refactor: refactored video_sender to send image as width, height and raw image bytes]

ref: N25B-393

src/robot_interface/endpoints/video_sender.py

@@ -23,7 +23,7 @@ class VideoSender(SocketBase):
     """
     def __init__(self, zmq_context, port=settings.agent_settings.video_sender_port):
         super(VideoSender, self).__init__("video")
-        self.create_socket(zmq_context, zmq.PUB, port, [(zmq.CONFLATE,1)])
+        self.create_socket(zmq_context, zmq.PUB, port, [(zmq.SNDHWM,3)])
     
     def start_video_rcv(self):
         """
@@ -69,24 +69,20 @@ class VideoSender(SocketBase):
                 break
             
             height, width, channels = frame.shape
-            print(width)
-            print(height)
+            
             pixel_data = frame.tobytes()
 
             width_bytes = struct.pack('<I', width)
             height_bytes = struct.pack('<I', height)
 
-            #print("Sending frames")
-            #print(width_bytes)
-            #print(height_bytes)
-            #print(pixel_data)
-            self.socket.send_multipart([b"",width_bytes, height_bytes, pixel_data])
+            self.socket.send_multipart([width_bytes, height_bytes, pixel_data])
 
         cap.release()
 
     def video_rcv_loop(self, vid_service, vid_stream_name):
         """
         The main loop of retrieving video images from the robot.
+        Sends the image data over the ZMQ socket in 3 parts: image width, image height and raw image bytes.
 
         :param vid_service: The video service object that the active Qi session is connected to. 
         :type vid_service: Object (Qi service object)
@@ -99,16 +95,14 @@ class VideoSender(SocketBase):
                 try:
                     img = vid_service.getImageRemote(vid_stream_name)
                     if img is not None:
-                        raw_data = img[6]
+                        image_bytes = img[6]
                         width = img[0]
                         height = img[1]
 
-                        frame = np.frombuffer(raw_data, dtype=np.uint8).reshape((height, width, 3))
-                        ret, jpeg_data = cv2.imencode('.jpg', frame)
-                        if ret:
-                            jpeg_bytes = jpeg_data.tobytes()
+                        width_bytes = struct.pack('<I', width)
+                        height_bytes = struct.pack('<I', height)
 
-                            self.socket.send(jpeg_bytes)
+                        self.socket.send_multipart([width_bytes, height_bytes, image_bytes])
                 except:
                     logging.warn("Failed to retrieve video image from robot.")
         except KeyboardInterrupt: