Disable RGB from RealSense, again

lib/src/collection.dart

@@ -13,7 +13,7 @@ CameraDetails getDefaultDetails(CameraName name) => CameraDetails(
   name: name,
   resolutionWidth: 300,
   resolutionHeight: 300,
-  quality: 50,
+  quality: 75,
   fps: 24,
   status: CameraStatus.CAMERA_ENABLED,
 );

lib/src/isolates/child.dart

@@ -19,7 +19,7 @@ abstract class CameraIsolate extends IsolateChild<IsolatePayload, VideoCommand>
   /// A timer to periodically send the camera status to the dashboard.
   Timer? statusTimer;
   /// A timer to read from the camera at an FPS given by [details].
-  PeriodicTimer? frameTimer;
+  Timer? frameTimer;
   /// A timer to log out the [fpsCount] every 5 seconds using [sendLog].
   Timer? fpsTimer;
   /// Records how many FPS this camera is actually running at.
@@ -99,7 +99,7 @@ abstract class CameraIsolate extends IsolateChild<IsolatePayload, VideoCommand>
     if (details.status != CameraStatus.CAMERA_ENABLED) return;
     sendLog(LogLevel.debug, "Starting camera $name. Status=${details.status}");
     final interval = details.fps == 0 ? Duration.zero : Duration(milliseconds: 1000 ~/ details.fps);
-    frameTimer = PeriodicTimer(interval, sendFrames);
+    frameTimer = Timer.periodic(interval, (_) => sendFrames());
     fpsTimer = Timer.periodic(const Duration(seconds: 5), (_) {
       sendLog(LogLevel.trace, "Camera $name sent ${fpsCount ~/ 5} frames");
       fpsCount = 0;

lib/src/isolates/opencv.dart

@@ -19,6 +19,7 @@ class OpenCVCameraIsolate extends CameraIsolate {
   @override
   void initCamera() {
     camera = getCamera(name);
+    camera.setResolution(details.resolutionWidth, details.resolutionHeight);
     if (!camera.isOpened) {
       sendLog(LogLevel.warning, "Camera $name is not connected");
       updateDetails(CameraDetails(status: CameraStatus.CAMERA_DISCONNECTED));
@@ -38,6 +39,7 @@ class OpenCVCameraIsolate extends CameraIsolate {
   void sendFrames() {
     final matrix = camera.getFrame();
     if (matrix == nullptr) return;
+    // detectAndAnnotateFrames(matrix);
     final frame = encodeJpg(matrix, quality: details.quality);
     matrix.dispose();
     if (frame == null) {  // Error getting the frame

lib/src/isolates/realsense.dart

@@ -76,24 +76,30 @@ class RealSenseIsolate extends CameraIsolate {
       sendFrame(colorizedJpg);
     }
 
-    // Get RGB frame
-    final Pointer<Uint8> rawRGB = frames.ref.rgb_data;
-    final Pointer<Mat> rgbMatrix = getMatrix(camera.rgbResolution.height, camera.rgbResolution.width, rawRGB);
-    detectAndAnnotateFrames(rgbMatrix);  // detect ArUco tags
-
-    // Compress the RGB frame into a JPG
-    final OpenCVImage? rgbJpg = encodeJpg(rgbMatrix, quality: details.quality);
-    if (rgbJpg == null) {
-      sendLog(LogLevel.debug, "Could not encode RGB frame"); 
-    } else {
-      final newDetails = details.deepCopy()..name = CameraName.ROVER_FRONT;
-      sendFrame(rgbJpg, detailsOverride: newDetails);
-    }
+    sendRgbFrame(frames.ref.rgb_data);
 
     fpsCount++;
-    // send(DepthFramePayload(frames.address));
+    // send(DepthFramePayload(frames.address));  // For autonomy
     nativeLib.Mat_destroy(colorizedMatrix);
-    nativeLib.Mat_destroy(rgbMatrix);
     frames.dispose();
   }
+
+  /// Sends the RealSense's RGB frame and optionally detects ArUco tags.
+  void sendRgbFrame(Pointer<Uint8> rawRGB) {
+    if (rawRGB == nullptr) return;
+    final Pointer<Mat> rgbMatrix = getMatrix(camera.rgbResolution.height, camera.rgbResolution.width, rawRGB);
+    //detectAndAnnotateFrames(rgbMatrix);  // detect ArUco tags
+
+    // Compress the RGB frame into a JPG
+    if (rgbMatrix != nullptr) {
+      final OpenCVImage? rgbJpg = encodeJpg(rgbMatrix, quality: details.quality);
+      if (rgbJpg == null) {
+        sendLog(LogLevel.debug, "Could not encode RGB frame"); 
+      } else {
+        final newDetails = details.deepCopy()..name = CameraName.ROVER_FRONT;
+        sendFrame(rgbJpg, detailsOverride: newDetails);
+      }
+      nativeLib.Mat_destroy(rgbMatrix);
+    }
+  }
 }

