diff --git a/.github/workflows/pants.yaml b/.github/workflows/pants.yaml
index fd1417b14..1664ac33b 100644
--- a/.github/workflows/pants.yaml
+++ b/.github/workflows/pants.yaml
@@ -56,7 +56,6 @@ jobs:
pants --changed-since=HEAD update-build-files --check
- name: install system dependencies
run: | # cargo is required to build fastuuid (no wheels for Python 3.11)
- sudo ./build-support/install_kinect_prerequisites.sh
sudo apt install jq cargo
- name: Lint
run: |
@@ -69,7 +68,7 @@ jobs:
pants --changed-since=origin/master --changed-dependees=transitive test
- name: Build Docker images
run: | # filter out non-essential docker images (there was a problem with full storage on github)
- pants filter --target-type=docker_image --changed-since=origin/master --changed-dependees=transitive | grep -v arcor2_3d_mouse | grep -v arcor2_kinect_azure | grep -v arcor2_fanuc arcor2_fanuc_upload_object_types | xargs pants package
+ pants filter --target-type=docker_image --changed-since=origin/master --changed-dependees=transitive | grep -v arcor2_3d_mouse | grep -v arcor2_fanuc arcor2_fanuc_upload_object_types | xargs pants package
- name: Build Python packages
run: |
pants filter --target-type=python_distribution :: | xargs pants package
diff --git a/3rdparty/requirements.txt b/3rdparty/requirements.txt
index 3ff0f2820..9ab939ad7 100644
--- a/3rdparty/requirements.txt
+++ b/3rdparty/requirements.txt
@@ -28,7 +28,6 @@ orjson~=3.10.3
packaging~=24.0
pydub~=0.25.1
pyhumps==3.8.0
-pyk4a@ git+https://github.com/Jakub-Dv/pyk4a.git@feature/body-tracking
pyserial~=3.5
pyspacemouse~=1.1.3
pytest-asyncio~=0.23.7
diff --git a/README.md b/README.md
index ec03cdfcd..6cfbd11a1 100644
--- a/README.md
+++ b/README.md
@@ -109,19 +109,6 @@ The following video by [Kinali](https://www.kinali.cz/en/) shows the use case (o
[README](src/python/arcor2_fit_demo/README.md) | [CHANGELOG](src/python/arcor2_fit_demo/CHANGELOG.md)
- 2024-04-11: [1.5.0](https://github.com/robofit/arcor2/releases/tag/arcor2_fit_demo%2F1.5.0) ([docker](https://hub.docker.com/r/arcor2/arcor2_upload_fit_demo/tags?page=1&ordering=last_updated&name=1.5.0), [pypi](https://pypi.org/project/arcor2-fit-demo/1.5.0/)).
-
-### arcor2_kinect_azure
-
-[README](src/python/arcor2_kinect_azure/README.md) | [CHANGELOG](src/python/arcor2_kinect_azure/CHANGELOG.md)
-
- - 2024-04-11: [0.8.0](https://github.com/robofit/arcor2/releases/tag/arcor2_kinect_azure%2F0.8.0) ([docker](https://hub.docker.com/r/arcor2/arcor2_kinect_azure/tags?page=1&ordering=last_updated&name=0.8.0), [pypi](https://pypi.org/project/arcor2_kinect_azure/0.8.0/)).
-
-### arcor2_kinect_azure_data
-
-[README](src/python/arcor2_kinect_azure_data/README.md) | [CHANGELOG](src/python/arcor2_kinect_azure_data/CHANGELOG.md)
-
- - 2024-04-11: [0.2.0](https://github.com/robofit/arcor2/releases/tag/arcor2_kinect_azure_data%2F0.2.0) ([pypi](https://pypi.org/project/arcor2_kinect_azure_data/0.2.0/)).
-
### arcor2_logger
diff --git a/build-support/BUILD b/build-support/BUILD
deleted file mode 100644
index 979bb5a85..000000000
--- a/build-support/BUILD
+++ /dev/null
@@ -1 +0,0 @@
-shell_source(name="install_kinect_prerequisites.sh", source="install_kinect_prerequisites.sh")
\ No newline at end of file
diff --git a/build-support/install_kinect_prerequisites.sh b/build-support/install_kinect_prerequisites.sh
deleted file mode 100755
index cee07f5ce..000000000
--- a/build-support/install_kinect_prerequisites.sh
+++ /dev/null
@@ -1,13 +0,0 @@
-#!/usr/bin/env bash
-
-set -e # stop script when error occurs
-apt-get update
-apt-get install -y gnupg2 libgl1-mesa-glx libglib2.0-0
-curl -sSL https://packages.microsoft.com/keys/microsoft.asc | apt-key add -
-echo "deb [arch=amd64] https://packages.microsoft.com/ubuntu/18.04/prod bionic main" >>/etc/apt/sources.list # 20.04 is not officially supported but it works like this
-apt-get update
-export DEBIAN_FRONTEND="noninteractive"
-echo 'libk4a1.4 libk4a1.4/accepted-eula-hash string 0f5d5c5de396e4fee4c0753a21fee0c1ed726cf0316204edda484f08cb266d76' | debconf-set-selections
-echo 'libk4a1.4 libk4a1.4/accept-eula boolean true' | debconf-set-selections
-echo 'libk4abt1.1 libk4abt1.1/accepted-eula-hash string 03a13b63730639eeb6626d24fd45cf25131ee8e8e0df3f1b63f552269b176e38' | debconf-set-selections
-apt-get install -y libk4a1.4=1.4.1 libk4a1.4-dev=1.4.1 libk4abt1.1 libk4abt1.1-dev
diff --git a/compose-files/fit-demo/docker-compose.yml b/compose-files/fit-demo/docker-compose.yml
index e80765e68..0a3eb2224 100644
--- a/compose-files/fit-demo/docker-compose.yml
+++ b/compose-files/fit-demo/docker-compose.yml
@@ -11,8 +11,6 @@ services:
condition: service_healthy
fit-demo-execution:
condition: service_started
- fit-demo-kinect:
- condition: service_healthy
fit-demo-scene:
condition: service_healthy
fit-demo-calibration:
@@ -27,7 +25,6 @@ services:
- "6789:6789"
- "6799:6799"
networks:
- - fit-demo-kinect-network
- fit-demo-scene-network
- fit-demo-project-network
- fit-demo-asset-network
@@ -42,7 +39,6 @@ services:
- ARCOR2_EXECUTION_URL=ws://fit-demo-execution:6790
- ARCOR2_BUILD_URL=http://fit-demo-build:5008
- ARCOR2_CALIBRATION_URL=http://fit-demo-calibration:5014
- - ARCOR2_KINECT_AZURE_URL=http://192.168.104.100:5017 # Run kinect using pants
fit-demo-build:
image: arcor2/arcor2_build:1.6.0
@@ -91,16 +87,6 @@ services:
ports:
- "5009:5009"
- fit-demo-kinect:
- image: arcor2/arcor2_kinect_azure:0.8.0
- container_name: fit-demo-kinect
- networks:
- - fit-demo-kinect-network
- ports:
- - "5016:5016"
- environment:
- - ARCOR2_KINECT_AZURE_MOCK=true
-
fit-demo-calibration:
image: arcor2/arcor2_calibration:1.2.0
networks:
@@ -265,7 +251,6 @@ networks:
fit-demo-execution-network:
fit-demo-project-network:
fit-demo-asset-network:
- fit-demo-kinect-network:
fit-demo-dobot-magician-network:
fit-demo-dobot-magician2-network:
fit-demo-dobot-m1-network:
diff --git a/src/docker/arcor2_kinect_azure/BUILD b/src/docker/arcor2_kinect_azure/BUILD
deleted file mode 100644
index 16066948d..000000000
--- a/src/docker/arcor2_kinect_azure/BUILD
+++ /dev/null
@@ -1,7 +0,0 @@
-# Note that container from this docker image can only handle running kinect in MOCK!
