Merge pull request #193 from agri-gaia/feat/fb-point-cloud-cleaned-up

add support for point clouds over flatbuffers

examples/python/gRPC/pointcloud/gRPC_fb_queryPointCloud.py

@@ -0,0 +1,90 @@
+import os
+import struct
+import sys
+
+import flatbuffers
+import numpy as np
+
+np.set_printoptions(precision=7)
+from fb import point_cloud_service_grpc_fb as pointCloudService
+from fb.PointCloud2 import PointCloud2
+
+script_dir = os.path.dirname(__file__)
+util_dir = os.path.join(script_dir, '..')
+sys.path.append(util_dir)
+import util
+import util_fb
+
+channel = util.get_gRPC_channel()
+
+stubPointCloud = pointCloudService.PointCloudServiceStub(channel)
+builder = flatbuffers.Builder(1024)
+
+PROJECTNAME = "testproject"
+projectUuid = util_fb.getProject(builder, channel, PROJECTNAME)
+
+if projectUuid is None:
+    print(f"Project: {PROJECTNAME} does not exist")
+    sys.exit()
+
+
+builder = flatbuffers.Builder(1024)
+
+timeMin = util_fb.createTimeStamp(builder, 1610549273, 0)
+timeMax = util_fb.createTimeStamp(builder, 1938549273, 0)
+timeInterval = util_fb.createTimeInterval(builder, timeMin, timeMax)
+
+queryMsg = util_fb.createQuery(
+    builder,
+    projectUuids=[builder.CreateString(projectUuid)],
+    timeInterval=timeInterval,
+    labels=[builder.CreateString("BoundingBoxLabel0")],
+)
+builder.Finish(queryMsg)
+buf = builder.Output()
+
+for responseBuf in stubPointCloud.GetPointCloud2(bytes(buf)):
+    response = PointCloud2.GetRootAs(responseBuf)
+
+    print("---Header---")
+    print(f"Message UUID: {response.Header().UuidMsgs().decode('utf-8')}")
+    print(f"Project UUID: {response.Header().UuidProject().decode('utf-8')}")
+    print(f"Frame ID: {response.Header().FrameId().decode('utf-8')}")
+
+    print("---Point Fields---")
+    for i in range(response.FieldsLength()):
+        print(f"Field Name: {response.Fields(i).Name().decode('utf-8')}")
+        print(f"Datatype: {response.Fields(i).Datatype()}")
+        print(f"Offset: {response.Fields(i).Offset()}")
+        print(f"Count: {response.Fields(i).Count()}")
+
+    print("---Bounding Box Labels---")
+    for i in range(response.LabelsBbLength()):
+        print(f"Label {i}: {response.LabelsBb(i).LabelWithInstance().Label().decode('utf-8')}")
+        print(f"Instance {i}: {response.LabelsBb(i).LabelWithInstance().InstanceUuid().decode('utf-8')}")
+        print(
+            f"Bounding Box Min {i}: "
+            f"{response.LabelsBb(i).BoundingBox().PointMin().X()},"
+            f"{response.LabelsBb(i).BoundingBox().PointMin().Y()},"
+            f"{response.LabelsBb(i).BoundingBox().PointMin().Z()} "
+            f"(x,y,z)"
+        )
+        print(
+            f"Bounding Box Max {i}: "
+            f"{response.LabelsBb(i).BoundingBox().PointMax().X()},"
+            f"{response.LabelsBb(i).BoundingBox().PointMax().Y()},"
+            f"{response.LabelsBb(i).BoundingBox().PointMax().Z()} "
+            f"(x,y,z)"
+        )
+
+    print("---General Labels----")
+    for i in range(response.LabelsGeneralLength()):
+        print(f"Label {i}: {response.LabelsGeneral(i).Label().decode('utf-8')}")
+        print(f"Instance {i}: {response.LabelsGeneral(i).InstanceUuid().decode('utf-8')}")
+
+    print("---Data--")
+    if not response.DataIsNone():
+        rawData = response.DataAsNumpy()
+        data = [struct.unpack('f', rawData[i : i + 4]) for i in range(0, rawData.shape[0], 4)]
+        reshapedData = np.array(data).reshape(960, 1280, 4)
+        print(f"Data: {reshapedData}")

examples/python/gRPC/pointcloud/gRPC_fb_sendPointCloud.py

@@ -0,0 +1,109 @@
+#!/user/bin/env python3
+
+import os
+import sys
+import time
+import uuid
+
+import flatbuffers
+import numpy as np
+
+np.set_printoptions(precision=7)
+from fb import PointCloud2
+from fb import point_cloud_service_grpc_fb as pointCloudService
+
+script_dir = os.path.dirname(__file__)
+util_dir = os.path.join(script_dir, '..')
+sys.path.append(util_dir)
+
+import util
+from util_fb import (
+    addToBoundingBoxLabeledVector,
+    addToGeneralLabelsVector,
+    addToPointFieldVector,
+    createBoundingBoxes,
+    createBoundingBoxesLabeled,
+    createHeader,
+    createLabelsWithInstance,
+    createPoint,
+    createPointFields,
+    createTimeStamp,
+    getOrCreateProject,
+)
+
+NUM_GENERAL_LABELS = 1
+NUM_BB_LABELS = 1
+NUM_POINT_CLOUDS = 1
+
+
+def createPointCloud(builder, header, height=960, width=1280):
+    '''Creates a flatbuffers point cloud message'''
+    pointFields = createPointFields(builder, ['x', 'y', 'z', 'rgba'], 7, 4, 1)
+    pointFieldsVector = addToPointFieldVector(builder, pointFields)
+
+    # create general labels
+    labelsGeneral = createLabelsWithInstance(
+        builder,
+        ["GeneralLabel" + str(i) for i in range(NUM_GENERAL_LABELS)],
+        [str(uuid.uuid4()) for _ in range(NUM_GENERAL_LABELS)],
+    )
+    labelsGeneralVector = addToGeneralLabelsVector(builder, labelsGeneral)
+
+    # create bounding box labels
+    boundingBoxes = createBoundingBoxes(
+        builder,
+        header,
+        [createPoint(builder, np.random.rand(), np.random.rand(), np.random.rand()) for _ in range(NUM_BB_LABELS)],
+        [createPoint(builder, np.random.rand(), np.random.rand(), np.random.rand()) for _ in range(NUM_BB_LABELS)],
+    )
+    labelWithInstances = createLabelsWithInstance(
+        builder,
+        ["BoundingBoxLabel" + str(i) for i in range(NUM_BB_LABELS)],
+        [str(uuid.uuid4()) for _ in range(NUM_BB_LABELS)],
+    )
+    labelsBb = createBoundingBoxesLabeled(builder, labelWithInstances, boundingBoxes)
+    labelsBbVector = addToBoundingBoxLabeledVector(builder, labelsBb)
+
+    # Note: rgb field is float, for simplification
+    points = np.random.randn(height, width, 4).astype(np.float32)
+    print(f"Data: {points}")
+
+    pointsVector = builder.CreateByteVector(points.tobytes())
+
+    # add all data into the flatbuffers point cloud message
+    PointCloud2.Start(builder)
+    PointCloud2.AddHeader(builder, header)
+    PointCloud2.AddHeight(builder, points.shape[0])
+    PointCloud2.AddWidth(builder, points.shape[1])
+    PointCloud2.AddIsBigendian(builder, True)
+    PointCloud2.AddPointStep(builder, 16)
+    PointCloud2.AddRowStep(builder, points.shape[1] * 16)
+    PointCloud2.AddFields(builder, pointFieldsVector)
+    PointCloud2.AddData(builder, pointsVector)
+    PointCloud2.AddLabelsGeneral(builder, labelsGeneralVector)
+    PointCloud2.AddLabelsBb(builder, labelsBbVector)
+    return PointCloud2.End(builder)
+
+
+def createPointClouds(projectUuid, numOf):
+    '''Creates numOf pointcloud2 messages as a generator function'''
+    theTime = int(time.time())
+    for i in range(numOf):
+        print(f"Send point cloud: {str(i+1)}")
+        builder = flatbuffers.Builder(1024)
+
+        timeStamp = createTimeStamp(builder, theTime + i)
+        header = createHeader(builder, timeStamp, "map", projectUuid)
+
+        pointCloudMsg = createPointCloud(builder, header)
+        builder.Finish(pointCloudMsg)
+        yield bytes(builder.Output())
+
+
+channel = util.get_gRPC_channel()
+stub = pointCloudService.PointCloudServiceStub(channel)
+builder = flatbuffers.Builder(1024)
+
+projectUuid = getOrCreateProject(builder, channel, "testproject")
+
+responseBuf = stub.TransferPointCloud2(createPointClouds(projectUuid, NUM_POINT_CLOUDS))

examples/python/gRPC/util.py

@@ -23,6 +23,11 @@ def get_gRPC_channel(target="local"):
     elif target == "local":
         # server without certs
         server = "localhost:9090"
-        channel = grpc.insecure_channel(server)
+        # set the max message size to 1GB (half the size of the server)
+        options = [
+            ('grpc.max_send_message_length', 1 * 1024 * 1024 * 1024),
+            ('grpc.max_receive_message_length', 1 * 1024 * 1024 * 1024),
+        ]
+        channel = grpc.insecure_channel(server, options=options)
 
     return channel