upd

.idea/robot-mors-object-track.iml

@@ -5,6 +5,7 @@
       <sourceFolder url="file://$MODULE_DIR$/agentic" isTestSource="false" />
       <sourceFolder url="file://$MODULE_DIR$/agentic/real-sense-object-detection-and-track-service" isTestSource="false" />
       <sourceFolder url="file://$MODULE_DIR$/infrastructure" isTestSource="false" />
+      <excludeFolder url="file://$MODULE_DIR$/agentic/real-sense-object-detection-and-track-service/experiments" />
     </content>
     <orderEntry type="inheritedJdk" />
     <orderEntry type="sourceFolder" forTests="false" />

agentic/real-sense-object-detection-and-track-service/Server/ServerProvider.py

@@ -0,0 +1,41 @@
+import requests
+import base64
+import cv2
+import numpy as np
+import json
+
+class RealSenseObjectDetectionServer:
+    def __init__(self, server_url="http://rd1.k-lab.su/follow-vector"):
+        self.server_url = server_url
+        self.width = 640
+        self.height = 480
+        self.fps = 30
+
+    def encode_image_to_base64(self, image: np.ndarray) -> str:
+        _, buffer = cv2.imencode('.jpg', image)
+        return base64.b64encode(buffer).decode('utf-8')
+
+    def send_images(self, color_matrix, depth_matrix):
+        if color_matrix is None or depth_matrix is None:
+            print("Не удалось получить изображения. Проверьте подключение камеры.")
+            return None
+
+        color_base64 = self.encode_image_to_base64(color_matrix)
+        depth_base64 = self.encode_image_to_base64(depth_matrix)
+
+        payload = {
+            "rgb": color_base64,
+            "depth": depth_base64
+        }
+
+        with open("./tmp_request_data_log.json", "w") as json_file:
+            json.dump(payload, json_file, indent=4)
+
+        try:
+            response = requests.post(self.server_url, json=payload)
+            print(response.text)
+            response.raise_for_status()  # Проверка на ошибки HTTP
+            return response.json()
+        except requests.exceptions.RequestException as e:
+            print(f"Ошибка при отправке данных: {e}")
+            return None

agentic/real-sense-object-detection-and-track-service/main.py

@@ -11,10 +11,18 @@ CORS(app)
 
 data_processor = DataProcessor()
 
+def decode_image_from_base64(self, image_base64: str, color: bool = True) -> np.ndarray:
+    image_data = base64.b64decode(image_base64)
+    np_arr = np.frombuffer(image_data, np.uint8)
+    image = cv2.imdecode(np_arr, cv2.IMREAD_COLOR if color else cv2.IMREAD_GRAYSCALE)
+    return image
+
 @app.route('/follow-vector', methods=['POST'])
 def follow_vector():
     try:
         data = request.json
+        data['rgb'] = decode_image_from_base64(data['rgb'], color=True)
+        data['depth'] = decode_image_from_base64(data['depth'], color=False)
         detections_info, annotated_image = data_processor.inline_detection(data)
 
         if not detections_info and annotated_image is None:

agentic/real-sense-object-detection-and-track-service/robot_emulation_comunication_with_server.py

@@ -0,0 +1,19 @@
+from Interfaces.RealSense import RealSenseController
+from Server.ServerProvider import RealSenseObjectDetectionServer
+
+def get_shot(controller):
+    depth_matrix = controller.acquisition.get_depth_image()
+    color_matrix = controller.acquisition.get_color_image()
+    print(f"RS Data: {depth_matrix.shape}")
+    return depth_matrix, color_matrix
+
+if __name__ == "__main__":
+    controller = RealSenseController()
+    interface = RealSenseObjectDetectionServer()
+
+    depth_matrix, color_matrix = get_shot(controller)
+
+    response = interface.send_images(color_matrix, depth_matrix)
+
+    if response:
+        print("Ответ сервера:", response)