-docker_image(
- name="arcor2_kinect_azure",
- repository="arcor2/arcor2_kinect_azure",
- dependencies=["build-support:install_kinect_prerequisites.sh"],
- image_tags=["0.8.0"],
-)
diff --git a/src/docker/arcor2_kinect_azure/Dockerfile b/src/docker/arcor2_kinect_azure/Dockerfile
deleted file mode 100644
index d5f2f6df2..000000000
--- a/src/docker/arcor2_kinect_azure/Dockerfile
+++ /dev/null
@@ -1,25 +0,0 @@
-FROM python:3.11.9-bookworm as deps
-COPY src.python.arcor2_kinect_azure.scripts/kinect_azure.pex /binary.pex
-RUN PEX_TOOLS=1 PYTHONOPTIMIZE=1 /usr/local/bin/python /binary.pex venv --scope=deps --compile /bin/app
-
-FROM python:3.11.9-bookworm as srcs
-COPY src.python.arcor2_kinect_azure.scripts/kinect_azure.pex /binary.pex
-RUN PEX_TOOLS=1 PYTHONOPTIMIZE=1 /usr/local/bin/python /binary.pex venv --scope=srcs --compile /bin/app
-
-FROM python:3.11.9-bookworm
-
-COPY build-support/install_kinect_prerequisites.sh /root/install_kinect_prerequisites.sh
-
-# curl is for healthcheck
-RUN apt-get update \
- && apt-get install -y -q --no-install-recommends libgl1-mesa-glx=22.3.6-1+deb12u1 libglib2.0-0=2.74.6-2+deb12u2 gnupg2=2.2.40-1.1 curl=7.88.1-10+deb12u5 \
- && /root/install_kinect_prerequisites.sh \
- && apt-get clean \
- && rm -rf /var/lib/apt/lists/*
-
-ENTRYPOINT ["/bin/app/pex"]
-COPY --from=deps /bin/app /bin/app
-COPY --from=srcs /bin/app /bin/app
-
-EXPOSE 5016
-HEALTHCHECK --interval=5s --start-period=60s CMD curl -f http://localhost:5016/healthz/ready || exit 1
diff --git a/src/python/arcor2_fit_demo/scripts/BUILD b/src/python/arcor2_fit_demo/scripts/BUILD
index bfe8dc756..ce0a88106 100644
--- a/src/python/arcor2_fit_demo/scripts/BUILD
+++ b/src/python/arcor2_fit_demo/scripts/BUILD
@@ -5,7 +5,6 @@ arcor2_pex_binary(
dependencies=[
"src/python/arcor2_fit_demo/data/dobot-m1",
"src/python/arcor2_fit_demo/data/dobot-magician",
- "src/python/arcor2_fit_demo/data:kinect_azure.dae",
"src/python/arcor2_fit_demo/data:conveyor_belt.fbx",
],
)
diff --git a/src/python/arcor2_fit_demo/scripts/kinect_calibration.py b/src/python/arcor2_fit_demo/scripts/kinect_calibration.py
deleted file mode 100644
index 8ea354b8f..000000000
--- a/src/python/arcor2_fit_demo/scripts/kinect_calibration.py
+++ /dev/null
@@ -1,23 +0,0 @@
-import time
-
-from arcor2.data.common import Pose
-from arcor2.data.object_type import Box
-from arcor2_calibration_data import client as calib_client
-from arcor2_kinect_azure_data.object_types.kinect_azure import KinectAzure, UrlSettings
-
-
-def main() -> None:
- kinect = KinectAzure("", "", Pose(), Box("", 0.1, 0.1, 0.1), UrlSettings("http://localhost:5016"))
- # print(kinect.color_camera_params)
- assert kinect.color_camera_params
- ci_start = time.monotonic()
- color_image = kinect.color_image()
- print(f"Time to get color_image: {time.monotonic()-ci_start}")
-
- calib_start = time.monotonic()
- print(calib_client.estimate_camera_pose(kinect.color_camera_params, color_image))
- print(f"Time to get calibration: {time.monotonic()-calib_start}")
-
-
-if __name__ == "__main__":
- main()
diff --git a/src/python/arcor2_fit_demo/scripts/upload_objects.py b/src/python/arcor2_fit_demo/scripts/upload_objects.py
index b8d3b6e24..e5f9611c5 100755
--- a/src/python/arcor2_fit_demo/scripts/upload_objects.py
+++ b/src/python/arcor2_fit_demo/scripts/upload_objects.py
@@ -11,18 +11,13 @@
from arcor2_fit_demo.object_types.fit_common_mixin import FitCommonMixin
from arcor2_fit_demo.object_types.milling_machine import MillingMachine
from arcor2_fit_demo.object_types.optical_quality_control import OpticalQualityControl
-from arcor2_kinect_azure_data.object_types.kinect_azure import KinectAzure
def main() -> None:
upload_def(AbstractDobot)
upload_def(DobotMagician, urdf=Urdf(get_data("dobot-magician"), DobotMagician.urdf_package_name))
upload_def(DobotM1, urdf=Urdf(get_data("dobot-m1"), DobotM1.urdf_package_name))
- upload_def(
- KinectAzure,
- Mesh(KinectAzure.__name__, KinectAzure.mesh_filename),
- file_to_upload=get_data(KinectAzure.mesh_filename),
- )
+
upload_def(
ConveyorBelt,
Mesh(ConveyorBelt.__name__, ConveyorBelt.mesh_filename),
diff --git a/src/python/arcor2_kinect_azure/BUILD b/src/python/arcor2_kinect_azure/BUILD
deleted file mode 100644
index f7441ed8c..000000000
--- a/src/python/arcor2_kinect_azure/BUILD
+++ /dev/null
@@ -1,5 +0,0 @@
-arcor2_python_distribution(
- name="arcor2_kinect_azure",
- description="REST API for Kinect Azure.",
- binaries={"arcor2_kinect_azure": "src/python/arcor2_kinect_azure/scripts:kinect_azure"},
-)
diff --git a/src/python/arcor2_kinect_azure/CHANGELOG.md b/src/python/arcor2_kinect_azure/CHANGELOG.md
deleted file mode 100644
index f1d4275b8..000000000
--- a/src/python/arcor2_kinect_azure/CHANGELOG.md
+++ /dev/null
@@ -1,72 +0,0 @@
-# Changelog
-
-The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/),
-
-## [0.8.0] - 2024-04-11
-
-### Changed
-
-- Updated dependencies, switched to Python 3.11.
-
-## [0.7.0] - 2023-07-20
-
-### Changed
-
-- App is refactored and adds endpoints for tracking user using body-tracking api
-- App can track user in numerous ways:
- - Get user positions
- - Get user velocity and direction
- - Check how many users are in frame
- - Get RGB, depth and rgb with skeleton image
- - Show what camera sees in browser
- - Check if user is nearby some point
-- **Breaking**: App runs in Docker only in MOCK mode.
-
-## [0.6.0] - 2023-03-07
-
-### Changed
-
-- Health check end-point at `/healthz/ready`.
-- Requires `pose` in the body of `GET /state/start`.
-
-### Added
-
-- New endpoint `GET /state/pose`.
-
-## [0.5.0] - 2022-10-28
-
-### Changed
-
-- **BREAKING**: Implement new error handling flow. Error codes of **every** endpoint were replaced with error
- types as described in swagger documentation.
-- Changed service name.
-- Switched to Python 3.10, updated dependencies.
-
-## [0.4.0] - 2021-10-25
-
-### Changed
-
-- New environment variable `ARCOR2_KINECT_AZURE_MOCK`.
-
-### Fixed
-
-- Depth file was not packaged (used in mock mode).
-
-## [0.3.0] - 2021-05-21
-
-### Changed
-
-- Lazy import of `pyk4a` - mock can run without it.
-
-## [0.2.0] - 2021-02-08
-
-### Changed
-
-- Mock now sends real images.
-- Part of the code refactored into `arcor2/flask.py`.
-
-## [0.1.0] - 2020-12-14
-
-### Changed
-
-- Initial release of the package.
\ No newline at end of file
diff --git a/src/python/arcor2_kinect_azure/README.md b/src/python/arcor2_kinect_azure/README.md
deleted file mode 100644
index ab68a5a62..000000000
--- a/src/python/arcor2_kinect_azure/README.md
+++ /dev/null
@@ -1,25 +0,0 @@
-# Kinect Azure Service
-
-## Usage Instructions
-
-- By default, the service runs on port 5016.
- - This can be changed by setting `ARCOR2_KINECT_AZURE_URL`.
-- Kinect SDK has to be installed beforehand (`sudo ./build-support/install_kinect_prerequisites.sh`).
-- You may need to run following commands when using the real sensor to set permissions:
-
-```bash
-sudo wget https://raw.githubusercontent.com/microsoft/Azure-Kinect-Sensor-SDK/develop/scripts/99-k4a.rules -P /etc/udev/rules.d/
-sudo udevadm control --reload-rules && udevadm trigger
-```
-
-- The real kinect needs display. Insert any dummy HDMI plug to graphics card or plug in real monitor.
-- When all of the above is done, execute `./pants run src/python/arcor2_kinect_azure/scripts/kinect_azure.py` and the app should run without any problem
-
-#### Note that the app cannot run in docker when using real kinect device. Follow steps above to run in production
-
-## Environment variables
-
-- `ARCOR2_KINECT_AZURE_URL=http://0.0.0.0:5016` - by default, the service listens on port 5016.
-- `ARCOR2_KINECT_AZURE_MOCK=1` - the service will start in a mock (simulator) mode.
-- `ARCOR2_REST_API_DEBUG=1` - turns on Flask debugging (logs each endpoint call).
