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+[package] +name = "SiPEED-A075V" +version = "0.1.0" +edition = "2024" + +[dependencies] +byteorder = "1.5.0" +ndarray = "0.16.1" +once_cell = "1.21.3" +opencv = "0.94.4" +reqwest = { version = "0.12.15", features = ["blocking"] } diff --git a/python/.gitignore b/python/.gitignore new file mode 100644 index 0000000..68bc17f --- /dev/null +++ b/python/.gitignore @@ -0,0 +1,160 @@ +# Byte-compiled / optimized / DLL files +__pycache__/ +*.py[cod] +*$py.class + +# C extensions +*.so + +# Distribution / packaging +.Python +build/ +develop-eggs/ +dist/ +downloads/ +eggs/ +.eggs/ +lib/ +lib64/ +parts/ +sdist/ +var/ +wheels/ +share/python-wheels/ +*.egg-info/ +.installed.cfg +*.egg +MANIFEST + +# PyInstaller +# Usually these files are written by a python script from a template +# before PyInstaller builds the exe, so as to inject date/other infos into it. +*.manifest +*.spec + +# Installer logs +pip-log.txt +pip-delete-this-directory.txt + +# Unit test / coverage reports +htmlcov/ +.tox/ +.nox/ +.coverage +.coverage.* +.cache +nosetests.xml +coverage.xml +*.cover +*.py,cover +.hypothesis/ +.pytest_cache/ +cover/ + +# Translations +*.mo +*.pot + +# Django stuff: +*.log +local_settings.py +db.sqlite3 +db.sqlite3-journal + +# Flask stuff: +instance/ +.webassets-cache + +# Scrapy stuff: +.scrapy + +# Sphinx documentation +docs/_build/ + +# PyBuilder +.pybuilder/ +target/ + +# Jupyter Notebook +.ipynb_checkpoints + +# IPython +profile_default/ +ipython_config.py + +# pyenv +# For a library or package, you might want to ignore these files since the code is +# intended to run in multiple environments; otherwise, check them in: +# .python-version + +# pipenv +# According to pypa/pipenv#598, it is recommended to include Pipfile.lock in version control. +# However, in case of collaboration, if having platform-specific dependencies or dependencies +# having no cross-platform support, pipenv may install dependencies that don't work, or not +# install all needed dependencies. +#Pipfile.lock + +# poetry +# Similar to Pipfile.lock, it is generally recommended to include poetry.lock in version control. +# This is especially recommended for binary packages to ensure reproducibility, and is more +# commonly ignored for libraries. +# https://python-poetry.org/docs/basic-usage/#commit-your-poetrylock-file-to-version-control +#poetry.lock + +# pdm +# Similar to Pipfile.lock, it is generally recommended to include pdm.lock in version control. +#pdm.lock +# pdm stores project-wide configurations in .pdm.toml, but it is recommended to not include it +# in version control. +# https://pdm.fming.dev/#use-with-ide +.pdm.toml + +# PEP 582; used by e.g. github.com/David-OConnor/pyflow and github.com/pdm-project/pdm +__pypackages__/ + +# Celery stuff +celerybeat-schedule +celerybeat.pid + +# SageMath parsed files +*.sage.py + +# Environments +.env +.venv +env/ +venv/ +ENV/ +env.bak/ +venv.bak/ + +# Spyder project settings +.spyderproject +.spyproject + +# Rope project settings +.ropeproject + +# mkdocs documentation +/site + +# mypy +.mypy_cache/ +.dmypy.json +dmypy.json + +# Pyre type checker +.pyre/ + +# pytype static type analyzer +.pytype/ + +# Cython debug symbols +cython_debug/ + +# PyCharm +# JetBrains specific template is maintained in a separate JetBrains.gitignore that can +# be found at https://github.com/github/gitignore/blob/main/Global/JetBrains.gitignore +# and can be added to the global gitignore or merged into this file. For a more nuclear +# option (not recommended) you can uncomment the following to ignore the entire idea folder. +#.idea/ diff --git a/tof.py b/python/tof.py similarity index 100% rename from tof.py rename to python/tof.py diff --git a/src/main.rs b/src/main.rs new file mode 100644 index 0000000..67bcb09 --- /dev/null +++ b/src/main.rs @@ -0,0 +1,363 @@ +use byteorder::{LittleEndian, ReadBytesExt}; +use opencv::boxed_ref::BoxedRef; +use opencv::{core, highgui, imgcodecs, imgproc, prelude::*}; +use reqwest; +use std::error::Error; +use std::io::Cursor; + +const HOST: &str = "192.168.233.1"; // Assuming default value similar to Python code +const PORT: u16 = 80; // Assuming default value similar to Python code + +fn get_frame_from_http() -> Result, Box> { + let client = reqwest::blocking::Client::new(); + let url = format!