Dev camera aravis dragonfly s

config/config_v20_defaults.py

@@ -1,7 +1,7 @@
 """Configuration file."""
 
 
-CONFIG_VERSION = "2.2.1"
+CONFIG_VERSION = "2.2.2"
 
 
 # ======================================================================================================================
@@ -91,6 +91,7 @@
 CONTINUE_PREVIOUS_PATH = False
 PREVIOUS_PATH_POINTS_FILE = "path_points.dat"
 PREVIOUS_PATH_INDEX_FILE = "path_index.txt"
+PREVIOUS_GNSS_INDEX_FILE = "path_gnss_index.txt"
 
 #Cyril covid
 ORIGIN_AVERAGE_SAMPLES = 8
@@ -623,22 +624,28 @@
 # ======================================================================================================================
 # CAMERA SETTINGS
 # ======================================================================================================================
-CAMERA_W = 1920
-CAMERA_H = 1080
-APPLY_IMAGE_CROPPING = False
+CAMERA_BACKEND = "auto" # "auto" | "aravis" | "imx219"
+#- "auto": try Aravis first, fallback to IMX219 if no camera found
+#- "aravis": force Aravis backend
+#- "imx219": force Jetson IMX219 backend "gstreamer", "v4l2", "auto"
+CAMERA_BINNING_H = 2
+CAMERA_BINNING_V = 2
+CAMERA_W = 2160//CAMERA_BINNING_H#2592//CAMERA_BINNING_H
+CAMERA_H = 1216//CAMERA_BINNING_V#1944//CAMERA_BINNING_V
+APPLY_IMAGE_CROPPING = True
 CROP_W_FROM = 0 
 CROP_W_TO = 1920 
 CROP_H_FROM = 0 
 CROP_H_TO = 1080
-CAMERA_FRAMERATE = 16
-CAMERA_FLIP_METHOD = 0
-SCENE_CENTER_X = 1000
-SCENE_CENTER_Y = 980
-ONE_MM_IN_PX = 3.2
+CAMERA_FRAMERATE = 30
+CAMERA_FLIP_METHOD = 2  # 0=none, 1=counterclockwise, 2=rotate 180, 3=clockwise, 4=horizontal flip, 5=upside down flip, 6=transpose, 7=transverse
+SCENE_CENTER_X = CAMERA_W//2
+SCENE_CENTER_Y = 1944//2//2
+ONE_MM_IN_PX = 2.9
 ISP_DIGITAL_GAIN_RANGE_FROM = 4
 ISP_DIGITAL_GAIN_RANGE_TO = 4
-GAIN_RANGE_FROM = 4
-GAIN_RANGE_TO = 4
+GAIN_RANGE_FROM = 12
+GAIN_RANGE_TO = 12
 EXPOSURE_TIME_RANGE_FROM = 660000
 EXPOSURE_TIME_RANGE_TO = 660000
 AE_LOCK = True

detection.py

@@ -164,7 +164,7 @@ def detect(self, image, disable_frame_show=False):
 
         if config.FRAME_SHOW and not disable_frame_show:
 
-            t1 = time.time()
+            #t1 = time.time()
 
             #img = draw_boxes(image, plant_boxes)
             img = image
@@ -184,19 +184,19 @@ def detect(self, image, disable_frame_show=False):
 
             #print(time.time() - t1)
 
-            if not YoloDarknetDetector.WEBSTREAM:
-                template_dir = os.path.abspath('./liveMain')
-                app = Flask("webstreaming", template_folder=template_dir)
-                CORS(app)
-                app.add_url_rule('/', view_func=webstreaming.index)
-                app.add_url_rule('/video_feed', view_func=webstreaming.video_feed)
+            # if not YoloDarknetDetector.WEBSTREAM:
+            #     template_dir = os.path.abspath('./liveMain')
+            #     app = Flask("webstreaming", template_folder=template_dir)
+            #     CORS(app)
+            #     app.add_url_rule('/', view_func=webstreaming.index)
+            #     app.add_url_rule('/video_feed', view_func=webstreaming.video_feed)
 
-                logging.getLogger('werkzeug').disabled = True
-                os.environ['WERKZEUG_RUN_MAIN'] = 'true'
+            #     logging.getLogger('werkzeug').disabled = True
+            #     os.environ['WERKZEUG_RUN_MAIN'] = 'true'
 
