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