diff options
Diffstat (limited to 'src/argaze/ArFeatures.py')
| -rw-r--r-- | src/argaze/ArFeatures.py | 202 |
1 files changed, 183 insertions, 19 deletions
diff --git a/src/argaze/ArFeatures.py b/src/argaze/ArFeatures.py index baa26a1..a3ce1e3 100644 --- a/src/argaze/ArFeatures.py +++ b/src/argaze/ArFeatures.py @@ -19,6 +19,7 @@ __license__ = "GPLv3" import logging import math import os +import ast from typing import Iterator, Union import cv2 @@ -1032,25 +1033,11 @@ class ArScene(DataFeatures.PipelineStepObject): for name, layer in self._layers.items(): - # Clip AOI out of the visual horizontal field of view (optional) - # TODO: use HFOV and VFOV and don't use vision_cone method - if visual_hfov > 0: - - # Transform layer aoi scene into camera referential - aoi_scene_camera_ref = layer.aoi_scene.transform(tvec, rvec) - - # Get aoi inside vision cone field - cone_vision_height_cm = 200 # cm - cone_vision_radius_cm = numpy.tan(numpy.deg2rad(visual_hfov / 2)) * cone_vision_height_cm - - _, aoi_outside = aoi_scene_camera_ref.vision_cone(cone_vision_radius_cm, cone_vision_height_cm) - - # Keep only aoi inside vision cone field - aoi_scene_copy = layer.aoi_scene.copy(exclude=aoi_outside.keys()) - - else: - - aoi_scene_copy = layer.aoi_scene.copy() + # TODO: if greater than 0., use HFOV and VFOV + # to clip AOI out of the visual horizontal field of view + + # Copy aoi scene before projection + aoi_scene_copy = layer.aoi_scene.copy() # Project layer aoi scene # noinspection PyUnresolvedReferences @@ -1072,6 +1059,10 @@ class ArCamera(ArFrame): # Init private attributes self.__visual_hfov = 0. self.__visual_vfov = 0. + self.__projection_cache = None + self.__projection_cache_writer = None + self.__projection_cache_reader = None + self.__projection_cache_data = None # Init protected attributes self._scenes = {} @@ -1133,6 +1124,132 @@ class ArCamera(ArFrame): """Set camera's visual vertical field of view.""" self.__visual_vfov = value + @property + def projection_cache(self) -> str: + """file path to store/read layers projections into/from a cache.""" + return self.__projection_cache + + @projection_cache.setter + def projection_cache(self, projection_cache: str): + + self.__projection_cache = projection_cache + + # The file doesn't exist yet: store projections into the cache + if not os.path.exists(os.path.join( DataFeatures.get_working_directory(), self.__projection_cache) ): + + self.__projection_cache_writer = UtilsFeatures.FileWriter(path=self.__projection_cache) + self.__projection_cache_reader = None + + logging.info('ArCamera %s writes projection into %s', self.name, self.__projection_cache) + + # The file exist: read projection from the cache + else: + + self.__projection_cache_writer = None + self.__projection_cache_reader = UtilsFeatures.FileReader(path=self.__projection_cache) + + logging.info('ArCamera %s reads projection from %s', self.name, self.__projection_cache) + + def _clear_projection(self): + """Clear layers projection.""" + + logging.debug('ArCamera._clear_projection %s', self.name) + + for layer_name, layer in self.layers.items(): + + # Initialize layer if needed + if layer.aoi_scene is None: + + layer.aoi_scene = AOI2DScene.AOI2DScene() + + else: + + layer.aoi_scene.clear() + + def _write_projection_cache(self, timestamp: int|float, exception = None): + """Write layers aoi scene into the projection cache. + + Parameters: + timestamp: cache time + """ + + if self.__projection_cache_writer is not None: + + logging.debug('ArCamera._write_projection_cache %s %f', self.name, timestamp) + + if exception is None: + + projection = {} + + for layer_name, layer in self.layers.items(): + + projection[layer_name] = layer.aoi_scene + + self.__projection_cache_writer.write( (timestamp, projection) ) + + else: + + self.__projection_cache_writer.write( (timestamp, exception) ) + + def _read_projection_cache(self, timestamp: int|float): + """Read layers aoi scene from the projection cache. + + Parameters: + timestamp: cache time. + + Returns: + success: False if there is no projection cache, True otherwise. + """ + + if self.