init

surround_view/process_thread.py

@@ -0,0 +1,62 @@
+import cv2
+from PyQt5.QtCore import qDebug, QMutex
+
+from .base_thread import BaseThread
+
+
+class CameraProcessingThread(BaseThread):
+
+    """
+    Thread for processing individual camera images, i.e. undistort, project and flip.
+    """
+
+    def __init__(self,
+                 capture_buffer_manager,
+                 device_id,
+                 camera_model,
+                 drop_if_full=True,
+                 parent=None):
+        """
+        capture_buffer_manager: an instance of the `MultiBufferManager` object.
+        device_id: device number of the camera to be processed.
+        camera_model: an instance of the `FisheyeCameraModel` object.
+        drop_if_full: drop if the buffer is full.
+        """
+        super(CameraProcessingThread, self).__init__(parent)
+        self.capture_buffer_manager = capture_buffer_manager
+        self.device_id = device_id
+        self.camera_model = camera_model
+        self.drop_if_full = drop_if_full
+        # an instance of the `ProjectedImageBuffer` object
+        self.proc_buffer_manager = None
+
+    def run(self):
+        if self.proc_buffer_manager is None:
+            raise ValueError("This thread has not been binded to any processing thread yet")
+
+        while True:
+            self.stop_mutex.lock()
+            if self.stopped:
+                self.stopped = False
+                self.stop_mutex.unlock()
+                break
+            self.stop_mutex.unlock()
+
+            self.processing_time = self.clock.elapsed()
+            self.clock.start()
+
+            self.processing_mutex.lock()
+            raw_frame = self.capture_buffer_manager.get_device(self.device_id).get()
+            und_frame = self.camera_model.undistort(raw_frame.image)
+            pro_frame = self.camera_model.project(und_frame)
+            flip_frame = self.camera_model.flip(pro_frame)
+            self.processing_mutex.unlock()
+
+            self.proc_buffer_manager.sync(self.device_id)
+            self.proc_buffer_manager.set_frame_for_device(self.device_id, flip_frame)
+
+            # update statistics
+            self.update_fps(self.processing_time)
+            self.stat_data.frames_processed_count += 1
+            # inform GUI of updated statistics
+            self.update_statistics_gui.emit(self.stat_data)