lib/src/utils/constants.dart

@@ -6,12 +6,14 @@ import "package:burt_network/generated.dart";
 ///
 /// Map for MAC or LINUX devices
 Map<CameraName, String> cameraNames = {
-  CameraName.ROVER_FRONT: "/dev/realsense_rgb",
-  CameraName.ROVER_REAR: "/dev/rear_camera",
-  CameraName.AUTONOMY_DEPTH: "/dev/realsense_depth",
-  CameraName.SUBSYSTEM1: "/dev/subsystem1",
-  CameraName.SUBSYSTEM2: "/dev/subsystem2",
-  CameraName.SUBSYSTEM3: "/dev/subsystem3",
+  CameraName.ROVER_FRONT: "/dev/rover-cam_realsense_rgb",
+  CameraName.ROVER_REAR: "/dev/rover-cam_rear",
+  CameraName.AUTONOMY_DEPTH: "/dev/rover-cam_realsense_depth",
+  CameraName.SUBSYSTEM1: "/dev/rover-cam_bottom-right",
+  CameraName.SUBSYSTEM2: "/dev/rover-cam_bottom-left",
+//  CameraName.SUBSYSTEM1: "/dev/rover-cam_subsystem_1",
+//  CameraName.SUBSYSTEM2: "/dev/rover-cam_subsystem_2",
+  CameraName.SUBSYSTEM3: "/dev/rover-cam_subsystem_3",
 };
 
 /// Map for WINDOWS devices

src/realsense_internal.cpp

@@ -48,23 +48,26 @@ const char* burt_rs::RealSense::getDeviceName() {
 BurtRsStatus burt_rs::RealSense::startStream() {
   rs2::config rs_config;
   rs_config.enable_stream(RS2_STREAM_DEPTH, DEPTH_WIDTH, HEIGHT);
-  rs_config.enable_stream(RS2_STREAM_COLOR, RGB_WIDTH, HEIGHT, RS2_FORMAT_BGR8);
+  // rs_config.enable_stream(RS2_STREAM_COLOR, RGB_WIDTH, HEIGHT, RS2_FORMAT_BGR8);
   auto profile = pipeline.start(rs_config);
   auto frames = pipeline.wait_for_frames();
   auto depth_frame = frames.get_depth_frame();
-  auto rgb_frame = frames.get_color_frame();
+  // auto rgb_frame = frames.get_color_frame();
   auto depth_width = depth_frame.get_width();
   auto depth_height = depth_frame.get_height();
-  auto rgb_width = rgb_frame.get_width();
-  auto rgb_height = rgb_frame.get_height();
+  // auto rgb_width = rgb_frame.get_width();
+  // auto rgb_height = rgb_frame.get_height();
 
-  if (rgb_width == 0 || rgb_height == 0 || depth_width == 0 || depth_height == 0) {
+  // if (rgb_width == 0 || rgb_height == 0 || depth_width == 0 || depth_height == 0) {
+  if (depth_width == 0 || depth_height == 0) {
     return BurtRsStatus::BurtRsStatus_resolution_unknown;
   } else {
     config.depth_width = depth_width;
     config.depth_height = depth_height;
-    config.rgb_width = rgb_width;
-    config.rgb_height = rgb_height;
+    // config.rgb_width = rgb_width;
+    // config.rgb_height = rgb_height;
+    config.rgb_width = 0;
+    config.rgb_height = 0;
     return BurtRsStatus::BurtRsStatus_ok;
   }
 }
@@ -81,16 +84,16 @@ NativeFrames* burt_rs::RealSense::getDepthFrame() {
   if (!pipeline.poll_for_frames(&frames)) return nullptr;
   rs2::depth_frame depth_frame = frames.get_depth_frame();
   rs2::frame colorized_frame = colorizer.colorize(depth_frame);
-  rs2::frame rgb_frame = frames.get_color_frame();
+  // rs2::frame rgb_frame = frames.get_color_frame();
 
   // Copy both frames -- TODO: optimize this to be a move instead
   int depth_length = depth_frame.get_data_size();
   int colorized_length = colorized_frame.get_data_size();
-  int rgb_length = rgb_frame.get_data_size();
-  if (depth_length == 0 || colorized_length == 0 || rgb_length == 0) return nullptr;
+  // int rgb_length = rgb_frame.get_data_size();
+  // if (depth_length == 0 || colorized_length == 0 || rgb_length == 0) return nullptr;
   uint8_t* depth_copy = new uint8_t[depth_length];
   uint8_t* colorized_copy = new uint8_t[colorized_length];
-  uint8_t* rgb_copy = new uint8_t[rgb_length];
+  // uint8_t* rgb_copy = new uint8_t[rgb_length];
 
   // Copy all the data in the depth frame
   const uint8_t* depth_data = static_cast<const uint8_t*>(depth_frame.get_data());
@@ -105,19 +108,19 @@ NativeFrames* burt_rs::RealSense::getDepthFrame() {
   }
 
   // Copy all the data in the RGB frame
-  const uint8_t* rgb_data = static_cast<const uint8_t*>(rgb_frame.get_data());
+  /* const uint8_t* rgb_data = static_cast<const uint8_t*>(rgb_frame.get_data());
   for (int i = 0; i < rgb_length; i++) {
     rgb_copy[i] = rgb_data[i];
-  }
+  }*/
 
   // Return both frames
   return new NativeFrames {
     depth_data: depth_copy,
     depth_length: depth_length,
     colorized_data: colorized_copy,
     colorized_length: colorized_length,
-    rgb_data: rgb_copy,
-    rgb_length: rgb_length,
+    rgb_data: nullptr,
+    rgb_length: 0,
   };
 }