def load_modules(self, gempy_module: bool, **kwargs):
from sandbox.modules import TopoModule, GradientModule, LoadSaveTopoModule, LandslideSimulation, SearchMethodsModule
from sandbox.projector import ContourLinesModule, CmapModule
self.Modules = {}
self.Modules['ContourLinesModule'] = ContourLinesModule(
extent=self.sensor.extent)
self.Modules['CmapModule'] = CmapModule(extent=self.sensor.extent)
self.Modules['TopoModule'] = TopoModule(extent=self.sensor.extent)
self.Modules['GradientModule'] = GradientModule(
extent=self.sensor.extent)
self.Modules['LoadSaveTopoModule'] = LoadSaveTopoModule(
extent=self.sensor.extent)
self.Modules['LandslideSimulation'] = LandslideSimulation(
extent=self.sensor.extent)
self.Modules['SearchMethodsModule'] = SearchMethodsModule(
extent=self.sensor.extent)
self.Modules['SearchMethodsModule'].update_mesh(
self.sensor.get_frame(),
margins_crop=self.Modules['SearchMethodsModule'].margins_crop,
fill_value=0)
self.Modules['SearchMethodsModule'].activate_frame_capture = False
if gempy_module:
from sandbox.modules import GemPyModule
geo_model = kwargs.get('geo_model')
#load_example = kwargs.get('load_examples')
#name_example = kwargs.get('name_example')
self.Modules['GemPyModule'] = GemPyModule(
geo_model=geo_model,
extent=self.sensor.extent,
box=self.sensor.physical_dimensions,
#load_examples=load_example,
#name_example=name_example,
**kwargs)
def test_update():
module = CmapModule(extent=extent)
fig, ax = plt.subplots()
module.render_frame(frame, ax)
sb_params = {
'frame': frame,
'ax': ax,
'extent': extent,
'marker': [],
'cmap': plt.cm.get_cmap('viridis'),
'norm': None,
'active_cmap': True,
'active_contours': True
}
sb_params = module.update(sb_params)
fig.show()
def test_change_cmap():
module = CmapModule(extent=extent)
fig1, ax1 = plt.subplots()
module.render_frame(frame, ax1)
fig1.show()
cmap = plt.cm.get_cmap('Accent_r')
fig2, ax2 = plt.subplots()
module.set_cmap(cmap)
module.render_frame(frame, ax2)
fig2.show()
def test_delete_image():
module = CmapModule(extent=extent)
fig, ax = plt.subplots()
module.render_frame(frame, ax)
fig.show()
module.delete_image()
fig.show()
def load_modules(self,
gempy_module: bool = False,
gimli_module: bool = False,
torch_module: bool = False,
devito_module: bool = False,
kwargs_gempy_module: dict = {},
):
from sandbox.modules import (TopoModule, GradientModule, LoadSaveTopoModule, LandslideSimulation,
SearchMethodsModule)
from sandbox.projector import ContourLinesModule, CmapModule
self.Modules = {'ContourLinesModule': ContourLinesModule(extent=self.sensor.extent),
'CmapModule': CmapModule(extent=self.sensor.extent),
'TopoModule': TopoModule(extent=self.sensor.extent),
'GradientModule': GradientModule(extent=self.sensor.extent),
'LoadSaveTopoModule': LoadSaveTopoModule(extent=self.sensor.extent),
'LandslideSimulation': LandslideSimulation(extent=self.sensor.extent),
'SearchMethodsModule': SearchMethodsModule(extent=self.sensor.extent)}
#self.Modules['SearchMethodsModule'].update_mesh(self.sensor.get_frame(),
# margins_crop=self.Modules['SearchMethodsModule'].margins_crop,
# fill_value=0)
#self.Modules['SearchMethodsModule'].activate_frame_capture = False
if gempy_module and self._gempy_import:
from sandbox.modules.gempy import GemPyModule
self.Modules['GemPyModule'] = GemPyModule(extent=self.sensor.extent,
box=self.sensor.physical_dimensions,
**kwargs_gempy_module)
if devito_module and self._devito_import:
from sandbox.modules.devito import SeismicModule
self.Modules['SeismicModule'] = SeismicModule(extent=self.sensor.extent)
if gimli_module and self._pygimli_import:
from sandbox.modules.gimli import GeoelectricsModule
self.Modules['GeoelectricsModule'] = GeoelectricsModule(extent=self.sensor.extent)
if torch_module and self._torch_import:
from sandbox.modules.pytorch import LandscapeGeneration
self.Modules['LandscapeGeneration'] = LandscapeGeneration(extent=self.sensor.extent)
def __init__(self,
sensor: Sensor,
projector: Projector,
aruco: MarkerDetection = None,
modules: list = [],
crop: bool = True,
clip: bool = True,
check_change: bool = False,
**kwargs):
"""
Args:
sensor:
projector:
aruco:
modules:
crop:
clip:
check_change:
**kwargs:
"""
#TODO: in all the modules be carefull with zorder
self.sensor = sensor
self.projector = projector
self.projector.clear_axes()
self.contours = ContourLinesModule(extent=self.sensor.extent)
self.cmap_frame = CmapModule(extent=self.sensor.extent)
#start the modules
#self.modules = collections.OrderedDict({'CmapModule': self.cmap_frame, 'ContourLinesModule': self.contours})