-                YoloDarknetDetector.webStream = Process(target=app.run, args=("0.0.0.0",8888,False))
-                YoloDarknetDetector.webStream.start()
-                YoloDarknetDetector.WEBSTREAM = True
+            #     YoloDarknetDetector.webStream = Process(target=app.run, args=("0.0.0.0",8888,False))
+            #     YoloDarknetDetector.webStream.start()
+            #     YoloDarknetDetector.WEBSTREAM = True
 
         return plant_boxes
 
@@ -286,7 +286,7 @@ def detect(self, image, disable_frame_show=False):
 
         if config.FRAME_SHOW and not disable_frame_show:
 
-            t1 = time.time()
+            #t1 = time.time()
 
             #img = draw_boxes(image, plant_boxes)
             img = image
@@ -306,19 +306,19 @@ def detect(self, image, disable_frame_show=False):
 
             #print(time.time() - t1)
 
-            if not YoloTRTDetector.WEBSTREAM:
-                template_dir = os.path.abspath('./liveMain')
-                app = Flask("webstreaming", template_folder=template_dir)
-                CORS(app)
-                app.add_url_rule('/', view_func=webstreaming.index)
-                app.add_url_rule('/video_feed', view_func=webstreaming.video_feed)
+            # if not YoloTRTDetector.WEBSTREAM:
+            #     template_dir = os.path.abspath('./liveMain')
+            #     app = Flask("webstreaming", template_folder=template_dir)
+            #     CORS(app)
+            #     app.add_url_rule('/', view_func=webstreaming.index)
+            #     app.add_url_rule('/video_feed', view_func=webstreaming.video_feed)
 
-                logging.getLogger('werkzeug').disabled = True
-                os.environ['WERKZEUG_RUN_MAIN'] = 'true'
+            #     logging.getLogger('werkzeug').disabled = True
+            #     os.environ['WERKZEUG_RUN_MAIN'] = 'true'
 
-                YoloTRTDetector.webStream = Process(target=app.run, args=("0.0.0.0",8888,False))
-                YoloTRTDetector.webStream.start()
-                YoloTRTDetector.WEBSTREAM = True
+            #     YoloTRTDetector.webStream = Process(target=app.run, args=("0.0.0.0",8888,False))
+            #     YoloTRTDetector.webStream.start()
+            #     YoloTRTDetector.WEBSTREAM = True
 
         return plant_boxes
 
@@ -353,8 +353,34 @@ def _allocate_buffers(self, engine):
                 outputs.append(HostDeviceMem(host_mem, device_mem))
 
         return inputs, outputs, bindings, stream
+
+    def letterbox_fast(self, img, target_size=(416, 416)):
+        ih, iw = img.shape[:2]
+        h, w = target_size
+
+        scale = min(w / iw, h / ih)
+        nw, nh = int(iw * scale), int(ih * scale)
+
+        # Resize
+        img_resized = cv.resize(img, (nw, nh), interpolation=cv.INTER_LINEAR)
+
+        # Padding avec copyMakeBorder (plus rapide)
+        top = (h - nh) // 2
+        bottom = h - nh - top
+        left = (w - nw) // 2
+        right = w - nw - left
+
+        img_padded = cv.copyMakeBorder(
+            img_resized,
+            top, bottom, left, right,
+            cv.BORDER_CONSTANT,
+            value=[114, 114, 114]
+        )
+
+        return img_padded, scale, (left, top)
 
     def _preprocess(self, image):
+        #processed_image = self.letterbox_fast(image, (self.__width, self.__height))[0]
         processed_image = cv.resize(image, (self.__width, self.__height))
         processed_image = cv.cvtColor(processed_image, cv.COLOR_BGR2RGB)
         processed_image = processed_image.transpose((2, 0, 1)).astype(np.float32)

extraction.py

@@ -16,7 +16,7 @@ class ExtractionManagerV3:
 
     def __init__(self,
                  smoothie: adapters.SmoothieAdapter,
-                 camera: adapters.CameraAdapterIMX219_170,
+                 camera: adapters.CameraAdapterInterface,
                  logger_full: utility.Logger,
                  data_collector: datacollection.DataCollector,
                  image_saver: utility.ImageSaver,

