update camera example

farm-ng · Sep 25, 2023 · 37c3074 · 37c3074
1 parent 502fe1b
commit 37c3074
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Showing 2 changed files with 6 additions and 3 deletions.
diff --git a/py/examples/camera_client/main.py b/py/examples/camera_client/main.py
@@ -20,6 +20,7 @@
 
 import cv2
 import numpy as np
+from kornia_rs import ImageDecoder
 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
@@ -34,15 +35,16 @@ async def main(service_config_path: Path) -> None:
     # create a client to the camera service
     config: EventServiceConfig = proto_from_json_file(service_config_path, EventServiceConfig())
 
+    # instantiate the image decoder
+    image_decoder = ImageDecoder()
+
     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")
 
         # cast image data bytes to numpy and decode
-        # NOTE: explore frame.[rgb, disparity, left, right]
-        image = np.frombuffer(message.image_data, dtype="uint8")
-        image = cv2.imdecode(image, cv2.IMREAD_UNCHANGED)
+        image = np.from_dlpack(image_decoder.decode(message.image_data))
 
         # visualize the image
         cv2.namedWindow("image", cv2.WINDOW_NORMAL)

diff --git a/py/examples/camera_client/requirements.txt b/py/examples/camera_client/requirements.txt
@@ -1,3 +1,4 @@
 farm-ng-amiga
 opencv-python==4.6.0.66
 numpy==1.23.2
+kornia_rs==0.0.8