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#!/usr/bin/env python
import threading
import av
import numpy
class TobiiVideoThread(threading.Thread):
"""Handle video camera stream capture in a separate thread."""
def __init__(self, controller):
"""Initialise thread super class and prepare camera video stream reception."""
threading.Thread.__init__(self)
self.stop_event = threading.Event()
self.read_lock = threading.Lock()
self.controller = controller
self.fps = self.controller.get_video_freq()
self.read_lock.acquire()
self.__frame = numpy.zeros((1, 1, 3), numpy.uint8)
self.__width = 0
self.__height = 0
self.__pts_buffer = []
self.read_lock.release()
def __del__(self):
pass
def run(self):
"""Video camera stream capture function."""
# start Tobii glasses stream capture
self.__container = av.open(f'rtsp://{self.controller.get_address()}:8554/live/scene', options={'rtsp_transport': 'tcp'})
self.__stream = self.__container.streams.video[0]
for f in self.__container.decode(self.__stream):
if self.stop_event.isSet():
break
self.read_lock.acquire()
self.__frame = f.to_ndarray(format='bgr24')
self.__width = f.width
self.__height = f.height
self.__pts_buffer.append({'TIME':f.time, 'PTS': f.pts})
self.read_lock.release()
def read(self) :
"""Read video frame.
**Returns:** frame, frame width, frame height, frame time, frame pts."""
# if stopped, return blank frame
if self.stop_event.isSet():
return numpy.zeros((1, 1, 3), numpy.uint8)
# else
self.read_lock.acquire()
frame_copy = self.__frame.copy()
width_copy = self.__width
height_copy = self.__height
if len(self.__pts_buffer):
time_copy = self.__pts_buffer[-1]['TIME']
pts_copy = self.__pts_buffer[-1]['PTS']
else:
time_copy = -1
pts_copy = -1
self.read_lock.release()
return frame_copy, width_copy, height_copy, time_copy, pts_copy
def read_pts_buffer(self):
"""Get Presentation Time Stamp data buffer."""
self.read_lock.acquire()
pts_buffer = self.__pts_buffer.copy()
self.read_lock.release()
return pts_buffer
def stop(self):
"""Stop video camera stream capture definitively."""
self.stop_event.set()
threading.Thread.join(self)
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