def __init__(self,
in_frame_queue,
finished_evt: Event = None,
dispatching_set_evt: Event = None,
gui_framerate=30,
gui_dispatcher=False,
**kwargs):
"""
:param in_frame_queue: queue dispatching frames from camera
:param finished_evt: signal for the end of the acquisition
:param processing_parameter_queue: queue for function¶meters
:param gui_framerate: framerate of the display GUI
"""
super().__init__(name="tracking", **kwargs)
self.frame_queue = in_frame_queue
self.gui_queue = TimestampedArrayQueue(max_mbytes=600) # GUI queue
# for displaying the image
self.output_frame_queue = TimestampedArrayQueue(max_mbytes=600)
self.dispatching_set_evt = dispatching_set_evt
self.finished_signal = finished_evt
self.gui_framerate = gui_framerate
self.gui_dispatcher = gui_dispatcher
self.i = 0
def __init__(self,
in_frame_queue,
finished_signal: Event = None,
pipeline=None,
processing_parameter_queue=None,
output_queue=None,
processing_counter: Value = None,
gui_framerate=30,
gui_dispatcher=False,
**kwargs):
"""
:param in_frame_queue: queue dispatching frames from camera
:param finished_signal: signal for the end of the acquisition
:param processing_parameter_queue: queue for function¶meters
:param gui_framerate: framerate of the display GUI
"""
super().__init__(name="tracking", **kwargs)
self.frame_queue = in_frame_queue
self.gui_queue = TimestampedArrayQueue(max_mbytes=100) # GUI queue for
# displaying
# the image
self.output_queue = output_queue # queue for processing output (e.g., pos)
self.processing_parameter_queue = processing_parameter_queue
self.processing_counter = processing_counter
self.finished_signal = finished_signal
self.gui_framerate = gui_framerate
self.gui_dispatcher = gui_dispatcher
self.pipeline_cls = pipeline
self.pipeline = None
self.i = 0
def __init__(self,
in_frame_queue,
finished_signal=None,
processing_class=None,
preprocessing_class=None,
processing_parameter_queue=None,
gui_framerate=30,
**kwargs):
"""
:param in_frame_queue: queue dispatching frames from camera
:param finished_signal: signal for the end of the acquisition
:param processing_parameter_queue: queue for function¶meters
:param gui_framerate: framerate of the display GUI
"""
super().__init__(**kwargs)
self.frame_queue = in_frame_queue
self.gui_queue = TimestampedArrayQueue(
) # GUI queue for displaying the image
self.output_queue = Queue() # queue for processing output (e.g., pos)
self.processing_parameters = dict()
self.finished_signal = finished_signal
self.i = 0
self.gui_framerate = gui_framerate
self.preprocessing_obj = get_preprocessing_method(
preprocessing_class).process
self.preprocessing_state = None
self.processing_obj = get_tracking_method(processing_class).detect
self.processing_parameter_queue = processing_parameter_queue
def __init__(self, rotation=False, max_mbytes_queue=100):
""" """
super().__init__()
self.rotation = rotation
self.control_queue = Queue()
self.frame_queue = TimestampedArrayQueue(max_mbytes=max_mbytes_queue)
self.kill_event = Event()
def __init__(self, n_items=100, timestamped=False, indexed=False,
n_mbytes=2, wait=0, test_full=False):
super().__init__()
self.source_array = IndexedArrayQueue(max_mbytes==n_mbytes) if indexed \
else (TimestampedArrayQueue(max_mbytes=n_mbytes) if timestamped \
else ArrayQueue(max_mbytes=n_mbytes))
self.n_items = n_items
self.wait = wait
self.test_full = test_full
class TrackingProcess(FrameProcess):
"""A class which handles taking frames from the camera and processing them,
as well as dispatching a subset for display
Parameters
----------
Returns
-------
"""
def __init__(self,
in_frame_queue,
finished_signal: Event = None,
pipeline=None,
processing_parameter_queue=None,
output_queue=None,
processing_counter: Value = None,
gui_framerate=30,
gui_dispatcher=False,
**kwargs):
"""
:param in_frame_queue: queue dispatching frames from camera
:param finished_signal: signal for the end of the acquisition
:param processing_parameter_queue: queue for function¶meters
:param gui_framerate: framerate of the display GUI
"""
super().__init__(name="tracking", **kwargs)
self.frame_queue = in_frame_queue
self.gui_queue = TimestampedArrayQueue(max_mbytes=100) # GUI queue for
# displaying
# the image
self.output_queue = output_queue # queue for processing output (e.g., pos)
self.processing_parameter_queue = processing_parameter_queue
self.processing_counter = processing_counter
self.finished_signal = finished_signal
self.gui_framerate = gui_framerate
self.gui_dispatcher = gui_dispatcher
self.pipeline_cls = pipeline
self.pipeline = None
self.i = 0
def process_internal(self, frame):
"""Apply processing function to current frame with
self.processing_parameters as additional inputs.