-- `ARCOR2_KINECT_AZURE_DEBUG=1` - turns on additional debugging
\ No newline at end of file
diff --git a/src/python/arcor2_kinect_azure/VERSION b/src/python/arcor2_kinect_azure/VERSION
deleted file mode 100644
index 8adc70fdd..000000000
--- a/src/python/arcor2_kinect_azure/VERSION
+++ /dev/null
@@ -1 +0,0 @@
-0.8.0
\ No newline at end of file
diff --git a/src/python/arcor2_kinect_azure/__init__.py b/src/python/arcor2_kinect_azure/__init__.py
deleted file mode 100644
index 05cfbe1e4..000000000
--- a/src/python/arcor2_kinect_azure/__init__.py
+++ /dev/null
@@ -1,16 +0,0 @@
-import logging
-import os
-
-from arcor2 import env, package_version
-
-_ROOT = os.path.abspath(os.path.dirname(__file__))
-
-ARCOR2_KINECT_AZURE_LOG_LEVEL = logging.DEBUG if env.get_bool("ARCOR2_KINECT_AZURE_DEBUG") else logging.INFO
-
-
-def version() -> str:
- return package_version(__name__)
-
-
-def get_data(path: str) -> str:
- return os.path.join(_ROOT, "data", path)
diff --git a/src/python/arcor2_kinect_azure/app.py b/src/python/arcor2_kinect_azure/app.py
deleted file mode 100644
index a145d2efd..000000000
--- a/src/python/arcor2_kinect_azure/app.py
+++ /dev/null
@@ -1,67 +0,0 @@
-import argparse
-import os
-from typing import TYPE_CHECKING
-
-from arcor2 import env
-from arcor2.data.camera import CameraParameters
-from arcor2.data.common import Pose, Position
-from arcor2.flask import create_app, run_app
-from arcor2.helpers import port_from_url
-from arcor2.logging import get_logger
-from arcor2_kinect_azure import ARCOR2_KINECT_AZURE_LOG_LEVEL, version
-from arcor2_kinect_azure.exceptions import WebApiError
-from arcor2_kinect_azure.routes import (
- aggregation,
- body,
- color,
- debug_request,
- depth,
- position,
- skeleton,
- state,
- synchronized,
- video,
-)
-
-logger = get_logger(__name__, ARCOR2_KINECT_AZURE_LOG_LEVEL)
-
-URL = os.getenv("ARCOR2_KINECT_AZURE_URL", "http://localhost:5016")
-SERVICE_NAME = "Kinect Azure Web API"
-
-app = create_app(__name__)
-
-if TYPE_CHECKING:
- from arcor2_kinect_azure.kinect import KinectAzure
-
-KINECT: "None | KinectAzure" = None
-MOCK: bool = False
-MOCK_STARTED: bool = False
-
-POSITION: Position = Position()
-
-
-def main() -> None:
- parser = argparse.ArgumentParser(description=SERVICE_NAME)
- parser.add_argument("-s", "--swagger", action="store_true", default=False)
- parser.add_argument("-m", "--mock", action="store_true", default=env.get_bool("ARCOR2_KINECT_AZURE_MOCK"))
- args = parser.parse_args()
-
- global MOCK
- MOCK = args.mock
- if MOCK:
- logger.info("Starting as a mock!")
-
- app.register_blueprint(aggregation.blueprint)
- app.register_blueprint(body.blueprint)
- app.register_blueprint(color.blueprint)
- app.register_blueprint(depth.blueprint)
- app.register_blueprint(position.blueprint)
- app.register_blueprint(skeleton.blueprint)
- app.register_blueprint(state.blueprint)
- app.register_blueprint(synchronized.blueprint)
- app.register_blueprint(video.blueprint)
- app.before_request(debug_request)
- run_app(app, SERVICE_NAME, version(), port_from_url(URL), [CameraParameters, WebApiError, Pose], args.swagger)
-
- if KINECT is not None:
- KINECT.cleanup()
diff --git a/src/python/arcor2_kinect_azure/data/BUILD b/src/python/arcor2_kinect_azure/data/BUILD
deleted file mode 100644
index ee6b4d1af..000000000
--- a/src/python/arcor2_kinect_azure/data/BUILD
+++ /dev/null
@@ -1 +0,0 @@
-resources(sources=["*.jpg", "*.png"])
diff --git a/src/python/arcor2_kinect_azure/data/depth.png b/src/python/arcor2_kinect_azure/data/depth.png
deleted file mode 100644
index 51dc2bde7..000000000
--- a/src/python/arcor2_kinect_azure/data/depth.png
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:603959e4a649bb994be23e04a0719bd45484df09bb6c074b31ec19c15b47ae28
-size 422866
diff --git a/src/python/arcor2_kinect_azure/data/rgb.jpg b/src/python/arcor2_kinect_azure/data/rgb.jpg
deleted file mode 100644
index e7fe20903..000000000
--- a/src/python/arcor2_kinect_azure/data/rgb.jpg
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:cbfc128023afba5a5d9a61255535cb89d1467bed55c39521804acc502269f23b
-size 180896
diff --git a/src/python/arcor2_kinect_azure/exceptions.py b/src/python/arcor2_kinect_azure/exceptions.py
deleted file mode 100644
index 1d5f2d622..000000000
--- a/src/python/arcor2_kinect_azure/exceptions.py
+++ /dev/null
@@ -1,21 +0,0 @@
-from arcor2.flask import FlaskException, WebApiErrorFactory
-from arcor2_kinect_azure import __name__ as package_name
-
-
-class KinectAzureException(FlaskException):
- service = package_name
-
-
-class NotFound(KinectAzureException):
- description = "Occurs when something is not found."
-
-
-class StartError(KinectAzureException):
- description = "Occurs when start condition is not met."
-
-
-class InvalidDirection(KinectAzureException):
- description = "Cannot determine direction"
-
-
-WebApiError = WebApiErrorFactory.get_class(StartError, NotFound)
diff --git a/src/python/arcor2_kinect_azure/kinect/BUILD b/src/python/arcor2_kinect_azure/kinect/BUILD
deleted file mode 100644
index db46e8d6c..000000000
--- a/src/python/arcor2_kinect_azure/kinect/BUILD
+++ /dev/null
@@ -1 +0,0 @@
-python_sources()
diff --git a/src/python/arcor2_kinect_azure/kinect/__init__.py b/src/python/arcor2_kinect_azure/kinect/__init__.py
deleted file mode 100644
index bf86c178a..000000000
--- a/src/python/arcor2_kinect_azure/kinect/__init__.py
+++ /dev/null
@@ -1,344 +0,0 @@
-import json
-import logging
-import threading
-import time
-from collections import deque
-from threading import Lock
-from typing import Generator, NamedTuple
-
-import cv2
-import numpy as np
-import pyk4a
-from PIL import Image
-from pyk4a import Config, ImageFormat, K4AException, PyK4A, PyK4ACapture
-
-from arcor2.data.camera import CameraParameters
-from arcor2.data.common import Orientation, Pose, Position
-from arcor2.exceptions import Arcor2Exception
-from arcor2.logging import get_logger
-from arcor2.transformations import make_pose_abs, make_pose_rel
-from arcor2_kinect_azure import ARCOR2_KINECT_AZURE_LOG_LEVEL
-from arcor2_kinect_azure.kinect.common import parse_skeleton
-
-
-class KinectAzureException(Arcor2Exception):
- pass
-
-
-class ColorAndDepthImage(NamedTuple):
- color: Image.Image
- depth: Image.Image
-
-
-class KinectAzure:
- CAPTURE_BUFFER_CAP = 30
-
- def __init__(self) -> None:
- self._lock = Lock()
-
- self._config = Config(
- color_resolution=pyk4a.ColorResolution.RES_1536P,
- camera_fps=pyk4a.FPS.FPS_30,
- depth_mode=pyk4a.DepthMode.NFOV_UNBINNED,
- synchronized_images_only=True,
- color_format=ImageFormat.COLOR_BGRA32,
- )
- self._k4a = PyK4A(self._config)
- self._k4a.start()
- self._k4a.exposure_mode_auto = True
-
- self._camera_pose = Pose(Position(), Orientation())
-
- self._kinect_logger = get_logger("kinect_logger", ARCOR2_KINECT_AZURE_LOG_LEVEL)
- # Keep 1 second of images
- self._capture_buffer: deque[PyK4ACapture] = deque(maxlen=self.CAPTURE_BUFFER_CAP)
- self._running_capture_thread: bool = False
- self._capture_thread: threading.Thread | None = None
-
- if self.color_camera_params is None:
- raise KinectAzureException("Failed to get camera calibration.")
