282 lines
12 KiB
Python
282 lines
12 KiB
Python
"""
|
|
Reference live client for the Dorayaki recognition server.
|
|
|
|
Streams frames over WebSocket /v1/stream and prints what the server sees. This
|
|
is the documented example for capture sources that are not a browser: a cart
|
|
camera, a wearable camera, a rail camera, a robot.
|
|
|
|
Usage (from recognization/):
|
|
.venv/bin/python code/stream_client.py --source image.jpg --pan 12 --seconds 20
|
|
.venv/bin/python code/stream_client.py --source 0 # webcam index
|
|
.venv/bin/python code/stream_client.py --source clip.mp4 --seconds 30
|
|
.venv/bin/python code/stream_client.py --url ws://host:8080/v1/stream --token SECRET
|
|
|
|
Frame protocol: 4-byte big-endian frame id + JPEG bytes.
|
|
"""
|
|
|
|
from __future__ import annotations
|
|
|
|
import argparse
|
|
import json
|
|
import os
|
|
import statistics
|
|
import sys
|
|
import time
|
|
from typing import Any, Dict, List, Optional
|
|
|
|
current_dir = os.path.dirname(os.path.abspath(__file__))
|
|
project_root = os.path.dirname(current_dir)
|
|
if os.path.exists(os.path.join(project_root, "stock")):
|
|
os.chdir(project_root)
|
|
if current_dir not in sys.path:
|
|
sys.path.insert(0, current_dir)
|
|
|
|
import cv2 # noqa: E402
|
|
|
|
from websockets.sync.client import connect # noqa: E402
|
|
|
|
|
|
def percentile(values: List[float], pct: float) -> float:
|
|
if not values:
|
|
return 0.0
|
|
ordered = sorted(values)
|
|
index = min(len(ordered) - 1, max(0, int(round((pct / 100.0) * (len(ordered) - 1)))))
|
|
return ordered[index]
|
|
|
|
|
|
class FrameSource:
|
|
"""Yields BGR frames from a camera, a video file, or a still image pan."""
|
|
|
|
def __init__(self, source: str, *, width: int, pan_step: int, pan_width: int = 1280):
|
|
self.source = source
|
|
self.width = width
|
|
self.pan_step = pan_step
|
|
self.pan_width = pan_width
|
|
self.capture: Optional[cv2.VideoCapture] = None
|
|
self.image = None
|
|
self.pan_x = 0
|
|
self.pan_direction = 1
|
|
if source.isdigit():
|
|
self.capture = cv2.VideoCapture(int(source))
|
|
elif os.path.isfile(source) and source.lower().endswith((".mp4", ".mov", ".avi", ".mkv", ".webm")):
|
|
self.capture = cv2.VideoCapture(source)
|
|
else:
|
|
self.image = cv2.imread(source)
|
|
if self.image is None:
|
|
raise SystemExit(f"cannot read source {source}")
|
|
|
|
def frame(self, index: int):
|
|
if self.image is not None:
|
|
height, width = self.image.shape[:2]
|
|
window_w = min(self.pan_width, width)
|
|
window_h = min(int(window_w * 9 / 16), height)
|
|
max_x = max(0, width - window_w)
|
|
x = min(self.pan_x, max_x)
|
|
y = max(0, (height - window_h) // 2)
|
|
window = self.image[y:y + window_h, x:x + window_w]
|
|
self.pan_x += self.pan_direction * self.pan_step
|
|
if self.pan_x >= max_x or self.pan_x <= 0:
|
|
self.pan_direction *= -1
|
|
return window
|
|
if self.capture is not None:
|
|
ok, frame = self.capture.read()
|
|
if not ok: # loop video files
|
|
self.capture.set(cv2.CAP_PROP_POS_FRAMES, 0)
|
|
ok, frame = self.capture.read()
|
|
if not ok:
|
|
return None
|
|
return frame
|
|
return None
|
|
|
|
def release(self) -> None:
|
|
if self.capture is not None:
|
|
self.capture.release()
|
|
|
|
|
|
def encode(frame, width: int, quality: int) -> bytes:
|
|
height, current_width = frame.shape[:2]
|
|
if width and current_width > width:
|
|
scale = width / float(current_width)
|
|
frame = cv2.resize(frame, (int(width), int(round(height * scale))))
|
|
ok, buffer = cv2.imencode(".jpg", frame, [cv2.IMWRITE_JPEG_QUALITY, quality])
|
|
if not ok:
|
|
raise RuntimeError("JPEG encode failed")
|
|
return buffer.tobytes()
