def run(self):
while not self.quit and not self.is_timed_out():
#start_time = time.time()
if self.static_file_mode:
self.check_increment_and_load_image()
else:
if self.freeze_cam and self.latest_cam_frame is not None:
# If static file mode was switched to cam mode but cam is still frozen, we need to push the cam frame again
if not self.latest_frame_is_from_cam:
self._increment_and_set_frame(self.latest_cam_frame, True)
else:
# print "get ros image"
frame_full = self.image_converter.get_frame()
mask_full = self.image_converter.get_mask()
# frame_full = read_cam_frame(self.bound_cap_device)
#print '====> just read frame', frame_full.shape
# frame = crop_to_square(frame_full)
# mask = crop_to_square(mask_full)
frame = crop_to_center(frame_full)
mask = crop_to_center(mask_full)
# remove chanel dim of mask
mask = np.reshape(mask, (mask.shape[0], mask.shape[1]))
with self.lock:
self.latest_cam_frame = frame
self._increment_and_set_frame(self.latest_cam_frame, True)
self.latest_mask = mask
#if self.latest_frame is not None:
# self.update_frame(self.latest_frame)
# self.latest_frame = None
# #self.read_frames += 1
time.sleep(self.sleep_after_read_frame)
#print 'Reading one frame took', time.time() - start_time
print 'InputImageFetcher: exiting run method'
def check_increment_and_load_image(self):
with self.lock:
if (self.static_file_idx_increment == 0 and
self.static_file_idx is not None and
not self.latest_frame_is_from_cam and
self.latest_static_frame is not None):
# Skip if a static frame is already loaded and there is no increment
return
available_files = []
match_flags = re.IGNORECASE if self.settings.static_files_ignore_case else 0
for filename in os.listdir(self.settings.static_files_dir):
if re.match(self.settings.static_files_regexp, filename, match_flags):
available_files.append(filename)
#print 'Found files:'
#for filename in available_files:
# print ' %s' % filename
assert len(available_files) != 0, ('Error: No files found in %s matching %s (current working directory is %s)' %
(self.settings.static_files_dir, self.settings.static_files_regexp, os.getcwd()))
if self.static_file_idx is None:
self.static_file_idx = 0
self.static_file_idx = (self.static_file_idx + self.static_file_idx_increment) % len(available_files)
self.static_file_idx_increment = 0
if self.latest_static_filename != available_files[self.static_file_idx] or self.latest_static_frame is None:
self.latest_static_filename = available_files[self.static_file_idx]
im = cv2_read_file_rgb(os.path.join(self.settings.static_files_dir, self.latest_static_filename))
if not self.static_file_stretch_mode:
im = crop_to_center(im)
# im = crop_to_square(im)
self.latest_static_frame = im
self._increment_and_set_frame(self.latest_static_frame, False)
self.latest_mask = np.zeros(self.latest_static_frame.shape[0:2])
self.latest_mask.fill(255)
