def get_detected_objects(stub):
""" Get detected objects from gprc detection server. """
request = detection_server_pb2.Empty()
try:
response = stub.GetDetectedObjects(request)
except grpc.RpcError as err:
logger.error(f'grpc error: {err.details()}') #pylint: disable=no-member
logger.error('{}, {}'.format(err.code().name, err.code().value)) #pylint: disable=no-member
exit(1)
# Find valid detected objects in the response from the grpc server.
# An invalid object is one with label == '' which the server will
# send if its stack is empty. This serves as a kind of flow control.
# Note: ListFields returns a list of (FieldDescriptor, value) tuples
# for all fields in the protobuf message which are not empty.
def make(obj):
return DetectedObject(
label = obj.label,
score = obj.score,
area = obj.area,
centroid = Centroid(
x = obj.centroid.x,
y = obj.centroid.y
)
)
return [make(obj) for (fd,v) in response.ListFields() for obj in v if obj.label != '']
def get_camera_intrinsic_parameters(stub):
""" Get camera intrinsic params from gprc detection server. """
request = detection_server_pb2.Empty()
try:
response = stub.GetCameraIntrinsicParameters(request)
return response
except grpc.RpcError as err:
logger.error(err.details()) #pylint: disable=no-member
logger.error('{}, {}'.format(err.code().name, err.code().value)) #pylint: disable=no-member
exit(1)
def get_camera_resolution(stub):
request = detection_server_pb2.Empty()
try:
response = stub.GetCameraResolution(request)
print('Camera resolution fetched.')
return response
except grpc.RpcError as err:
print(err.details()) #pylint: disable=no-member
print('{}, {}'.format(err.code().name, err.code().value)) #pylint: disable=no-member
exit(1)