("http://{}:{}/getdeep", HOST, PORT); + let response = client.get(&url).send()?; + + if response.status().is_success() { + println!("Get deep image"); + let deepimg = response.bytes()?.to_vec(); + println!("Length={}", deepimg.len()); + + if deepimg.len() >= 16 { + let mut cursor = Cursor::new(&deepimg[0..16]); + let frameid = cursor.read_u64::()?; + let stamp_msec = cursor.read_u64::()?; + println!("({}, {})", frameid, stamp_msec as f64 / 1000.0); + + Ok(deepimg) + } else { + Err("Image data too short".into()) + } + } else { + Err(format!("HTTP request failed with status: {}", response.status()).into()) + } +} + +fn post_encode_config(config: &[u8]) -> Result> { + let client = reqwest::blocking::Client::new(); + let url = format!("http://{}:{}/set_cfg", HOST, PORT); + let response = client.post(&url).body(config.to_vec()).send()?; + + Ok(response.status().is_success()) +} + +#[derive(Debug, Clone, Copy)] +struct FrameConfig { + trigger_mode: u8, + deep_mode: u8, + deep_shift: u8, + ir_mode: u8, + status_mode: u8, + status_mask: u8, + rgb_mode: u8, + rgb_res: u8, + expose_time: i32, +} + +fn frame_config_decode(frame_config: &[u8]) -> Result> { + if frame_config.len() < 12 { + return Err("Frame config data too short".into()); + } + + let mut cursor = Cursor::new(frame_config); + + Ok(FrameConfig { + trigger_mode: cursor.read_u8()?, + deep_mode: cursor.read_u8()?, + deep_shift: cursor.read_u8()?, + ir_mode: cursor.read_u8()?, + status_mode: cursor.read_u8()?, + status_mask: cursor.read_u8()?, + rgb_mode: cursor.read_u8()?, + rgb_res: cursor.read_u8()?, + expose_time: cursor.read_i32::()?, + }) +} + +fn frame_config_encode( + trigger_mode: u8, + deep_mode: u8, + deep_shift: u8, + ir_mode: u8, + status_mode: u8, + status_mask: u8, + rgb_mode: u8, + rgb_res: u8, + expose_time: i32, +) -> Vec { + let mut buffer = Vec::with_capacity(12); + buffer.push(trigger_mode); + buffer.push(deep_mode); + buffer.push(deep_shift); + buffer.push(ir_mode); + buffer.push(status_mode); + buffer.push(status_mask); + buffer.push(rgb_mode); + buffer.push(rgb_res); + + buffer.extend_from_slice(&expose_time.to_le_bytes()); + + buffer +} + +struct FramePayload { + depth_img: Option>, + ir_img: Option>, + status_img: Option>, + rgb_img: Option>, +} + +fn frame_payload_decode( + frame_data: &[u8], + config: &FrameConfig, +) -> Result> { + if frame_data.len() < 8 { + return Err("Frame data too short".into()); + } + + let mut cursor = Cursor::new(&frame_data[0..8]); + let deep_data_size = cursor.read_i32::()?; + let rgb_data_size = cursor.read_i32::()?; + + let mut frame_payload = &frame_data[8..]; + + // Calculate sizes based on configuration + let depth_size = (320 * 240 * 2) >> config.deep_mode; + let depth_img = if depth_size > 0 && frame_payload.len() >= depth_size { + let depth_data = frame_payload[..depth_size].to_vec(); + frame_payload = &frame_payload[depth_size..]; + Some(depth_data) + } else { + None + }; + + let ir_size = (320 * 240 * 2) >> config.ir_mode; + let ir_img = if ir_size > 0 && frame_payload.len() >= ir_size { + let ir_data = frame_payload[..ir_size].to_vec(); + frame_payload = &frame_payload[ir_size..]; + Some(ir_data) + } else { + None + }; + + let status_size = (320 * 240 / 8) + * match config.status_mode { + 0 => 16, + 1 => 2, + 2 => 8, + _ => 1, + }; + + let status_img = if status_size > 0 && frame_payload.len() >= status_size { + let status_data = frame_payload[..status_size].to_vec(); + frame_payload = &frame_payload[status_size..]; + Some(status_data) + } else { + None + }; + + // Verify that we've consumed the expected amount of data + if deep_data_size as usize != depth_size + ir_size + status_size { + return Err("Data size mismatch in frame payload".into()); + } + + let rgb_size = frame_payload.len(); + if rgb_data_size as usize != rgb_size { + return Err("RGB data size mismatch".into()); + } + + let mut