Parameters
----------
frame :
frame to be processed;
Returns
-------
type
processed output
"""
def retrieve_params(self):
while True:
try:
param_dict = self.processing_parameter_queue.get(
timeout=0.0001)
self.pipeline.deserialize_params(param_dict)
except Empty:
break
def run(self):
"""Loop where the tracking function runs."""
self.pipeline = self.pipeline_cls()
self.pipeline.setup()
while not self.finished_signal.is_set():
# Gets the processing parameters from their queue
self.retrieve_params()
# Gets frame from its queue, if the input is too fast, drop frames
# and process the latest, if it is too slow continue:
try:
time, frame_idx, frame = self.frame_queue.get(timeout=0.001)
except Empty:
continue
# If a processing function is specified, apply it:
messages, output = self.pipeline.run(frame)
for msg in messages:
self.message_queue.put(msg)
self.output_queue.put(time, output)
# calculate the frame rate
self.update_framerate()
# put current frame into the GUI queue
self.send_to_gui(
time, self.pipeline.diagnostic_image
if self.pipeline.diagnostic_image is not None else frame)
return
def send_to_gui(self, frametime, frame):
""" Sends the current frame to the GUI queue at the appropriate framerate"""
if self.framerate_rec.current_framerate:
every_x = max(
int(self.framerate_rec.current_framerate / self.gui_framerate),
1)
else:
every_x = 1
if self.i == 0:
try:
self.gui_queue.put(frame, timestamp=frametime)
except Full:
self.message_queue.put("E:GUI queue full")
self.i = (self.i + 1) % every_x
class DispatchProcess(FrameProcess):
""" A class which handles taking frames from the camera and dispatch them to both a separate
process (e.g. for saving a movie) and to a gui for display
Parameters
----------
Returns
-------
"""
def __init__(self,
in_frame_queue,
finished_evt: Event = None,
dispatching_set_evt: Event = None,
gui_framerate=30,
gui_dispatcher=False,
**kwargs):
"""
:param in_frame_queue: queue dispatching frames from camera
:param finished_evt: signal for the end of the acquisition
:param processing_parameter_queue: queue for function¶meters
:param gui_framerate: framerate of the display GUI
"""
super().__init__(name="tracking", **kwargs)
self.frame_queue = in_frame_queue
self.gui_queue = TimestampedArrayQueue(max_mbytes=600) # GUI queue
# for displaying the image
self.output_frame_queue = TimestampedArrayQueue(max_mbytes=600)
self.dispatching_set_evt = dispatching_set_evt
self.finished_signal = finished_evt
self.gui_framerate = gui_framerate
self.gui_dispatcher = gui_dispatcher
self.i = 0
def run(self):
"""Loop where the tracking function runs."""