index_webrtc.html

@@ -0,0 +1,67 @@
+<!DOCTYPE html>
+<html lang="en">
+
+<head>
+    <meta charset="utf-8">
+    <title>Aravis WebRTC Stream</title>
+    <style>
+        body {
+            background: #111;
+            color: #eee;
+            font-family: sans-serif;
+            text-align: center;
+        }
+
+        video {
+            width: 90vw;
+            height: auto;
+            margin-top: 2vh;
+            border-radius: 10px;
+            background: #000;
+        }
+    </style>
+</head>
+
+<body>
+    <h2>📡 Live Stream from Jetson / Aravis</h2>
+    <video id="video" autoplay playsinline></video>
+    <p id="status">Connecting...</p>
+
+    <script>
+        const pc = new RTCPeerConnection();
+        const video = document.getElementById("video");
+        const status = document.getElementById("status");
+
+        pc.ontrack = e => {
+            video.srcObject = e.streams[0];
+            status.textContent = "✅ Connected – live stream active";
+        };
+
+        async function start() {
+            try {
+                // create offer
+                const offer = await pc.createOffer();
+                await pc.setLocalDescription(offer);
+
+                // send offer to Jetson server
+                const jetsonHost = window.location.hostname;
+                const response = await fetch(`http://${jetsonHost}:8080/offer`, {
+                    method: "POST",
+                    body: JSON.stringify(pc.localDescription),
+                    headers: { "Content-Type": "application/json" }
+                });
+
+                // receive answer
+                const answer = await response.json();
+                await pc.setRemoteDescription(answer);
+            } catch (err) {
+                console.error(err);
+                status.textContent = "❌ Connection failed: " + err;
+            }
+        }
+
+        start();
+    </script>
+</body>
+
+</html>

liveMain/webstreaming.py

@@ -21,15 +21,17 @@ def rescale_frame(frame, percent=75):
 
 def generate():
     sharedMemory = posix_ipc.SharedMemory(config.SHARED_MEMORY_NAME_DETECTED_FRAME)
+
     sharedMem = mmap(fileno=sharedMemory.fd, length=0)
     sharedMemory.close_fd()
 
-    if config.APPLY_IMAGE_CROPPING:
-        img_w = config.CROP_W_TO - config.CROP_W_FROM
-        img_h = config.CROP_H_TO - config.CROP_H_FROM
-    else:
-        img_w = config.CAMERA_W
-        img_h = config.CAMERA_H
+    # if config.APPLY_IMAGE_CROPPING:
+    #     img_w = config.CROP_W_TO - config.CROP_W_FROM
+    #     img_h = config.CROP_H_TO - config.CROP_H_FROM
+    # else:
+
+    img_w = config.CAMERA_W
+    img_h = config.CAMERA_H
 
     sharedArray = np.ndarray((img_h, img_w, 3), dtype=np.uint8, buffer=sharedMem)
 

main.py

@@ -144,7 +144,7 @@ def move_to_point_and_extract(coords_from_to: list,
                               gps: adapters.GPSUbloxAdapter,
                               vesc_engine: adapters.VescAdapterV4,
                               smoothie: adapters.SmoothieAdapter,
-                              camera: adapters.CameraAdapterIMX219_170,
+                              camera: adapters.CameraAdapterInterface,
                               periphery_det: detection.YoloOpenCVDetection,
                               precise_det: detection.YoloOpenCVDetection,
                               logger_full: utility.Logger,
@@ -2162,7 +2162,7 @@ def main():
                                    config.VESC_STOPPER_CHECK_FREQ, logger_full) as vesc_engine, \
             adapters.SmoothieAdapter(smoothie_address) as smoothie, \
             adapters.GPSUbloxAdapter(config.GPS_PORT, config.GPS_BAUDRATE, config.GPS_POSITIONS_TO_KEEP) as gps, \
-            adapters.CameraAdapterIMX219_170(config.CROP_W_FROM, config.CROP_W_TO, config.CROP_H_FROM,
+            adapters.CameraAdapterManager(config.CROP_W_FROM, config.CROP_W_TO, config.CROP_H_FROM,
                                              config.CROP_H_TO, config.CV_ROTATE_CODE,
                                              config.ISP_DIGITAL_GAIN_RANGE_FROM,
                                              config.ISP_DIGITAL_GAIN_RANGE_TO,