rgb_img = if rgb_size > 0 { + Some(frame_payload.to_vec()) + } else { + None + }; + + // Process RGB image if present + if let Some(rgb_data) = rgb_img.as_ref() { + if config.rgb_mode == 1 { + let jpeg_data = Mat::from_slice(rgb_data)?; + let jpeg = imgcodecs::imdecode(&jpeg_data, imgcodecs::IMREAD_COLOR)?; + + if !jpeg.empty() { + let mut rgb = Mat::default(); + imgproc::cvt_color(&jpeg, &mut rgb, imgproc::COLOR_BGR2RGB, 0)?; + + let mut rgb_vec = Vec::new(); + let mat_size = rgb.total() as usize * rgb.elem_size().unwrap(); + rgb_vec.resize(mat_size, 0); + + // This extracts the raw bytes + let mat_data = rgb.data_bytes()?; + rgb_vec.copy_from_slice(mat_data); + + rgb_img = Some(rgb_vec); + } else { + rgb_img = None; + } + } + } + + Ok(FramePayload { + depth_img, + ir_img, + status_img, + rgb_img, + }) +} + +struct FrameOutputs { + depth: Option>, + ir: Option>, + status: Option>, + rgb: Option>, +} + +fn show_frame(frame_data: &[u8]) -> Result<(), Box> { + if frame_data.len() < 28 { + // 16 + 12 minimum size + return Err("Frame data too short".into()); + } + + let config = frame_config_decode(&frame_data[16..28])?; + let frame_bytes = frame_payload_decode(&frame_data[28..], &config)?; + + let depth = if let Some(depth_data) = frame_bytes.depth_img { + let depth_type = if config.deep_mode == 0 { + core::CV_16U + } else { + core::CV_8U + }; + + // Create a Mat from raw depth data + let depth_mat = unsafe { + let mut mat = Mat::new_rows_cols(240, 320, depth_type)?; + let mat_data = mat.data_bytes_mut()?; + if mat_data.len() == depth_data.len() { + mat_data.copy_from_slice(&depth_data); + mat + } else { + return Err("Depth data size mismatch".into()); + } + }; + + // highgui::imshow("depth_mat", &depth_mat)?; + + Some(depth_mat) + } else { + None + }; + + let ir = if let Some(ir_data) = frame_bytes.ir_img { + let ir_type = if config.ir_mode == 0 { + core::CV_16U + } else { + core::CV_8U + }; + + // Create a Mat from raw IR data + let mut ir_mat = unsafe { + let mut mat = Mat::new_rows_cols(240, 320, ir_type)?; + let mat_data = mat.data_bytes_mut()?; + if mat_data.len() == ir_data.len() { + mat_data.copy_from_slice(&ir_data); + mat + } else { + return Err("IR data size mismatch".into()); + } + }; + + // highgui::imshow("ir_mat", &ir_mat)?; + + Some(ir_mat) + } else { + None + }; + + // Process status image + let status = if let Some(status_data) = frame_bytes.status_img { + let status_type = if config.status_mode == 0 { + core::CV_16U + } else { + core::CV_8U + }; + + // Create a Mat from raw status data + let mut status_mat = unsafe { + let mut mat = Mat::new_rows_cols(240, 320, status_type)?; + let mat_data = mat.data_bytes_mut()?; + if mat_data.len() == status_data.len() { + mat_data.copy_from_slice(&status_data); + mat + } else { + return Err("Status data size mismatch".into()); + } + }; + + // highgui::imshow("status_mat", &status_mat)?; + + Some(status_mat) + } else { + None + }; + + // Process IR image + // let ir = if let Some(ir_data) = &frame_bytes.ir_img { + // let ir_data = ir_data.as_slice(); + // let ir_mat = Mat::new_rows_cols_with_data(240, 320, ir_data).unwrap(); + + // Some(ir_mat) + // } else { + // None + // }; + + // Process RGB image + let rgb = if let Some(rgb_data) = &frame_bytes.rgb_img { + let (height, width) = if config.rgb_mode == 1 { + (480, 640) + } else { + (600, 800) + }; + + let rgb_mat = unsafe { + let mut mat = Mat::new_rows_cols(height, width, core::CV_8UC3)?; + let mat_data = mat.data_bytes_mut()?; + if mat_data.len() == rgb_data.len() { + mat_data.copy_from_slice(&rgb_data); + mat + } else { + return Err("RGB data size mismatch".into()); + } + }; + + highgui::imshow("rgb", &rgb_mat); + + Some(rgb_mat) + } else { + None + }; + + Ok(()) + + // Ok(FrameOutputs { + // depth, + // ir, + // status, + // rgb, + // }) +} + +fn scanloop() -> Result<(), Box> { + if post_encode_config(&frame_config_encode(1, 0, 255, 0, 2, 7, 1, 0, 0)).unwrap_or(false) { + let raw_frame = get_frame_from_http()?; + show_frame(&raw_frame)?; + highgui::wait_key(1)?; + } + + Ok(()) +} + +fn main() { + loop { + let _ = scanloop(); + } +}