while not self.finished_signal.is_set():
# Gets frame from its queue, if the input is too fast, drop frames
# and process the latest, if it is too slow continue:
try:
time, frame_idx, frame = self.frame_queue.get(timeout=0.001)
except Empty:
continue
if self.dispatching_set_evt.is_set():
self.output_frame_queue.put(frame.copy(), time)
# put current frame into the GUI queue
self.send_to_gui(time, frame)
# calculate the frame rate
self.update_framerate()
return
def send_to_gui(self, frametime, frame):
""" Sends the current frame to the GUI queue at the appropriate framerate"""
if self.framerate_rec.current_framerate:
every_x = max(
int(self.framerate_rec.current_framerate / self.gui_framerate),
1)
else:
every_x = 1
if self.i == 0:
self.gui_queue.put(frame, timestamp=frametime)
self.i = (self.i + 1) % every_x
class TrackingProcess(FrameProcess):
"""A class which handles taking frames from the camera and processing them,
as well as dispatching a subset for display
Parameters
----------
Returns
-------
"""
def __init__(
self,
in_frame_queue,
finished_signal: Event = None,
pipeline=None,
processing_parameter_queue=None,
output_queue=None,
second_output_queue=None,
recording_signal=None,
gui_framerate=30,
max_mb_queue=100,
**kwargs
):
"""
Frame dispatcher process
Parameters
----------
in_frame_queue:
queue dispatching frames from camera
finished_signal
signal for the end of the acquisition
pipeline: Pipeline
tracking pipeline
processing_parameter_queue
queue for function¶meters
output_queue:
tracking output queue
recording_signal: bool (false)
processing_counter
gui_framerate: int
target framerate of the display GUI
gui_dispatcher
max_mb_queue: int (200)
the maximal size of the image output queues
kwargs
"""
super().__init__(name="tracking", **kwargs)
self.frame_queue = in_frame_queue
self.gui_queue = TimestampedArrayQueue(max_mbytes=max_mb_queue) # GUI queue for
self.recording_signal = recording_signal
if recording_signal is not None:
self.frame_copy_queue = TimestampedArrayQueue(max_mbytes=max_mb_queue)
else:
self.frame_copy_queue = None
# displaying
# the image
self.output_queue = output_queue # queue for processing output (e.g., pos)
self.second_output_queue = second_output_queue # user defined optional second output queue, attention needs emptying
self.processing_parameter_queue = processing_parameter_queue
self.finished_signal = finished_signal
self.gui_framerate = gui_framerate
self.pipeline_cls = pipeline
self.pipeline = None
self.i = 0
def process_internal(self, frame):
"""Apply processing function to current frame with
self.processing_parameters as additional inputs.
Parameters
----------
frame :
frame to be processed;
Returns
-------
type
processed output
"""
def retrieve_params(self):
while True:
try:
param_dict = self.processing_parameter_queue.get(timeout=0.0001)
self.pipeline.deserialize_params(param_dict)
except Empty:
break
def run(self):
"""Loop where the tracking function runs."""
self.pipeline = self.pipeline_cls()
self.pipeline.setup()
while not self.finished_signal.is_set():
# Gets the processing parameters from their queue
self.retrieve_params()
# Gets frame from its queue, if the input is too fast, drop frames
# and process the latest, if it is too slow continue:
try:
time, frame_idx, frame = self.frame_queue.get(timeout=0.001)
except Empty:
continue
messages = []
# If we are copying the frames to another queue (e.g. for video recording), do it here
if self.recording_signal is not None and self.recording_signal.is_set():
try:
self.frame_copy_queue.put(frame.copy(), timestamp=time)
except:
messages.append("W:Dropping frames from recording")
# If a processing function is specified, apply it:
new_messages, output = self.pipeline.run(frame)
for msg in messages + new_messages:
self.message_queue.put(msg)
self.output_queue.put(time, output)
if self.second_output_queue is not None:
self.second_output_queue.put(time, output)
# calculate the frame rate
self.update_framerate()
# put current frame into the GUI queue
self.send_to_gui(
time,
self.pipeline.diagnostic_image
if self.pipeline.diagnostic_image is not None
else frame,
)
return
def send_to_gui(self, frametime, frame):
"""Sends the current frame to the GUI queue at the appropriate framerate"""
if self.framerate_rec.current_framerate:
every_x = max(
int(self.framerate_rec.current_framerate / self.gui_framerate), 1
)
else:
every_x = 1
if self.i == 0:
try:
self.gui_queue.put(frame, timestamp=frametime)
except Full:
self.message_queue.put("E:GUI queue full")
self.i = (self.i + 1) % every_x
def __init__(
self,
in_frame_queue,
finished_signal: Event = None,
pipeline=None,
processing_parameter_queue=None,
output_queue=None,
second_output_queue=None,
recording_signal=None,
gui_framerate=30,
max_mb_queue=100,
**kwargs
):
"""
Frame dispatcher process
Parameters
----------
in_frame_queue:
queue dispatching frames from camera
finished_signal
signal for the end of the acquisition
pipeline: Pipeline
tracking pipeline
processing_parameter_queue
queue for function¶meters
output_queue:
tracking output queue
recording_signal: bool (false)
processing_counter
gui_framerate: int
target framerate of the display GUI
gui_dispatcher
max_mb_queue: int (200)
the maximal size of the image output queues
kwargs
"""
super().__init__(name="tracking", **kwargs)
self.frame_queue = in_frame_queue
self.gui_queue = TimestampedArrayQueue(max_mbytes=max_mb_queue) # GUI queue for
self.recording_signal = recording_signal
if recording_signal is not None:
self.frame_copy_queue = TimestampedArrayQueue(max_mbytes=max_mb_queue)
else:
self.frame_copy_queue = None
# displaying
# the image
self.output_queue = output_queue # queue for processing output (e.g., pos)
self.second_output_queue = second_output_queue # user defined optional second output queue, attention needs emptying
self.processing_parameter_queue = processing_parameter_queue
self.finished_signal = finished_signal
self.gui_framerate = gui_framerate
self.pipeline_cls = pipeline
self.pipeline = None
self.i = 0
class FrameDispatcher(FrameProcess):
"""A class which handles taking frames from the camera and processing them,
as well as dispatching a subset for display
Parameters
----------
Returns
-------
"""
def __init__(self,
in_frame_queue,
finished_signal=None,
processing_class=None,
preprocessing_class=None,
processing_parameter_queue=None,
gui_framerate=30,
**kwargs):
"""
:param in_frame_queue: queue dispatching frames from camera
:param finished_signal: signal for the end of the acquisition
:param processing_parameter_queue: queue for function¶meters
:param gui_framerate: framerate of the display GUI
"""
super().__init__(**kwargs)
self.frame_queue = in_frame_queue
self.gui_queue = TimestampedArrayQueue(
) # GUI queue for displaying the image
self.output_queue = Queue() # queue for processing output (e.g., pos)
self.processing_parameters = dict()
self.finished_signal = finished_signal
self.i = 0
self.gui_framerate = gui_framerate
self.preprocessing_obj = get_preprocessing_method(
preprocessing_class).process
self.preprocessing_state = None
self.processing_obj = get_tracking_method(processing_class).detect
self.processing_parameter_queue = processing_parameter_queue
def process_internal(self, frame):
"""Apply processing function to current frame with
self.processing_parameters as additional inputs.
Parameters
----------
frame :
frame to be processed;
Returns
-------
type
processed output
"""
def run(self):
"""Loop where the tracking function runs."""
while not self.finished_signal.is_set():
# Gets the processing parameters from their queue
if self.processing_parameter_queue is not None:
try:
# Read all parameters from the queue:
self.processing_parameters.update(
**self.processing_parameter_queue.get(timeout=0.0001))
except Empty:
pass
# Gets frame from its queue:
try:
time, frame = self.frame_queue.get(timeout=0.001)
# If a processing function is specified, apply it:
if self.preprocessing_obj is not None:
processed, self.preprocessing_state = self.preprocessing_obj(
frame, self.preprocessing_state,
**self.processing_parameters)
else:
processed = frame
if self.processing_obj is not None:
output = self.processing_obj(processed,
**self.processing_parameters)
self.output_queue.put((datetime.now(), output))
# calculate the frame rate
self.update_framerate()
# put current frame into the GUI queue
if self.processing_parameters["display_processed"]:
self.send_to_gui(processed)
else:
self.send_to_gui(frame)
except Empty: # if there is nothing in frame queue
pass
return
def send_to_gui(self, frame):
""" Sends the current frame to the GUI queue at the appropriate framerate"""
if self.current_framerate:
every_x = max(int(self.current_framerate / self.gui_framerate), 1)
else:
every_x = 1
if self.i == 0:
self.gui_queue.put(frame)
self.i = (self.i + 1) % every_x