__projection_cache_reader is None: + + return False + + logging.debug('ArCamera._read_projection_cache %s %f', self.name, timestamp) + + # Clear former projection + self._clear_projection() + + try: + + # Read first data if not done yet + if self.__projection_cache_data is None: + + self.__projection_cache_data = self.__projection_cache_reader.read() + + # Continue reading cache until correct timestamped projection + while float(self.__projection_cache_data[0]) < timestamp: + + self.__projection_cache_data = self.__projection_cache_reader.read() + + # No more projection in the cache + except EOFError: + + raise DataFeatures.TimestampedException("Projection cache is empty", timestamp=timestamp) + + # Correct timestamped projection is found + if float(self.__projection_cache_data[0]) == timestamp: + + # When correct timestamped projection is found + projection = {} + + try: + + projection = ast.literal_eval(self.__projection_cache_data[1]) + + for layer_name, aoi_scene in projection.items(): + + self._layers[layer_name].aoi_scene = AOI2DScene.AOI2DScene(aoi_scene) + self._layers[layer_name].timestamp = timestamp + + logging.debug('> reading %s projection from cache', layer_name) + + except SyntaxError as e: + + raise DataFeatures.TimestampedException(self.__projection_cache_data[1], timestamp=timestamp) + + return True + def scene_frames(self) -> Iterator[ArFrame]: """Iterate over all scenes frames""" @@ -1153,6 +1270,28 @@ class ArCamera(ArFrame): "visual_vfov": self.__visual_vfov } + @DataFeatures.PipelineStepEnter + def __enter__(self): + + if self.__projection_cache_writer is not None: + + self.__projection_cache_writer.__enter__() + + if self.__projection_cache_reader is not None: + + self.__projection_cache_reader.__enter__() + + @DataFeatures.PipelineStepExit + def __exit__(self, exception_type, exception_value, exception_traceback): + + if self.__projection_cache_writer is not None: + + self.__projection_cache_writer.__exit__(exception_type, exception_value, exception_traceback) + + if self.__projection_cache_reader is not None: + + self.__projection_cache_reader.__exit__(exception_type, exception_value, exception_traceback) + def _update_expected_and_excluded_aoi(self): """Edit expected aoi of each layer aoi scan path with the aoi of corresponding scene layer. Edit excluded aoi to ignore frame aoi from aoi matching. @@ -1468,11 +1607,14 @@ class ArContext(DataFeatures.PipelineStepObject): logging.debug('\t> get image (%i x %i)', width, height) + last_position = self.__pipeline.last_gaze_position() + info_stack = 0 if draw_times: if image.is_timestamped(): + info_stack += 1 cv2.putText(image, f'Frame at {image.timestamp}ms', (20, info_stack * 40), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 255), 1, cv2.LINE_AA) @@ -1489,6 +1631,11 @@ class ArContext(DataFeatures.PipelineStepObject): info_stack += 1 cv2.putText(image, f'Watch {watch_time}ms at {self.__process_camera_image_frequency}Hz', (20, info_stack * 40), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 255), 1, cv2.LINE_AA) + if last_position is not None: + + info_stack += 1 + cv2.putText(image, f'Position at {last_position.timestamp}ms', (20, info_stack * 40), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 255), 1, cv2.LINE_AA) + if issubclass(type(self.__pipeline), ArFrame): try: @@ -1513,3 +1660,20 @@ class ArContext(DataFeatures.PipelineStepObject): cv2.putText(image, f'error: {e}', (20, height - (i + 1) * 50 + 25), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 255), 1, cv2.LINE_AA) return image + + @DataFeatures.PipelineStepMethod + def pause(self): + """Pause pipeline processing.""" + + raise NotImplementedError('pause() method not implemented') + + def is_paused(self) -> bool: + """Is pipeline processing paused?""" + + raise NotImplementedError('is_paused() method not implemented') + + @DataFeatures.PipelineStepMethod + def resume(self): + """Resume pipeline processing.""" + + raise NotImplementedError('resume() method not implemented') |