera calibration from the camera service.
+
+    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())
+
+    # get the calibration message
+    calibration: oak_pb2.OakCalibration =
+        await EventClient(config).request_reply("/calibration", Empty(), decode=True)
+    print(calibration)
+
+
+if __name__ == "__main__":
+    parser = argparse.ArgumentParser(prog="amiga-camera-calibration")
+    parser.add_argument("--service-config", type=Path, required=True, help="The camera config.")
+    args = parser.parse_args()
+
+    asyncio.run(main(args.service_config))
+```
+
+:::tip
+We highly recommend to have some basic knowledge about
+[**`asyncio`**](https://docs.python.org/3/library/asyncio.html).
+:::
diff --git a/website/docs/examples/camera_calibration/camera-calibration.md b/website/docs/examples/camera_calibration/camera-calibration.md
diff --git a/website/docs/examples/camera_client/README.md b/website/docs/examples/camera_client/README.md
@@ -35,7 +35,7 @@ pip3 install -r requirements.txt
 ### 3. Execute the Python script
 
 ```bash
-python3 main.py --port 50051
+python3 main.py --service-config service_config.json
 ```
 
 :::info
@@ -55,78 +55,57 @@ the `WifiClient` (coming soon)
 ```bash
 python3 main.py --help
 
-# usage: amiga-camera-app [-h] --port PORT [--address ADDRESS]
-#[--stream-every-n STREAM_EVERY_N]
-
+# usage: amiga-camera-stream [-h] --service-config SERVICE_CONFIG
+#
 # optional arguments:
 #   -h, --help            show this help message and exit
-#   --port PORT           The camera port.
-#   --address ADDRESS     The camera address
-#   --stream-every-n STREAM_EVERY_N
-#                         Streaming frequency
+#   --service-config SERVICE_CONFIG
+#                         The camera config.
 ```
 
-Usage example:
-
-```bash
-python3 main.py --address 192.168.1.93 --port 50051
-```
+To customize the run, you need to update the `service_config.json`
+by modifying the `host` and `port` fields.
 
 ### 5. Code overview
 
-Basic structure to consume from the camera client in an async
-fashion.
+In this example we use the `EventClient` with the `subscribe` method to receive the camera stream.
 
 ```python
-from farm_ng.oak.client import OakCameraClient,
-OakCameraClientConfig
-from farm_ng.oak import oak_pb2
-
-async def main(address: str, port: int, stream_every_n: int) ->
-None:
+async def main(service_config_path: Path) -> None:
+    """Run the camera service client.
 
-    # configure the camera client
-    config = OakCameraClientConfig(address=address, port=port)
-    client = OakCameraClient(config)
+    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())
 
-    # get the streaming object
-    response_stream = client.stream_frames(every_n=stream_every_n)
+    # instantiate the image decoder
+    image_decoder = ImageDecoder()
 
-    # start the streaming service
-    await client.connect_to_service()
+    async for event, message in EventClient(config).subscribe(config.subscriptions[0], decode=True):
+        print(f"Timestamps: {event.timestamps[-2]}")
+        print(f"Meta: {message.meta}")
+        print("###################\n")
 
-    while True:
-        # query the service state
-        state: oak_pb2.OakServiceState = await client.get_state()
+        # cast image data bytes to numpy and decode
+        image = np.from_dlpack(image_decoder.decode(message.image_data))
 
-        if state.value != oak_pb2.OakServiceState.RUNNING:
-            print("Camera is not streaming!")
-            continue
+        # visualize the image
+        cv2.namedWindow("image", cv2.WINDOW_NORMAL)
+        cv2.imshow("image", image)
+        cv2.waitKey(1)
 
-        response: oak_pb2.StreamFramesReply = await
-        response_stream.read()
-        if response and response.status == oak_pb2.ReplyStatus.OK:
-            # get the sync frame
-            frame: oak_pb2.OakSyncFrame = response.frame
-            print(f"Got frame: {frame.sequence_num}")
-            print(f"Device info: {frame.device_info}")
-            print("#################################\n")
 
 if __name__ == "__main__":
-    parser = argparse.ArgumentParser(prog="amiga-camera-app")
-    parser.add_argument("--port", type=int, required=True,
-    help="The camera port.")
-    parser.add_argument("--address", type=str,
-    default="localhost", help="The camera address")
-    parser.add_argument("--stream-every-n", type=int, default=4,
-    help="Streaming frequency")
+    parser = argparse.ArgumentParser(prog="amiga-camera-stream")
+    parser.add_argument("--service-config", type=Path, required=True, help="The camera config.")
     args = parser.parse_args()
 
-    asyncio.run(main(args.address, args.port, args.
-    stream_every_n))
+    asyncio.run(main(args.service_config))
 ```
 
 :::tip
-We highgly recommend to have some basic knowledge about
+We highly recommend to have some basic knowledge about
 [**`asyncio`**](https://docs.python.org/3/library/asyncio.html).
 :::