self.modules = {
'CmapModule': self.cmap_frame,
'ContourLinesModule': self.contours
}
self._modules = {
'CmapModule': self.cmap_frame,
'ContourLinesModule': self.contours
} #cachee
# threading
self.lock = threading.Lock()
self.thread = None
self.thread_status = 'stopped' # status: 'stopped', 'running', 'paused'
# connect to ArucoMarker class
# if CV2_IMPORT is True:
self.Aruco = aruco
self.ARUCO_ACTIVE = False
if isinstance(self.Aruco, MarkerDetection):
self.ARUCO_ACTIVE = True
self.sb_params = {
'frame': self.sensor.get_frame(),
'ax': self.projector.ax,
'extent': self.sensor.extent,
'box_dimensions': self.sensor.physical_dimensions,
'marker': pd.DataFrame(),
'cmap': plt.cm.get_cmap('gist_earth'),
'norm': None,
'active_cmap': True,
'active_contours': True,
'same_frame': False,
'lock_thread': self.lock,
'trigger': self.projector.trigger
} #TODO: Carefull with this use because it can make to paint the figure incompletely
#'freeze_frame': False}
self.previous_frame = self.sb_params['frame']
#To reduce the noise of the data
self.check_change = check_change
self._rtol = 0.2
self._atol = 5
# render the frame
self.cmap_frame.render_frame(self.sb_params['frame'],
self.sb_params['ax'])
# plot the contour lines
self.contours.plot_contour_lines(self.sb_params['frame'],
self.sb_params['ax'])
self.projector.trigger()
self._create_widgets()
class MainThread:
"""
Module with threading methods
"""
def __init__(self,
sensor: Sensor,
projector: Projector,
aruco: MarkerDetection = None,
modules: list = [],
crop: bool = True,
clip: bool = True,
check_change: bool = False,
**kwargs):
"""
Args:
sensor:
projector:
aruco:
modules:
crop:
clip:
check_change:
**kwargs:
"""
#TODO: in all the modules be carefull with zorder
self.sensor = sensor
self.projector = projector
self.projector.clear_axes()
self.contours = ContourLinesModule(extent=self.sensor.extent)
self.cmap_frame = CmapModule(extent=self.sensor.extent)
#start the modules
#self.modules = collections.OrderedDict({'CmapModule': self.cmap_frame, 'ContourLinesModule': self.contours})
self.modules = {
'CmapModule': self.cmap_frame,
'ContourLinesModule': self.contours
}
self._modules = {
'CmapModule': self.cmap_frame,
'ContourLinesModule': self.contours
} #cachee
# threading
self.lock = threading.Lock()
self.thread = None
self.thread_status = 'stopped' # status: 'stopped', 'running', 'paused'
# connect to ArucoMarker class
# if CV2_IMPORT is True:
self.Aruco = aruco
self.ARUCO_ACTIVE = False
if isinstance(self.Aruco, MarkerDetection):
self.ARUCO_ACTIVE = True
self.sb_params = {
'frame': self.sensor.get_frame(),
'ax': self.projector.ax,
'extent': self.sensor.extent,
'box_dimensions': self.sensor.physical_dimensions,
'marker': pd.DataFrame(),
'cmap': plt.cm.get_cmap('gist_earth'),
'norm': None,
'active_cmap': True,
'active_contours': True,
'same_frame': False,
'lock_thread': self.lock,
'trigger': self.projector.trigger
} #TODO: Carefull with this use because it can make to paint the figure incompletely
#'freeze_frame': False}
self.previous_frame = self.sb_params['frame']
#To reduce the noise of the data
self.check_change = check_change
self._rtol = 0.2
self._atol = 5
# render the frame
self.cmap_frame.render_frame(self.sb_params['frame'],
self.sb_params['ax'])
# plot the contour lines
self.contours.plot_contour_lines(self.sb_params['frame'],
self.sb_params['ax'])
self.projector.trigger()
self._create_widgets()
#@property @TODO: test if this works
#def sb_params(self):
# return {'frame': self.sensor.get_frame(),
# 'ax': self.projector.ax,
# 'extent': self.sensor.extent,
# 'marker': pd.DataFrame(),
# 'cmap': plt.cm.get_cmap('gist_earth'),
# 'norm': None,
# 'active_cmap': True,
# 'active_contours': True,
# 'same_frame': False,
# 'freeze_frame': False}
def update(self, **kwargs):
"""
Args:
**kwargs:
Returns:
"""
self.sb_params['ax'] = self.projector.ax
frame = self.sensor.get_frame()
self.sb_params['extent'] = self.sensor.extent
# This is to avoid noise in the data
if self.check_change:
if not numpy.allclose(self.previous_frame,
frame,
atol=self._atol,
rtol=self._rtol,
equal_nan=True):
self.previous_frame = frame
self.sb_params['same_frame'] = False
else:
frame = self.previous_frame
self.sb_params['same_frame'] = True
else:
self.sb_params['same_frame'] = False
self.sb_params['frame'] = frame
#filter
if self.ARUCO_ACTIVE:
df = self.Aruco.update()
else:
df = pd.DataFrame()
plt.pause(0.1)
self.sb_params['marker'] = df
#TODO: Use the modules in a big try and except?
try:
self.lock.acquire()
for key in list(
self.modules.keys()
): #reversed so the contourlines and cmap that were added first, get painted at last
self.sb_params = self.modules[key].update(self.sb_params)
self.lock.release()
except Exception:
traceback.print_exc()
self.lock.release()
self.thread_status = 'stopped'
self.sb_params['ax'].set_xlim(xmin=self.sb_params.get('extent')[0],
xmax=self.sb_params.get('extent')[1])
self.sb_params['ax'].set_ylim(ymin=self.sb_params.get('extent')[2],
ymax=self.sb_params.get('extent')[3])
if isinstance(self.Aruco, MarkerDetection):
_ = self.Aruco.plot_aruco(self.sb_params['ax'],
self.sb_params['marker'])
self.lock.acquire()
self.projector.trigger()
self.lock.release()
def add_module(self, name: str, module):
"""Add an specific module to run the update in the main thread"""
self.modules[name] = module
self._modules[name] = module
#self.modules.move_to_end(name, last=True)
print('module ' + name + ' added to modules')
def remove_module(self, name: str):
"""Remove a current module from the main thread"""
if name in self.modules.keys():
self.lock.acquire()
self.modules.pop(name)
print('module ' + name + ' removed')
self.lock.release()
else:
print('No module with name ' + name + ' was found')
def module_manager(self, active_modules: list = []):
#add a module
for name_module in active_modules:
if name_module not in self.modules:
self.add_module(name=name_module,
module=self._modules[name_module])
#delete the module
if len(active_modules) > 0:
[
self.remove_module(name) for name in self.modules
if name not in active_modules
]
if self._widget_module_selector is not None:
self._widget_module_selector.options = list(self._modules.keys())
self._widget_module_selector.value = list(self.modules.keys())
def thread_loop(self):
while self.thread_status == 'running':
self.update()
def run(self):
if self.thread_status != 'running':
self.thread_status = 'running'
self.thread = threading.Thread(
target=self.thread_loop,
daemon=True,
)
self.thread.start()
print('Thread started or resumed...')
else:
print('Thread already running.')
def stop(self):
if self.thread_status is not 'stopped':
self.thread_status = 'stopped' # set flag to end thread loop
self.thread.join() # wait for the thread to finish
print('Thread stopped.')
else:
print('thread was not running.')
def pause(self):
if self.thread_status == 'running':
self.thread_status = 'paused' # set flag to end thread loop
self.thread.join() # wait for the thread to finish
print('Thread paused.')
else:
print('There is no thread running.')
def resume(self):
if self.thread_status != 'stopped':
self.run()
else:
print('Thread already stopped.')