-
- def get_camera_pose(self) -> Pose:
- return self._camera_pose
-
- def set_camera_pose(self, pose: Pose) -> None:
- self._camera_pose = pose
-
- def get_camera_relative_pos(self, position: Position) -> Position:
- abs_pose = Pose(position, Orientation())
- return make_pose_rel(self._camera_pose, abs_pose).position
-
- def get_camera_absolute_pos(self, position: Position) -> Position:
- rel_pose = Pose(position, Orientation())
- return make_pose_abs(self._camera_pose, rel_pose).position
-
- @staticmethod
- def adjust_depth_position_to_rgb(position: Position) -> Position:
- # Depth camera is rotated by 1.3° down by x-axis
- # https://learn.microsoft.com/en-us/azure/kinect-dk/coordinate-systems
- #
- # Rotate upward 1.3° to match rgb camera axis
- adjuster = Pose(Position(-0.025, 0.0, 0.0), Orientation(-0.000383, 0.0, 0.0, 0.999997))
- return position.rotated(adjuster.orientation) + adjuster.position
-
- @property
- def log(self) -> logging.Logger:
- return self._kinect_logger
-
- @property
- def color_camera_params(self) -> CameraParameters | None:
- # https://github.com/microsoft/Azure-Kinect-Sensor-SDK/blob/develop/examples/opencv_compatibility/main.cpp
- # https://github.com/etiennedub/pyk4a/issues/69#issuecomment-698756626
-
- # order of parameters in JSON hopefully corresponds to order of parameters in this struct
- # https://microsoft.github.io/Azure-Kinect-Sensor-SDK/master/structk4a__calibration__intrinsic__parameters__t_1_1__param.html
-
- # for mode related offsets see this
- # https://github.com/microsoft/Azure-Kinect-Sensor-SDK/blob/90f77529f5ad19efd1e8f155a240c329e3bcbbdf/src/transformation/mode_specific_calibration.c#L95
-
- # "CALIBRATION_LensDistortionModelBrownConrady"
-
- img = self.color_image()
-
- # no need to handle depth camera parameters as we will always provide transformed depth image
-
- c = json.loads(self._k4a.calibration_raw)
- try:
- for camera in c["CalibrationInformation"]["Cameras"]:
- params = camera["Intrinsics"]["ModelParameters"]
-
- cx = params[0]
- cy = params[1]
-
- fx = params[2]
- fy = params[3]
-
- k1 = params[4]
- k2 = params[5]
- k3 = params[6]
- k4 = params[7]
- k5 = params[8]
- k6 = params[9]
-
- p2 = params[12]
- p1 = params[13]
-
- cp = CameraParameters(fx, fy, cx, cy, [k1, k2, p1, p2, k3, k4, k5, k6])
-
- if camera["Location"] == "CALIBRATION_CameraLocationPV0":
- h = img.width / 4 * 3
-
- # un-normalize values
- cp.cx *= img.width
- cp.cy *= h
- cp.fx *= img.width
- cp.fy *= h
-
- # apply crop offset
- cp.cy -= (img.width / 4 * 3 - img.width / 16 * 9) / 2
- return cp
-
- except (KeyError, IndexError) as e:
- raise KinectAzureException("Failed to parse calibration.") from e
-
- return None
-
- def config(self) -> Config:
- return self._config
-
- def capture_buffer(self) -> deque[PyK4ACapture]:
- return self._capture_buffer
-
- def stable_buffer(self) -> deque[PyK4ACapture]:
- return self._capture_buffer.copy()
-
- def get_n_non_empty_captures(self, n: int) -> list[PyK4ACapture] | None:
- buffer: list[PyK4ACapture] = list()
- total_captures = 0
- if self._capture_thread is None:
- while len(buffer) < n:
- capture = self.__capture_from_device()
- skeleton = parse_skeleton(capture)
- if skeleton is not None:
- buffer.append(capture)
- if total_captures > self.CAPTURE_BUFFER_CAP:
- return None
- total_captures += 1
- return buffer
- else:
- stable_buffer = list(self.stable_buffer())
- for capture in stable_buffer[::-1]:
- skeleton = parse_skeleton(capture)
- if skeleton is not None:
- buffer.append(capture)
- if len(buffer) == n:
- return buffer[::-1]
- return None
-
- def get_non_empty_capture(self, tries: int = 5) -> PyK4ACapture | None:
- if self._capture_thread is None:
- for _ in range(tries):
- capture = self.__capture_from_device()
- skeleton = parse_skeleton(capture)
- if skeleton is not None:
- return capture
- else:
- stable_buffer = list(self.stable_buffer())
- for capture in stable_buffer[::-1]:
- skeleton = parse_skeleton(capture)
- if skeleton is not None:
- return capture
- return None
-
- def stable_buffer_len(self) -> int:
- return len(self._capture_buffer)
-
- def start_capturing(self):
- self._running_capture_thread = True
-
- def capture_forever() -> None:
- """Periodically capture frames from kinect."""
-
- counter = 0
- fps = 30
- while self._running_capture_thread:
- counter += 1
- start = time.time()
- capture = self.__capture_from_device()
- try:
- _ = capture.body_skeleton
- except Exception as e:
- self.log.exception(e)
- continue
-
- end = time.time()
- self._capture_buffer.append(capture)
- if counter % fps == 0:
- self.log.debug(f"{counter}: capturing took: {end - start}, captured: {fps} frames")
- time.sleep(0.005)
-
- self._capture_thread = threading.Thread(target=capture_forever)
- self._capture_thread.start()
-
- def __capture_from_device(self) -> PyK4ACapture:
- with self._lock:
- try:
- return self._k4a.get_capture(timeout=1000)
- except K4AException as e:
- self._kinect_logger.exception(e)
- raise KinectAzureException("Failed to get capture.") from e
-
- def capture(self) -> PyK4ACapture:
- if self._capture_thread is None:
- return self.__capture_from_device()
- else:
- if len(self._capture_buffer) == 0:
- time.sleep(0.2)
- return self._capture_buffer[-1]
-
- @staticmethod
- def convert_bgra_to_rgba(arr: np.ndarray) -> None:
- arr[:, :, [0, 1, 2, 3]] = arr[:, :, [2, 1, 0, 3]]
-
- def color_image(self) -> Image.Image:
- capture = self.capture()
-
- if capture.color is None:
- raise KinectAzureException("Color image not available.")
- else:
- color = capture.color
- self.convert_bgra_to_rgba(color)
-
- return Image.fromarray(color, mode="RGBA")
-
- def _depth_image(self) -> np.ndarray:
- capture = self.capture()
-
- if capture.transformed_depth is None:
- raise KinectAzureException("Depth image not available.")
-
- return capture.transformed_depth
-
- def depth_image(self, num_frames: int = 1) -> Image.Image:
- assert num_frames > 0
-
- img = self._depth_image()
- array = img.astype(np.float32)
-
- for _ in range(num_frames - 1):
- array += self._depth_image().astype(np.float32)
-
- return Image.fromarray((array / num_frames).astype(img.dtype))
-
- def sync_images(self) -> ColorAndDepthImage:
- capture = self.capture()
-
- if capture.color is None or capture.depth is None:
- raise KinectAzureException("Color/depth image not available.")
- else:
- color = capture.color
- self.convert_bgra_to_rgba(color)
-
- return ColorAndDepthImage(Image.fromarray(color).convert("RGB"), Image.fromarray(capture.transformed_depth))
-
- def cleanup(self) -> None:
- if self._capture_thread is not None:
- self._running_capture_thread = False
- self._capture_thread.join(2)
-
- self._k4a.stop()
-
- def get_skeleton(self, body_id: int = 0) -> np.ndarray | None:
- capture = self.capture()
- return parse_skeleton(capture, body_id)
-
- def skeleton_image(self, raw: bool = False) -> Image.Image | np.ndarray:
- capture = self.capture()
-
- if capture.color is None:
- raise KinectAzureException("Color image not available.")
-
- frame = capture.color
-
- body_skeleton = capture.body_skeleton
- if body_skeleton is not None:
- for body_index in range(body_skeleton.shape[0]):
- skeleton = body_skeleton[body_index, :, :]
- for joint_index in range(skeleton.shape[0]):
- if skeleton[joint_index, -1] != 1:
- continue
-
- x, y = skeleton[joint_index, (-3, -2)].astype(int)
- cv2.circle(frame, (x, y), 12, (50, 50, 50), thickness=-1, lineType=cv2.FILLED)
- cv2.putText(frame, str(joint_index), (x, y), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 0, 0), 2, cv2.LINE_AA)
- if skeleton.shape[0] > 0:
- # Display body id
- cv2.putText(
- frame,
- f"Body id: {body_index}",
- skeleton[1, (-3, -2)].astype(int),
- cv2.FONT_HERSHEY_SIMPLEX,
- 1,
- (0, 255, 0),
- 2,
- cv2.LINE_AA,
- ) # type: ignore
-
- if raw:
- return frame
- else:
- return Image.fromarray(frame, mode="RGBA")
-
- def get_bodies(self) -> np.ndarray | None:
- return self.capture().body_skeleton
-
- def get_video_feed(self) -> Generator[bytes, None, None]:
- """Get video feed that will be shown in browser."""
- while True:
- frame = self.skeleton_image(raw=True)
- # lower quality for smooth network transfer
- encode_param = [int(cv2.IMWRITE_JPEG_QUALITY), 30]
- buffer = cv2.imencode(".jpg", frame, encode_param)[1] # type: ignore # TODO solve it
- buffer_encode = np.array(buffer)
- frame = buffer_encode.tobytes() # type: ignore # TODO solve it
- yield b"--frame\r\nContent-Type: image/jpeg\r\n\r\n" + frame + b"\r\n" # type: ignore # TODO solve it
diff --git a/src/python/arcor2_kinect_azure/kinect/aggregation.py b/src/python/arcor2_kinect_azure/kinect/aggregation.py
deleted file mode 100644
index fe8047ea1..000000000
--- a/src/python/arcor2_kinect_azure/kinect/aggregation.py
+++ /dev/null
@@ -1,206 +0,0 @@
-import math
-from math import radians, tan
-from typing import Tuple
-
-import pyk4a
-from flask import Request
-from pyk4a import ColorResolution, PyK4ACapture
-
-from arcor2.data.common import BodyJointId, Direction, Position
-from arcor2.exceptions import Arcor2Exception
-from arcor2.logging import get_logger
-from arcor2_kinect_azure import ARCOR2_KINECT_AZURE_LOG_LEVEL
-from arcor2_kinect_azure.exceptions import InvalidDirection
-from arcor2_kinect_azure.kinect.common import parse_skeleton
-from arcor2_kinect_azure_data.aggregation import MovingDirection
-from arcor2_kinect_azure_data.joint import BodyJoint, JointValid
-
-log = get_logger(__name__, ARCOR2_KINECT_AZURE_LOG_LEVEL)
-
-
-def get_distance_coeffs(distance: float) -> Tuple[float, float]:
- """We need to account for the camera curvature.
