[RSDK-8402] Migrate from OakCamera to DepthAI v3 (#51)

* Add new validating flow; Remove ffc model from meta.json and code; Reorganize files

* Make lint

* Remove immediate model assignment

* Remove undeclared var

* Add impl

* Fix up merge more:

* Make lint

* Address logging craziness

* Change default dimensions

* Change config obj names to better camel case

* Fix this logging stuff ugh

* Make lint

* Change dir structure in preparation for service

* Change logger names one more time for clarity

* Fix hanging event loop bug

* Migrate from OakCamera SDK to DepthAI v3

* Fix weird merge resolution and bolster integration tests

* Change language of log and comments to reflect SDK change

* Don't double set rgb/bgr support

* Fix typo in func name

* Why was canon.yaml gitignored? My bad

* Unhardcode defaults and also clean up defaults const vars

* Exit configure with more clear failure

* Make lint

Author: hexbabe

.canon.yaml

@@ -0,0 +1,4 @@
+# This file provides project-level configuration for the canon dev environment utility. https://github.com/viamrobotics/canon
+oak:
+    default: true
+    image_arm64: ghcr.io/viamrobotics/cloud-build-base:arm64

.gitignore

@@ -1,9 +1,9 @@
 # top level
-.build-venv
-.canon.yaml
+.build-env
 .DS_Store
 .pytest_cache
 .venv
+build
 module.tar.gz
 oak-integration-tests
 

integration-tests/tests/oak_d_test.go

@@ -40,11 +40,12 @@ func TestCameraServer(t *testing.T) {
 		test.That(t, err, test.ShouldBeNil)
 	})
 
-	t.Run("Get images method", func(t *testing.T) {
+	t.Run("Get images method (two images)", func(t *testing.T) {
 		images, metadata, err := cam.Images(timeoutCtx)
 		test.That(t, err, test.ShouldBeNil)
 		test.That(t, images, test.ShouldNotBeNil)
 		test.That(t, metadata, test.ShouldNotBeNil)
+		test.That(t, len(images), test.ShouldEqual, 2)
 		for _, img := range images {
 			test.That(t, img.SourceName, test.ShouldEqual, componentName)
 			bounds := img.Image.Bounds()
@@ -64,7 +65,7 @@ func TestCameraServer(t *testing.T) {
 	t.Run("Reconfigure module", func(t *testing.T) {
 		cfg := resource.Config{
 			Attributes: utils.AttributeMap{
-				"sensors": []string{"color"},
+				"sensors": []string{"depth"},
 			},
 		}
 		err := cam.Reconfigure(timeoutCtx, resource.Dependencies{}, cfg)

src/components/helpers/shared.py

@@ -1,23 +1,39 @@
 from typing import Dict, List, Literal, Optional, Tuple
 from numpy.typing import NDArray
 
-from depthai_sdk.components.camera_component import CameraComponent
+from depthai import CameraBoardSocket
+
+
+def get_socket_from_str(s: str) -> CameraBoardSocket:
+    if s == "cam_a":
+        return CameraBoardSocket.CAM_A
+    elif s == "cam_b":
+        return CameraBoardSocket.CAM_B
+    elif s == "cam_c":
+        return CameraBoardSocket.CAM_C
+    else:
+        raise Exception(f"Camera socket '{s}' is not recognized or supported.")
 
 
 class Sensor:
-    component: Optional[CameraComponent] = None
+    def get_unique_name(self) -> str:
+        if self.sensor_type == "color":
+            return f"{self.socket_str}_rgb"
+        else:
+            return f"{self.socket_str}_mono"
 
     def __init__(
         self,
-        socket: Literal["cam_a", "cam_b", "cam_c"],
+        socket_str: Literal["cam_a", "cam_b", "cam_c"],
         sensor_type: Literal["color", "depth"],
         width: int,
         height: int,
         frame_rate: int,
         color_order: Literal["rgb", "bgr"] = "rgb",
         interleaved: bool = False,
     ):
-        self.socket = socket
+        self.socket_str = socket_str
+        self.socket = get_socket_from_str(socket_str)
         self.sensor_type = sensor_type
         self.width = width
         self.height = height
@@ -35,7 +51,7 @@ class Sensors:
     def __init__(self, sensors: List[Sensor]):
         self._mapping = dict()
         for sensor in sensors:
-            self._mapping[sensor.socket] = sensor
+            self._mapping[sensor.socket_str] = sensor
 
         self.color_sensors = self._find_color_sensors()
         self.stereo_pair = self._find_stereo_pair()

src/components/oak.py

@@ -363,12 +363,12 @@ async def get_point_cloud(
         await self._wait_until_worker_running()
 
         # By default, we do not get point clouds even when color and depth are both requested
-        # We have to reinitialize the worker/OakCamera to start making point clouds
+        # We have to reinitialize the worker/pipeline+device to start making point clouds
         if not self.worker.user_wants_pc:
             self.worker.user_wants_pc = True
             self.worker.reset()
-            await self.worker.configure()
-            self.worker.start()
+            self.worker.configure()
+            await self.worker.start()
 
         while not self.worker.running:
             LOGGER.info("Waiting for worker to restart with pcd configured...")