|
|
|
|
|
|
def main() -> None:
|
|
parser = argparse.ArgumentParser(description="Dorayaki live stream client")
|
|
parser.add_argument("--url", default="ws://127.0.0.1:8080/v1/stream")
|
|
parser.add_argument("--token", default=os.environ.get("DORAYAKI_API_TOKEN"))
|
|
parser.add_argument("--source", default="image.jpg", help="camera index, video path, or image path")
|
|
parser.add_argument("--pan", type=int, default=12, help="pixels per frame when panning a still image")
|
|
parser.add_argument("--seconds", type=float, default=20.0)
|
|
parser.add_argument("--width", type=int, default=1280, help="send width")
|
|
parser.add_argument("--quality", type=int, default=75)
|
|
parser.add_argument("--max-inflight", type=int, default=1)
|
|
parser.add_argument("--pace", choices=["send", "result"], default="send",
|
|
help="'send': keep the socket busy (frames drop server-side); "
|
|
"'result': send the next frame only after a result, so the "
|
|
"pan stays continuous (the mode to use for stability checks)")
|
|
parser.add_argument("--method", default=None, help="surf | orb | brisk | hybrid")
|
|
parser.add_argument("--json", action="store_true", help="print a JSON summary instead of the table")
|
|
parser.add_argument("--quiet", action="store_true", help="only print the final summary")
|
|
args = parser.parse_args()
|
|
|
|
url = args.url
|
|
headers = {"Authorization": f"Bearer {args.token}"} if args.token else None
|
|
|
|
source = FrameSource(args.source, width=args.width, pan_step=args.pan)
|
|
rtts: List[float] = []
|
|
detect_times: List[float] = []
|
|
frames_sent = 0
|
|
results = 0
|
|
drops = 0
|
|
first_label: Dict[int, float] = {}
|
|
label_latencies: List[float] = []
|
|
labels: Dict[int, str] = {}
|
|
label_changes = 0
|
|
unexplained_changes = 0
|
|
relabel_seen: Dict[int, int] = {}
|
|
restart_seen: Dict[int, int] = {}
|
|
inherited_seen: Dict[int, bool] = {}
|
|
seen_tracks: set = set()
|
|
last_summary: Dict[str, Any] = {}
|
|
started = time.perf_counter()
|
|
in_flight: Dict[int, float] = {}
|
|
pending_frame: Optional[int] = None
|
|
|
|
with connect(url, max_size=8 * 1024 * 1024, additional_headers=headers) as socket:
|
|
hello = json.loads(socket.recv(timeout=10))
|
|
if hello.get("type") != "hello":
|
|
raise SystemExit(f"unexpected first message: {hello}")
|
|
if not args.quiet:
|
|
print(f"hello: session {hello['session_id']} model {hello['model']['version']} "
|
|
f"device {hello['model']['device']} config {hello['config']}")
|
|
if args.method:
|
|
socket.send(json.dumps({"type": "config", "method": args.method}))
|
|
ack = json.loads(socket.recv(timeout=10))
|
|
if not args.quiet:
|
|
print(f"config ack: {ack.get('config')}")
|
|
|
|
def consume(message: Dict[str, Any]) -> None:
|
|
"""Fold one result into the running metrics."""
|
|
nonlocal results, last_summary, label_changes, unexplained_changes
|
|
if message.get("type") != "result":
|
|
if not args.quiet:
|
|
print(f"server message: {message}")
|
|
return
|
|
received_at = time.perf_counter()
|
|
sent_at = in_flight.pop(message["frame_id"], None)
|
|
if sent_at is not None:
|
|
rtts.append((received_at - sent_at) * 1000.0)
|
|
detect_times.append(message["timing_ms"]["detect"])
|
|
results += 1
|
|
last_summary = message["summary"]
|
|
now = time.perf_counter()
|
|
for track in message["tracks"]:
|
|
track_id = track["track_id"]
|
|
seen_tracks.add(track_id)
|
|
identity = track["identity"]
|
|
if identity["state"] != "recognized":
|
|
continue
|
|
sku = identity["sku_id"]
|
|
relabels = track.get("relabels", 0)
|
|
restarts = track.get("restarts", 0)
|
|
if restarts > restart_seen.get(track_id, 0):