-
- :return: Horizontal coefficient, vertical coefficient
- """
-
- def map_resolution_to_radians(resolution: ColorResolution) -> Tuple[float, float]:
- assert resolution in (r.value for r in ColorResolution)
- assert resolution != 0
- return {
- ColorResolution.RES_2160P: (radians(90), radians(59)),
- ColorResolution.RES_1440P: (radians(90), radians(59)),
- ColorResolution.RES_1080P: (radians(90), radians(59)),
- ColorResolution.RES_720P: (radians(90), radians(59)),
- ColorResolution.RES_3072P: (radians(90), radians(74.3)),
- ColorResolution.RES_1536P: (radians(90), radians(74.3)),
- }[resolution]
-
- from arcor2_kinect_azure import app
-
- kinect = app.KINECT
- assert kinect is not None
- config = kinect.config()
- horizontal_radians, vertical_radians = map_resolution_to_radians(config.color_resolution)
-
- def compute_coef(rads: float) -> float:
- return tan(rads / 2) * 2 * (distance / 1000 + 1)
-
- return compute_coef(horizontal_radians), compute_coef(vertical_radians)
-
-
-class FailedToComputeError(Arcor2Exception):
- pass
-
-
-class Moving(MovingDirection):
- """Class for computing moving direction from captures."""
-
- def __init__(
- self,
- compute_buffer: list[PyK4ACapture],
- body_index: int = 0,
- joint_index: int = BodyJointId.SPINE_CHEST,
- num_samples: int | None = None,
- best_effort: bool = False,
- camera_fps: pyk4a.FPS = pyk4a.FPS.FPS_30,
- ) -> None:
- fps = 30 if camera_fps is pyk4a.FPS.FPS_30 else 15 if camera_fps is pyk4a.FPS.FPS_15 else 5
-
- self._compute_buffer = compute_buffer
-
- self.body_index: int = body_index
- self.joint_index: int = joint_index
- self.num_samples: int = num_samples or 5
-
- self._best_effort: bool = best_effort
-
- self._camera_fps = fps
-
- def compute(self) -> None:
- log.debug(f"Computing for {self.body_index=}, {self.joint_index=}")
- if self.num_samples < 2:
- raise FailedToComputeError("Not enough data")
-
- relevant_buffer: list[BodyJoint] = []
- skip_counter: int = 0
-
- for capture in self._compute_buffer[::-1]:
- skeleton = parse_skeleton(capture, self.body_index)
- if skeleton is None:
- if self._best_effort is False and skip_counter > 4:
- log.error("Multiple captures in sequence are missing bodies")
- raise FailedToComputeError("No body in frame")
- skip_counter += 1
- continue
- skip_counter = 0
-
- joint: BodyJoint = BodyJoint.from_joint(skeleton[self.joint_index])
- if joint.valid != JointValid.VALID:
- log.error(f"{joint} is invalid")
- continue
-
- relevant_buffer.append(joint)
-
- if len(relevant_buffer) == self.num_samples:
- break
-
- if len(relevant_buffer) != self.num_samples and self._best_effort is False:
- return
-
- if len(relevant_buffer) < 2:
- log.error(f"{len(relevant_buffer)=}, unable to compute direction")
- return
-
- pos = relevant_buffer[0].position
- self.position = pos
-
- def get_speed(buffer: list[float], coef: float = 1) -> float:
- _sum: float = 0
- for i in range(len(buffer) - 1):
- _sum += buffer[i] - buffer[i + 1]
- return _sum / len(buffer) * coef
-
- _horizontal_coef, _vertical_coef = get_distance_coeffs(pos.z)
-
- x_speed = get_speed([b.position.x for b in relevant_buffer], _horizontal_coef)
- y_speed = get_speed([b.position.y for b in relevant_buffer], _vertical_coef)
- z_speed = get_speed([b.position.z for b in relevant_buffer])
-
- speed_coef = self._camera_fps / self.num_samples
-
- self.speed = Position(x=x_speed * speed_coef, y=y_speed * speed_coef, z=z_speed * speed_coef)
-
-
-class DirectionWithSpeed:
- def __init__(self, direction: Direction, speed: float) -> None:
- self.direction = direction
- # Speed in m/s
- self.speed = speed
-
- @classmethod
- def from_moving(cls, moving: Moving) -> "DirectionWithSpeed":
- speed = math.sqrt(moving.speed.x**2 + moving.speed.y**2 + moving.speed.z**2)
- return cls(Direction(moving.speed.x, moving.speed.y, moving.speed.z), speed)
-
- @classmethod
- def from_request(cls, request: Request) -> "DirectionWithSpeed":
- speed = float(request.args.get("speed") or 0.1)
- direction = Direction.from_json(request.data)
-
- return cls(direction, speed)
-
- def is_zero(self) -> bool:
- if self.direction.x == 0.0 and self.direction.y == 0.0 and self.direction.z == 0.0:
- return True
- else:
- return False
-
- def is_faster_than(self, other: "DirectionWithSpeed", deviation: float = 0.1) -> bool:
- if not 0.0 <= deviation <= 1.0:
- raise ValueError("Invalid deviation passed")
-
- def check_matching_directions() -> bool:
- for s, o in [
- (self.direction.x, other.direction.x),
- (self.direction.y, other.direction.y),
- (self.direction.z, other.direction.z),
- ]:
- if s < 0 < o:
- return False
- elif o < 0 < s:
- return False
- return True
-
- if not check_matching_directions():
- return False
-
- def get_hypotenuse(d: Direction) -> float:
- # c side of right triangle
- return math.sqrt(d.x**2 + d.y**2 + d.z**2)
-
- # Scale direction based on x
- self_scale = 1.0
- if self.direction.x != 0.0:
- other_scale = other.direction.x / self.direction.x
- elif self.direction.y != 0.0:
- other_scale = other.direction.y / self.direction.y
- elif self.direction.z != 0.0:
- other_scale = other.direction.z / self.direction.z
- else:
- raise InvalidDirection(f"{self.direction}")
-
- def get_normalized_direction_by_scale(d: Direction, scale: float) -> Direction:
- return Direction(d.x / scale, d.y / scale, d.z / scale)
-
- self_n_d = get_normalized_direction_by_scale(self.direction, self_scale)
- other_n_d = get_normalized_direction_by_scale(other.direction, other_scale)
-
- self_c = get_hypotenuse(self_n_d)
- other_c = get_hypotenuse(other_n_d)
-
- # check if same direction
- if other_c * (1.0 - deviation) < self_c < other_c / (1.0 - deviation):
- if self.speed > other.speed:
- return True
- return False
diff --git a/src/python/arcor2_kinect_azure/kinect/common.py b/src/python/arcor2_kinect_azure/kinect/common.py
deleted file mode 100644
index 35b94a0a7..000000000
--- a/src/python/arcor2_kinect_azure/kinect/common.py
+++ /dev/null
@@ -1,21 +0,0 @@
-import numpy as np
-from pyk4a import PyK4ACapture
-
-from arcor2_kinect_azure_data.joint import BodyJoint
-
-
-def parse_skeleton(capture: PyK4ACapture, body_id: int = 0) -> np.ndarray | None:
- skeleton = capture.body_skeleton
- if skeleton is None or skeleton.shape[0] == 0:
- return None
- try:
- return skeleton[body_id, :, :]
- except KeyError:
- return None
-
-
-def get_body_joint(capture: PyK4ACapture, index: int, body_id: int = 0) -> BodyJoint | None:
- body_skeleton = parse_skeleton(capture, body_id)
- if body_skeleton is None:
- return None
- return BodyJoint.from_joint(body_skeleton[index])
diff --git a/src/python/arcor2_kinect_azure/py.typed b/src/python/arcor2_kinect_azure/py.typed
deleted file mode 100644
index e69de29bb..000000000
diff --git a/src/python/arcor2_kinect_azure/routes/BUILD b/src/python/arcor2_kinect_azure/routes/BUILD
deleted file mode 100644
index db46e8d6c..000000000
--- a/src/python/arcor2_kinect_azure/routes/BUILD
+++ /dev/null
@@ -1 +0,0 @@
-python_sources()
diff --git a/src/python/arcor2_kinect_azure/routes/__init__.py b/src/python/arcor2_kinect_azure/routes/__init__.py
deleted file mode 100644
index 6b404622e..000000000
--- a/src/python/arcor2_kinect_azure/routes/__init__.py
+++ /dev/null
@@ -1,40 +0,0 @@
-import logging
-from functools import wraps
-from typing import Callable, ParamSpec, TypeVar
-
-from flask import request
-
-from arcor2_kinect_azure import app
-from arcor2_kinect_azure.exceptions import StartError
-
-
-def started() -> bool:
- if app.MOCK:
- return app.MOCK_STARTED
-
- return app.KINECT is not None
-
-
-P = ParamSpec("P")
-R = TypeVar("R")
-F = Callable[P, R]
-
-
-def requires_started(f: F) -> Callable[P, R]:
- @wraps(f)
- def wrapped(*args: P.args, **kwargs: P.kwargs):
- if not started():
- raise StartError("Not started")
- return f(*args, **kwargs)
-
- return wrapped
-
-
-def debug_request() -> None:
- flask_logger = logging.getLogger("werkzeug")
-
- flask_logger.debug(f"Request query params: {request.args}")
- flask_logger.debug(f"Request raw data: {request.data!r}")
-
-
-__all__ = [requires_started.__name__, started.__name__]
diff --git a/src/python/arcor2_kinect_azure/routes/aggregation.py b/src/python/arcor2_kinect_azure/routes/aggregation.py
deleted file mode 100644
index fcdea6154..000000000
--- a/src/python/arcor2_kinect_azure/routes/aggregation.py
+++ /dev/null
@@ -1,128 +0,0 @@
-import json
-from http import HTTPStatus
-
-from flask import Blueprint, Response, request
-
-from arcor2.data.common import BodyJointId
-from arcor2.logging import get_logger
-from arcor2_kinect_azure import ARCOR2_KINECT_AZURE_LOG_LEVEL, app
-from arcor2_kinect_azure.kinect.aggregation import DirectionWithSpeed, FailedToComputeError, Moving
-from arcor2_kinect_azure.routes import requires_started
-
-log = get_logger(__name__, ARCOR2_KINECT_AZURE_LOG_LEVEL)
-
-blueprint = Blueprint("aggregation", __name__, url_prefix="/aggregation")
-
-
-@blueprint.route("/is-moving", methods=["GET"])
-@requires_started
-def is_moving() -> Response:
- """See if a body part is moving in certain direction at certain speed
- ---
- get:
- description: Get true if body part is moving
- tags:
- - Kinect Azure
- parameters:
- - in: query
- name: body_id
- schema:
- type: integer
- default: 0
- - in: query
- name: joint_id
- schema:
- type: integer
- default: 2
- minimum: 0
- maximum: 31
- - in: query
- name: num_samples
- schema:
- type: integer
- default: 5
- - in: query
- name: best_effort
- schema:
- type: boolean
- default: false
- - in: query
- name: speed
- description: Minimum speed
- schema:
- type: number
- format: float
- default: 0.1
- minimum: 0.0
- - in: query
- name: deviation
- description: How precise should the measurement be
- schema:
- type: number
- format: float
- default: 0.1
- minimum: 0.0
- maximum: 1.0
- requestBody:
- content:
- application/json:
- schema:
- $ref: Orientation
- responses:
- 200:
- description: Ok
- content:
- application/json:
- schema:
- type: boolean
- 500:
- description: "Error types: **General**, **StartError**."
