class FSImageWorkerProcess(multiprocessing.Process):
def __init__(self, image_task_q, event_q, config, settings, imageprocessor):
super(FSImageWorkerProcess, self).__init__(group=None)
self.image_task_q = image_task_q
self.settings = settings
self.config = config
self.exit = False
self.event_q = event_q
self.image = FSImage()
self.log = logging.getLogger('IMAGE_PROCESSOR THREAD')
self.log.setLevel(logging.DEBUG)
self.image_processor = imageprocessor
self._logger = logging.getLogger(__name__)
self._logger.setLevel(logging.DEBUG)
def run(self):
'''
Image Process runner
'''
self._logger.debug("process "+str(self.pid)+" started")
#import pydevd
#pydevd.settrace('192.168.98.104', port=12011, stdoutToServer=True, stderrToServer=True)
while not self.exit:
if not self.image_task_q.empty():
data = dict()
try:
image_task = self.image_task_q.get_nowait()
if image_task:
# we got a kill pill
if image_task.task_type == "KILL":
self._logger.debug("Killed Worker Process with PID "+str(self.pid))
self.exit = True
break
#print "process "+str(self.pid)+" task "+str(image_task.progress)
if (image_task.task_type == "PROCESS_COLOR_IMAGE"):
self.image.save_image(image_task.image, image_task.progress, image_task.prefix, dir_name=image_task.prefix+'/color_'+image_task.raw_dir)
data['points'] = []
data['image_type'] = 'color'
event = dict()
event['event'] = "ON_IMAGE_PROCESSED"
event['data'] = data
self.event_q.put(event)
if (image_task.task_type == "PROCESS_DEPTH_IMAGE"):
#self._logger.debug("process " + str(self.pid) + " handle image")
try:
angle = float(image_task.progress * 360) / float(image_task.resolution)
#self._logger.debug("Progress "+str(image_task.progress)+" Resolution "+str(image_task.resolution)+" angle "+str(angle))
self.image.save_image(image_task.image, image_task.progress, image_task.prefix, dir_name=image_task.prefix+'/laser_'+image_task.raw_dir)
color_image = self.image.load_image(image_task.progress, image_task.prefix, dir_name=image_task.prefix+'/color_'+image_task.raw_dir)
point_cloud, texture = self.image_processor.process_image(angle, image_task.image, color_image)
# FIXME: Only send event if points is non-empty
except StandardError as e:
self._logger.debug(e)
data['point_cloud'] = point_cloud
data['texture'] = texture
data['image_type'] = 'depth'
#data['progress'] = image_task.progress
#data['resolution'] = image_task.resolution
event = dict()
event['event'] = "ON_IMAGE_PROCESSED"
event['data'] = data
self.event_q.put(event)
except Empty:
time.sleep(0.05)
pass
else:
# thread idle
time.sleep(0.05)
class FSImageWorkerProcess(multiprocessing.Process):
def __init__(self, image_task_q, output_q, config, settings, scanprocessor, imageprocessor):
super(FSImageWorkerProcess, self).__init__(group=None)
self.image_task_q = image_task_q
self.output_q = output_q
self.settings = settings
self.config = config
self.exit = False
self.scanprocessor = scanprocessor
self.image = FSImage()
self.log = logging.getLogger('IMAGE_PROCESSOR THREAD')
self.log.setLevel(logging.DEBUG)
self.image_processor = imageprocessor
self._logger = logging.getLogger(__name__)
self._logger.setLevel(logging.DEBUG)
def run(self):
'''
Image Process runner
'''
self._logger.debug("process "+str(self.pid)+" started")
while not self.exit:
if not self.image_task_q.empty():
data = dict()
try:
image_task = self.image_task_q.get_nowait()
if image_task:
if image_task.task_type == "KILL":
self._logger.debug("Killed Worker Process with PID "+str(self.pid))
self.exit = True
if (image_task.task_type == "PROCESS_COLOR_IMAGE"):
#image = self.image_processor.decode_image(image_task.image)
self.image.save_image(image_task.image, image_task.progress, image_task.prefix, dir_name=image_task.prefix+'/color_'+image_task.raw_dir)
data['points'] = []
data['image_type'] = 'color'
data['laser_index'] = None
self.output_q.put(data)
if (image_task.task_type == "PROCESS_DEPTH_IMAGE"):
self._logger.debug('Image Processing starts.')
try:
#self.image.save_image(image_task.image, image_task.progress, image_task.prefix,
# dir_name=image_task.prefix + '/raw_' + image_task.raw_dir)
image_task.image = self.image_processor.decode_image(image_task.image)
angle = float(image_task.progress * 360) / float(image_task.resolution)
color_image = self.image.load_image(image_task.progress, image_task.prefix, dir_name=image_task.prefix+'/color_'+image_task.raw_dir)
point_cloud, texture = self.image_processor.process_image(angle, image_task.image, color_image, index=image_task.index)
data['point_cloud'] = point_cloud
data['texture'] = texture
data['image_type'] = 'depth'
data['laser_index'] = image_task.index
except Exception as e:
self._logger.debug(e)
self.output_q.put(data)
color_image = None
point_cloud = None
texture = None
self._logger.debug('Image Processing finished.')
image_task = None
except Empty:
time.sleep(0.1)
pass
else:
# thread idle
time.sleep(0.1)