|
|
# The id was restarted: earlier labels describe another object.
|
|
labels.pop(track_id, None)
|
|
first_label.pop(track_id, None)
|
|
inherited = bool(track.get("inherited"))
|
|
if track_id not in first_label:
|
|
first_label[track_id] = now
|
|
if not inherited:
|
|
label_latencies.append((now - started) * 1000.0)
|
|
elif labels.get(track_id) != sku:
|
|
# Only a measured-to-measured change on the same object is a
|
|
# label change; inherited labels describe the same product
|
|
# under a new track id.
|
|
if not inherited and not inherited_seen.get(track_id):
|
|
label_changes += 1
|
|
if relabels <= relabel_seen.get(track_id, 0):
|
|
unexplained_changes += 1
|
|
labels[track_id] = sku
|
|
inherited_seen[track_id] = inherited
|
|
relabel_seen[track_id] = relabels
|
|
restart_seen[track_id] = restarts
|
|
if not args.quiet and results % 10 == 0:
|
|
print(f"f{message['seq']:04d} tracks={len(message['tracks']):3d} "
|
|
f"recognized={last_summary['recognized']:3d} "
|
|
f"unconfirmed={last_summary.get('unconfirmed', 0):3d} "
|
|
f"detect={message['timing_ms']['detect']:5.1f}ms "
|
|
f"rtt={rtts[-1]:6.1f}ms fps={results / (now - started):5.2f}")
|
|
|
|
frame_id = 0
|
|
index = 0
|
|
while time.perf_counter() - started < args.seconds:
|
|
frame = source.frame(index)
|
|
if frame is None:
|
|
break
|
|
index += 1
|
|
frame_id = (frame_id + 1) & 0xFFFFFFFF
|
|
payload = encode(frame, args.width, args.quality)
|
|
if len(in_flight) >= args.max_inflight:
|
|
if pending_frame is not None:
|
|
drops += 1
|
|
pending_frame = frame_id
|
|
socket.send(frame_id.to_bytes(4, "big") + payload, text=False)
|
|
frames_sent += 1
|
|
else:
|
|
socket.send(frame_id.to_bytes(4, "big") + payload, text=False)
|
|
frames_sent += 1
|
|
in_flight[frame_id] = time.perf_counter()
|
|
if args.pace == "result":
|
|
# One frame in flight: the next frame is captured only after this
|
|
# one was answered, so the pan stays continuous.
|
|
while in_flight:
|
|
try:
|
|
consume(json.loads(socket.recv(timeout=5)))
|
|
except TimeoutError:
|
|
print("timeout waiting for a result")
|
|
break
|
|
continue
|
|
|
|
try:
|
|
consume(json.loads(socket.recv(timeout=5)))
|
|
except TimeoutError:
|
|
print("timeout waiting for a result")
|
|
break
|
|
|
|
source.release()
|
|
elapsed = time.perf_counter() - started
|
|
summary = {
|
|
"seconds": round(elapsed, 1),
|
|
"frames_sent": frames_sent,
|
|
"results": results,
|
|
"results_per_s": round(results / elapsed, 2) if elapsed else 0,
|
|
"frames_dropped_by_client": drops,
|
|
"rtt_ms_p50": round(statistics.median(rtts), 1) if rtts else None,
|
|
"rtt_ms_p95": round(percentile(rtts, 95), 1) if rtts else None,
|
|
"server_detect_ms_p50": round(statistics.median(detect_times), 1) if detect_times else None,
|
|
"server_detect_ms_p95": round(percentile(detect_times, 95), 1) if detect_times else None,
|
|
"tracks_seen": len(seen_tracks),
|
|
"tracks_labelled": len(labels),
|
|
"label_changes": label_changes,
|
|
"unexplained_label_changes": unexplained_changes,
|
|
"first_label_ms_p50": round(statistics.median(label_latencies), 0) if label_latencies else None,
|
|
"final_summary": last_summary,
|
|
}
|
|
if args.json:
|
|
print(json.dumps(summary, indent=2))
|
|
else:
|
|
print("\n--- stream summary ---")
|
|
for key, value in summary.items():
|
|
if key != "final_summary":
|
|
print(f"{key:24s} {value}")
|
|
print(f"{'final_summary':24s} {json.dumps(last_summary, ensure_ascii=False)}")
|
|
if results == 0:
|
|
sys.exit(1)
|
|
|
|
|
|
if __name__ == "__main__":
|
|
main()
|