- content:
- application/json:
- schema:
- $ref: WebApiError
- """
- body_id = int(request.args.get("body_id") or 0)
- joint_id = BodyJointId.from_str_or_default(request.args.get("joint_id"))
- num_samples = int(request.args.get("num_samples") or 5)
- deviation = float(request.args.get("deviation") or 0.1)
- if not (1 < num_samples < 30):
- return Response(
- response='"Wrong number of samples provided"',
- status=HTTPStatus.FORBIDDEN,
- )
- best_effort = bool(request.args.get("best_effort") or False)
- if best_effort:
- log.debug(f'"Computing with {best_effort=}"')
- try:
- direction_w_speed = DirectionWithSpeed.from_request(request)
- except (TypeError, ValueError) as e:
- log.exception(e)
- return Response(response='"Cannot build DirectionWitSpeed from request"', status=HTTPStatus.FORBIDDEN)
-
- assert app.KINECT is not None
- buffer = app.KINECT.get_n_non_empty_captures(num_samples)
- if buffer is None:
- return Response('"No user in frame"', status=HTTPStatus.INTERNAL_SERVER_ERROR)
-
- moving_direction = Moving(
- compute_buffer=buffer,
- body_index=body_id,
- joint_index=joint_id,
- num_samples=num_samples,
- best_effort=best_effort,
- camera_fps=app.KINECT.config().camera_fps,
- )
-
- try:
- moving_direction.compute()
- except FailedToComputeError:
- return Response(response='"Failed to compute speed"', status=HTTPStatus.INTERNAL_SERVER_ERROR)
-
- moving_direction_w_speed = DirectionWithSpeed.from_moving(moving_direction)
- if moving_direction_w_speed.is_zero():
- is_faster = False
- else:
- is_faster = moving_direction_w_speed.is_faster_than(direction_w_speed, deviation)
-
- return Response(response=json.dumps(is_faster))
diff --git a/src/python/arcor2_kinect_azure/routes/body.py b/src/python/arcor2_kinect_azure/routes/body.py
deleted file mode 100644
index 17c053728..000000000
--- a/src/python/arcor2_kinect_azure/routes/body.py
+++ /dev/null
@@ -1,84 +0,0 @@
-import json
-import time
-
-from flask import Blueprint, Response, request
-
-from arcor2.flask import RespT
-from arcor2_kinect_azure import app
-from arcor2_kinect_azure.routes import requires_started
-
-blueprint = Blueprint("body", __name__, url_prefix="/body")
-
-
-@blueprint.route("/count", methods=["GET"])
-@requires_started
-def get_body_count() -> RespT:
- """Get body count
- ---
- get:
- description: Get body count
- tags:
- - Kinect Azure
- responses:
- 200:
- description: Ok
- content:
- application/json:
- schema:
- type: integer
- 500:
- description: "Error types: **General**, **StartError**."
- content:
- application/json:
- schema:
- $ref: WebApiError
- """
- kinect = app.KINECT
- assert kinect is not None
-
- bodies = kinect.get_bodies()
- count = 0 if bodies is None else bodies.shape[0]
- return Response(response=str(count))
-
-
-@blueprint.route("/present", methods=["GET"])
-@requires_started
-def is_user_present() -> RespT:
- """Get body count
- ---
- get:
- description: Returns true is someone is present
- tags:
- - Kinect Azure
- parameters:
- - in: query
- name: wait
- schema:
- type: boolean
- default: false
- responses:
- 200:
- description: Ok
- content:
- application/json:
- schema:
- type: integer
- 500:
- description: "Error types: **General**, **StartError**."
- content:
- application/json:
- schema:
- $ref: WebApiError
- """
- kinect = app.KINECT
- assert kinect is not None
-
- wait = json.loads(request.args.get("wait", "false"))
-
- while True:
- bodies = kinect.get_bodies()
- is_present = False if bodies is None else bodies.shape[0] > 0
- if wait and not is_present:
- time.sleep(0.1)
- continue
- return Response(response=json.dumps(is_present))
diff --git a/src/python/arcor2_kinect_azure/routes/color.py b/src/python/arcor2_kinect_azure/routes/color.py
deleted file mode 100644
index 4ebead875..000000000
--- a/src/python/arcor2_kinect_azure/routes/color.py
+++ /dev/null
@@ -1,91 +0,0 @@
-from flask import Blueprint, jsonify, send_file
-from PIL import Image
-
-from arcor2.data.camera import CameraParameters
-from arcor2.flask import RespT
-from arcor2.image import image_to_bytes_io
-from arcor2_kinect_azure import app, get_data
-from arcor2_kinect_azure.exceptions import StartError
-from arcor2_kinect_azure.routes import requires_started
-
-blueprint = Blueprint("color", __name__, url_prefix="/color")
-
-
-def color_image() -> Image.Image:
- return Image.open(get_data("rgb.jpg"))
-
-
-@blueprint.route("/image", methods=["GET"])
-@requires_started
-def get_image_color() -> RespT:
- """Get the color image.
- ---
- get:
- description: Get the color image.
- tags:
- - Color camera
- responses:
- 200:
- description: Ok
- content:
- image/jpeg:
- schema:
- type: string
- 500:
- description: "Error types: **General**, **StartError**."
- content:
- application/json:
- schema:
- $ref: WebApiError
- """
-
- if app.MOCK:
- img = color_image()
- else:
- assert app.KINECT is not None
- img = app.KINECT.color_image()
-
- return send_file(
- image_to_bytes_io(img, target_format="JPEG", target_mode="RGB"),
- mimetype="image/jpeg",
- max_age=0,
- )
-
-
-@blueprint.route("/parameters", methods=["GET"])
-@requires_started
-def get_color_camera_parameters() -> RespT:
- """Get the color camera parameters.
- ---
- get:
- description: Get the color camera parameters.
- tags:
- - Color camera
- responses:
- 200:
- description: Ok
- content:
- application/json:
- schema:
- $ref: CameraParameters
- 500:
- description: "Error types: **General**, **StartError**."
- content:
- application/json:
- schema:
- $ref: WebApiError
- """
-
- if app.MOCK:
- params = CameraParameters(
- 915.575, 915.425, 957.69, 556.35, [0.447, -2.5, 0.00094, -0.00053, 1.432, 0.329, -2.332, 1.363]
- )
- else:
- assert app.KINECT is not None
-
- if not app.KINECT.color_camera_params:
- raise StartError("Failed to get camera parameters")
-
- params = app.KINECT.color_camera_params
-
- return jsonify(params.to_dict()), 200
diff --git a/src/python/arcor2_kinect_azure/routes/depth.py b/src/python/arcor2_kinect_azure/routes/depth.py
deleted file mode 100644
index d18b5321e..000000000
--- a/src/python/arcor2_kinect_azure/routes/depth.py
+++ /dev/null
@@ -1,54 +0,0 @@
-from flask import Blueprint, request, send_file
-from PIL import Image
-
-from arcor2.flask import RespT
-from arcor2.image import image_to_bytes_io
-from arcor2_kinect_azure import app, get_data
-from arcor2_kinect_azure.routes import requires_started
-
-blueprint = Blueprint("depth", __name__, url_prefix="/depth")
-
-
-def depth_image() -> Image.Image:
- return Image.open(get_data("depth.png"))
-
-
-@blueprint.route("/image", methods=["GET"])
-@requires_started
-def get_image_depth() -> RespT:
- """Get the depth image.
- ---
- get:
- description: Get the depth image.
- tags:
- - Depth camera
- parameters:
- - in: query
- name: averagedFrames
- schema:
- type: integer
- default: 1
- required: false
- description: Package name
- responses:
- 200:
- description: Ok
- content:
- image/png:
- schema:
- type: string
- 500:
- description: "Error types: **General**, **StartError**."
- content:
- application/json:
- schema:
- $ref: WebApiError
- """
-
- if app.MOCK:
- img = depth_image()
- else:
- assert app.KINECT is not None
- img = app.KINECT.depth_image(num_frames=int(request.args.get("num_frames", default=1)))
-
- return send_file(image_to_bytes_io(img, target_format="PNG"), mimetype="image/png", max_age=0)
diff --git a/src/python/arcor2_kinect_azure/routes/position.py b/src/python/arcor2_kinect_azure/routes/position.py
deleted file mode 100644
index 31a729430..000000000
--- a/src/python/arcor2_kinect_azure/routes/position.py
+++ /dev/null
@@ -1,231 +0,0 @@
-import json
-import math
-import time
-
-from flask import Blueprint, Response, request
-
-from arcor2.data.common import BodyJointId, Pose, Position
-from arcor2.flask import DataclassResponse, RespT
-from arcor2.logging import get_logger
-from arcor2_kinect_azure import ARCOR2_KINECT_AZURE_LOG_LEVEL, app
-from arcor2_kinect_azure.exceptions import NotFound
-from arcor2_kinect_azure.kinect.common import get_body_joint, parse_skeleton
-from arcor2_kinect_azure.routes import requires_started
-from arcor2_kinect_azure_data.joint import BodyJoint, JointValid
-
-blueprint = Blueprint("position", __name__, url_prefix="/position")
-
-log = get_logger(__name__, ARCOR2_KINECT_AZURE_LOG_LEVEL)
-
-
-def get_distance(p1: Position, p2: Position) -> float:
- p = p1 - p2
- return math.sqrt(p.x**2 + p.y**2 + p.z**2)
-
-
-@blueprint.route("/is-nearby", methods=["GET"])
-@requires_started
-def is_nearby() -> RespT:
- """Get true if body part is nearby specified position
- ---
- get:
- description: Get true if body part is nearby specified position
- tags:
- - Kinect Azure
- requestBody:
- content:
- application/json:
- schema:
- $ref: Position
- parameters:
- - in: query
- name: body_id
- description: Default value points to the chest
- schema:
- type: integer
- default: 2
- minimum: 0
- maximum: 31
- - in: query
- name: radius
- schema:
- type: number
- format: float
- default: 1.0
- minimum: 0.0
- - in: query
- name: wait
- schema:
- type: boolean
- default: false
- responses:
- 200:
- description: Ok
- content:
- application/json:
- schema:
- type: boolean
- 500:
- description: "Error types: **General**, **StartError**."
- content:
- application/json:
- schema:
- $ref: WebApiError
- """
- if not isinstance(request.json, dict):
- raise NotFound("Position was not found")
-
- kinect = app.KINECT
- assert kinect is not None
-
- scene_abs_position = Position.from_dict(request.json)
- log.debug(f"Position from request: {scene_abs_position}")
- position = kinect.get_camera_relative_pos(scene_abs_position)
- log.debug(f"Camera absolute position: {position}")
- body_id = int(request.args.get("body_id") or 0)
- joint_id = BodyJointId.from_str_or_default(request.args.get("joint_id"))
- radius = float(request.args.get("radius") or 1.0)
- wait = json.loads(request.args.get("wait", "false"))
-
- while True:
- joint = get_body_joint(kinect.capture(), joint_id, body_id)
- if not joint:
- if wait:
- time.sleep(0.1)
- continue
- return Response(response=json.dumps(False))
-
- log.debug(f"Raw joint position: {joint.position}")
- adjusted_joint_position = kinect.adjust_depth_position_to_rgb(joint.position)
- log.debug(f"Adjusted joint position: {adjusted_joint_position}")
-
- point_distance = get_distance(position, adjusted_joint_position)
- if point_distance > radius:
- if wait:
- time.sleep(0.1)
- continue
- return Response(response=json.dumps(False))
-
- return Response(response=json.dumps(True))
-
-
-@blueprint.route("/is-colliding", methods=["GET"])
-@requires_started
-def is_colliding() -> RespT:
- """Get true if body is going to collide with provided position
- ---
- get:
- description: Get true if body is going to collide with provided position
- tags:
- - Kinect Azure
- requestBody:
- content:
- application/json:
- schema:
- $ref: Position
- parameters:
- - in: query
- name: radius
- schema:
- type: number
- format: float
- default: 0.03
- minimum: 0.0
- responses:
- 200:
- description: Ok
- content:
- application/json:
- schema:
- type: boolean
- 500:
- description: "Error types: **General**, **StartError**."
- content:
- application/json:
- schema:
- $ref: WebApiError
- """
- if not isinstance(request.json, dict):
- raise NotFound("Position was not found")
-
- kinect = app.KINECT
- assert kinect is not None
-
- scene_abs_position = Position.from_dict(request.json)
- log.debug(f"Position from request: {scene_abs_position}")
- position = kinect.get_camera_relative_pos(scene_abs_position)
- log.debug(f"Camera absolute position: {position}")
- threshold = float(request.args.get("radius") or 0.1)
-
- capture = kinect.get_non_empty_capture()
- if capture is None:
- return Response(response=json.dumps(False))
-
- skeleton = parse_skeleton(capture)
- if skeleton is None:
- log.warning("No skeleton was found")
- return Response(response=json.dumps(False))
-
- log.debug(f"{threshold=}")
- for joint_id in BodyJointId.set():
- body_joint = BodyJoint.from_joint(skeleton[joint_id])
- if body_joint.valid != JointValid.VALID or body_joint.position is None:
- continue
-
- distance = position - body_joint.position
- log.debug(f"{joint_id}: {distance=}")
- if abs(distance.x) < threshold and abs(distance.y) < threshold and abs(distance.z) < threshold:
- return Response(response=json.dumps(True))
-
- return Response(response=json.dumps(False))
-
-
-@blueprint.route("/get", methods=["GET"])
-@requires_started
-def get_position() -> RespT:
- """Return position of specified body part
- ---
- get:
- description: Return position of specified body part
- tags:
- - Kinect Azure
- parameters:
- - in: query
- name: body_id
- schema:
- type: integer
- default: 0
- - in: query
- name: joint_id
- schema:
- type: integer
- default: 2
- minimum: 0
- maximum: 31
- responses:
- 200:
- description: Ok
- content:
- application/json:
- schema:
- $ref: Pose
- 500:
- description: "Error types: **General**, **StartError**."
- content:
- application/json:
- schema:
- $ref: WebApiError
- """
- kinect = app.KINECT
- assert kinect is not None
-
- body_id = int(request.args.get("body_id") or 0)
- joint_id = BodyJointId.from_str_or_default(request.args.get("joint_id"))
-
- capture = kinect.capture()
- joint = get_body_joint(capture, joint_id, body_id)
- assert joint is not None
-
- abs_position = kinect.get_camera_relative_pos(joint.position)
-
- return DataclassResponse(Pose(abs_position))
diff --git a/src/python/arcor2_kinect_azure/routes/skeleton.py b/src/python/arcor2_kinect_azure/routes/skeleton.py
deleted file mode 100644
index de62e6a1d..000000000
--- a/src/python/arcor2_kinect_azure/routes/skeleton.py
+++ /dev/null
@@ -1,45 +0,0 @@
-from flask import Blueprint, send_file
-
-from arcor2.flask import RespT
-from arcor2.image import image_to_bytes_io
-from arcor2_kinect_azure import app
-from arcor2_kinect_azure.routes import requires_started
-from arcor2_kinect_azure.routes.color import color_image
-
-blueprint = Blueprint("skeleton", __name__, url_prefix="/skeleton")
-
-
-@blueprint.route("/image", methods=["GET"])
-@requires_started
-def get_skeleton_image() -> RespT:
- """Get the color image with visualized skeleton.
- ---
- get:
- description: Get the color image with visualized skeleton.
- tags:
- - Color camera
- responses:
- 200:
- description: Ok
- content:
- image/jpeg:
- schema:
- type: string
- 500:
- description: "Error types: **General**, **StartError**."
- content:
- application/json:
- schema:
- $ref: WebApiError
- """
- if app.MOCK:
- img = color_image()
- else:
- assert app.KINECT is not None
- img = app.KINECT.skeleton_image() # type: ignore # TODO solve it
-
- return send_file(
- image_to_bytes_io(img, target_format="JPEG", target_mode="RGB"),
- mimetype="image/jpeg",
- max_age=0,
- )
diff --git a/src/python/arcor2_kinect_azure/routes/state.py b/src/python/arcor2_kinect_azure/routes/state.py
deleted file mode 100644
index 57da41a81..000000000
--- a/src/python/arcor2_kinect_azure/routes/state.py
+++ /dev/null
@@ -1,262 +0,0 @@
-import json
-from http import HTTPStatus
-
-from flask import Blueprint, Response, request
-
-from arcor2.data.common import Pose
-from arcor2.flask import RespT
-from arcor2.logging import get_logger
-from arcor2_kinect_azure import ARCOR2_KINECT_AZURE_LOG_LEVEL, app
-from arcor2_kinect_azure.exceptions import StartError
-from arcor2_kinect_azure.routes import requires_started, started
-
-log = get_logger(__name__, ARCOR2_KINECT_AZURE_LOG_LEVEL)
-
-blueprint = Blueprint("state", __name__, url_prefix="/state")
-
-
-@blueprint.route("/start", methods=["PUT"])
-def put_start() -> RespT:
- """Start the sensor.
- ---
- put:
- description: Start the robot.
- tags:
- - State
- requestBody:
- content:
- application/json:
- schema:
- $ref: Pose
- responses:
- 204:
- description: Ok
- 500:
- description: "Error types: **General**, **DobotGeneral**, **StartError**."
- content:
- application/json:
- schema:
- $ref: WebApiError
- """
-
- if started():
- raise StartError("Already started.")
-
- if app.MOCK:
- app.MOCK_STARTED = True
- else:
- if not isinstance(request.json, dict):
- StartError("Body should be a JSON dict containing Pose.")
- camera_pose = Pose.from_json(request.data)
-
- # lazy import so mock mode can work without pyk4a installed
- from arcor2_kinect_azure.kinect import KinectAzure
-
- assert app.KINECT is None
- app.KINECT = KinectAzure()
-
- app.KINECT.set_camera_pose(camera_pose)
-
- log.info("Started")
- return Response(response="ok", status=HTTPStatus.OK)
-
-
-@blueprint.route("/full-start", methods=["PUT"])
-def put_full_start() -> RespT:
- """Start the sensor.
- ---
- put:
- description: Start the sensor and start capturing all frames.
- tags:
- - State
- requestBody:
- content:
- application/json:
- schema:
- $ref: Pose
- responses:
- 200:
- description: Ok
- 405:
- description: Already running
- 500:
- description: "Error types: **General**, **StartError**."
- content:
- application/json:
- schema:
- $ref: WebApiError
- """
- if started():
- return Response(response="Already running.", status=HTTPStatus.METHOD_NOT_ALLOWED)
-
- if app.MOCK:
- app.MOCK_STARTED = True
- else:
- if not isinstance(request.json, dict):
- StartError("Body should be a JSON dict containing Pose.")
- camera_pose = Pose.from_json(request.data)
-
- # lazy import so mock mode can work without pyk4a installed
- from arcor2_kinect_azure.kinect import KinectAzure
-
- assert app.KINECT is None
- app.KINECT = KinectAzure()
-
- app.KINECT.set_camera_pose(camera_pose)
-
- app.KINECT.start_capturing()
-
- log.info("Started and capturing")
- return Response(response="ok", status=HTTPStatus.OK)
-
-
-@blueprint.route("/start-capturing", methods=["PUT"])
-@requires_started
-def put_capture() -> RespT:
- """Start the capturing.
- ---
- put:
- description: Start capturing all frames.
- tags:
- - State
- responses:
- 200:
- description: Ok
- 500:
- description: "Error types: **General**, **StartError**."
- content:
- application/json:
- schema:
- $ref: WebApiError
- """
-
- if not app.MOCK:
- assert app.KINECT is not None
- app.KINECT.start_capturing()
-
- log.info("Capturing")
- return Response(response="ok", status=HTTPStatus.OK)
-
-
-@blueprint.route("/stop", methods=["PUT"])
-@requires_started
-def put_stop() -> RespT:
- """Stop the sensor.
- ---
- put:
- description: Stop the sensor.
- tags:
- - State
- responses:
- 200:
- description: Ok
- 500:
- description: "Error types: **General**, **StartError**."
- content:
- application/json:
- schema:
- $ref: WebApiError
- """
-
- if app.MOCK:
- app.MOCK_STARTED = False
- else:
- assert app.KINECT is not None
- app.KINECT.cleanup()
- app.KINECT = None
- log.info("Stopped")
- return Response(response="ok", status=HTTPStatus.OK)
-
-
-@blueprint.route("/started", methods=["GET"])
-def get_started() -> RespT:
- """Get the current state.
- ---
- get:
- description: Get the current state.
- tags:
- - State
- responses:
- 200:
- description: Ok
- content:
- application/json:
- schema:
- type: boolean
- 500:
- description: "Error types: **General**, **StartError**."
- content:
- application/json:
- schema:
- $ref: WebApiError
- """
- return Response(response=json.dumps(started()), status=HTTPStatus.OK)
-
-
-@blueprint.route("/pose", methods=["GET"])
-@requires_started
-def get_pose() -> RespT:
- """Returns the pose configured during startup.
- ---
- get:
- description: Returns the pose configured during startup.
- tags:
- - State
- responses:
- 200:
- description: Ok
- content:
- application/json:
- schema:
- $ref: Pose
- 500:
- description: "Error types: **General**, **StartError**."
- content:
- application/json:
- schema:
- $ref: WebApiError
- """
- kinect = app.KINECT
- assert kinect is not None
-
- pose = kinect.get_camera_pose()
-
- return Response(response=pose.to_json(), status=HTTPStatus.OK)
-
-
-@blueprint.route("/pose", methods=["PUT"])
-@requires_started
-def put_pose() -> RespT:
- """Sets sensor pose in runtime.
- ---
- put:
- description: Sets sensor pose in runtime.
- tags:
- - State
- requestBody:
- content:
- application/json:
- schema:
- $ref: Pose
- responses:
- 204:
- description: Ok
- 500:
- description: "Error types: **General**, **StartError**."
- content:
- application/json:
- schema:
- $ref: WebApiError
- """
-
- if not isinstance(request.json, dict):
- raise StartError("Body should be a JSON dict containing Pose.")
-
- kinect = app.KINECT
- assert kinect is not None
-
- pose = Pose.from_dict(request.json)
-
- kinect.set_camera_pose(pose)
-
- return Response(response="ok", status=HTTPStatus.OK)
diff --git a/src/python/arcor2_kinect_azure/routes/synchronized.py b/src/python/arcor2_kinect_azure/routes/synchronized.py
deleted file mode 100644
index 0c4c6cc4d..000000000
--- a/src/python/arcor2_kinect_azure/routes/synchronized.py
+++ /dev/null
@@ -1,59 +0,0 @@
-import io
-import zipfile
-
-from flask import Blueprint, send_file
-
-from arcor2.flask import RespT
-from arcor2.image import image_to_bytes_io
-from arcor2_kinect_azure import app
-from arcor2_kinect_azure.routes import requires_started
-from arcor2_kinect_azure.routes.color import color_image
-from arcor2_kinect_azure.routes.depth import depth_image
-
-blueprint = Blueprint("synchronized", __name__, url_prefix="/synchronized")
-
-
-@blueprint.route("/image", methods=["GET"])
-@requires_started
-def get_image_both() -> RespT:
- """Get the both color/depth image.
- ---
- get:
- description: Get the depth image.
- tags:
- - Synchronized
- responses:
- 200:
- description: Ok
- content:
- application/zip:
- schema:
- type: string
- format: binary
- 500:
- description: "Error types: **General**, **StartError**."
- content:
- application/json:
- schema:
- $ref: WebApiError
- """
-
- if app.MOCK:
- color = color_image()
- depth = depth_image()
- else:
- assert app.KINECT is not None
- both = app.KINECT.sync_images()
- color = both.color
- depth = both.depth
-
- mem_zip = io.BytesIO()
-
- with zipfile.ZipFile(mem_zip, mode="w", compression=zipfile.ZIP_STORED) as zf:
- zf.writestr("color.jpg", image_to_bytes_io(color).getvalue())
- zf.writestr("depth.png", image_to_bytes_io(depth, target_format="PNG").getvalue())
-
- mem_zip.seek(0)
- return send_file(
- mem_zip, mimetype="application/zip", max_age=0, as_attachment=True, download_name="synchronized.zip"
- )
diff --git a/src/python/arcor2_kinect_azure/routes/video.py b/src/python/arcor2_kinect_azure/routes/video.py
deleted file mode 100644
index 011d85b4e..000000000
--- a/src/python/arcor2_kinect_azure/routes/video.py
+++ /dev/null
@@ -1,58 +0,0 @@
-from flask import Blueprint, Response, render_template_string
-
-from arcor2.flask import RespT
-from arcor2_kinect_azure import app
-from arcor2_kinect_azure.routes import requires_started
-
-blueprint = Blueprint("video", __name__, url_prefix="/video")
-
-
-@blueprint.route("/show", methods=["GET"])
-@requires_started
-def show() -> RespT:
- """Show live feed from the camera in browser
- ---
- get:
- description: Show live feed from camera in browser
- tags:
- - Color camera
- responses:
- 200:
- description: Ok
- content:
- image/jpeg:
- schema:
- type: string
- 500:
- description: "Error types: **General**, **StartError**."
- content:
- application/json:
- schema:
- $ref: WebApiError
- """
- assert app.KINECT
-
- return (
- render_template_string(
- """
-
-
-
- Live streaming
-
-
 }})
-