def widget_plot_module(self):
if isinstance(self.Aruco, MarkerDetection):
marker = pn.Column(self.widgets_aruco_visualization(),
self.widget_thread_controller())
widgets = pn.Column(self.cmap_frame.show_widgets(),
self.contours.show_widgets())
rows = pn.Row(widgets, marker)
else:
widgets = pn.Column(self.cmap_frame.show_widgets(),
self.contours.show_widgets())
rows = pn.Row(widgets, self.widget_thread_controller())
panel = pn.Column("## Plotting interaction widgets", rows)
return panel
def widget_thread_controller(self):
panel = pn.Column("##<b>Thread Controller</b>",
self._widget_thread_selector,
self._widget_check_difference,
self._widget_module_selector, self._widget_clear_axes
#self._widget_freeze_frame)
)
return panel
def _create_widgets(self):
self._widget_thread_selector = pn.widgets.RadioButtonGroup(
name='Thread controller',
options=["Start", "Stop"],
value="Start",
button_type='success')
self._widget_thread_selector.param.watch(
self._callback_thread_selector, 'value', onlychanged=False)
self._widget_check_difference = pn.widgets.Checkbox(
name='Check changes in fame', value=self.check_change)
self._widget_check_difference.param.watch(
self._callback_check_difference, 'value', onlychanged=False)
self._widget_clear_axes = pn.widgets.Button(
name="Clear axes from projector / refresh list",
button_type="warning")
self._widget_clear_axes.param.watch(self._callback_clear_axes,
'clicks',
onlychanged=False)
self._widget_module_selector = pn.widgets.CrossSelector(
name="Module manager",
value=list(self.modules.keys()),
options=list(self._modules.keys()),
definition_order=False)
self._widget_module_selector.param.watch(
self._callback_module_selector, 'value', onlychanged=False)
def _callback_clear_axes(self, event):
self.projector.clear_axes()
self._widget_module_selector.options = list(self._modules.keys())
self._widget_module_selector.value = list(self.modules.keys())
def _callback_check_difference(self, event):
self.check_change = event.new
def _callback_module_selector(self, event):
self.module_manager(event.new)
def _callback_thread_selector(self, event):
if event.new == "Start":
self.run()
elif event.new == "Stop":
self.stop()
def widgets_aruco_visualization(self):
self._widget_aruco = pn.widgets.Checkbox(name='Aruco Detection',
value=self.ARUCO_ACTIVE)
self._widget_aruco.param.watch(self._callback_aruco,
'value',
onlychanged=False)
panel = pn.Column("## Activate aruco detetection", self._widget_aruco,
self.Aruco.widgets_aruco())
return panel
def _callback_aruco(self, event):
self.ARUCO_ACTIVE = event.new
def __init__(self, sensor: Sensor, projector: Projector, aruco: MarkerDetection = None,
check_change: bool = False, kwargs_contourlines: dict = {}, kwargs_cmap: dict = {},
**kwargs):
"""
Args:
sensor:
projector:
aruco:
modules:
crop:
clip:
check_change:
**kwargs:
"""
self._error_message = ''
# TODO: in all the modules be carefull with zorder
self.sensor = sensor
self.projector = projector
self.projector.clear_axes()
self.contours = ContourLinesModule(extent=self.sensor.extent, **kwargs_contourlines)
self.cmap_frame = CmapModule(extent=self.sensor.extent, **kwargs_cmap)
# start the modules
self.modules = collections.OrderedDict({'CmapModule': self.cmap_frame, 'ContourLinesModule': self.contours})
self._modules = collections.OrderedDict({'CmapModule': self.cmap_frame, 'ContourLinesModule': self.contours})
# threading
self.lock = threading.Lock()
self.thread = None
self.thread_status = 'stopped' # status: 'stopped', 'running', 'paused'
self.main_task = None
# connect to ArucoMarker class
# if CV2_IMPORT is True:
self.Aruco = aruco
self.ARUCO_ACTIVE = False
if isinstance(self.Aruco, MarkerDetection):
self.ARUCO_ACTIVE = True
self.sb_params = {'frame': self.sensor.get_frame(),
'ax': self.projector.ax,
'set_colorbar': self.projector.set_colorbar,
'set_legend': self.projector.set_legend,
'extent': self.sensor.extent,
'box_dimensions': self.sensor.physical_dimensions,
'marker': pd.DataFrame(),
'cmap': plt.cm.get_cmap('gist_earth'),
'norm': None,
'active_cmap': True,
'active_shading': True,
'active_contours': True,
'same_frame': False,
'lock_thread': self.lock,
'trigger': self.projector.trigger,
# TODO: Carefull with this use because it can make to paint the figure incompletely
'del_contour': True, }
# 'freeze_frame': False}
self.previous_frame = self.sb_params['frame']
# To reduce the noise of the data
self.check_change = check_change
self._rtol = 0.07 # Widgets for this
self._atol = 0.001
# render the frame
self.cmap_frame.render_frame(self.sb_params['frame'], self.sb_params['ax'])
# plot the contour lines
self.contours.plot_contour_lines(self.sb_params['frame'], self.sb_params['ax'])
self.projector.trigger()
self._create_widgets()
self._loaded_frame = False
self._error_message = ''
self._widget_error_markdown = pn.pane.Markdown("<p>Open_AR_Sandbox</p>")
class MainThread:
"""
Module with threading methods
"""
def __init__(self, sensor: Sensor, projector: Projector, aruco: MarkerDetection = None,
check_change: bool = False, kwargs_contourlines: dict = {}, kwargs_cmap: dict = {},
**kwargs):
"""
Args:
sensor:
projector:
aruco:
modules:
crop:
clip:
check_change:
**kwargs:
"""
self._error_message = ''
# TODO: in all the modules be carefull with zorder
self.sensor = sensor
self.projector = projector
self.projector.clear_axes()
self.contours = ContourLinesModule(extent=self.sensor.extent, **kwargs_contourlines)
self.cmap_frame = CmapModule(extent=self.sensor.extent, **kwargs_cmap)
# start the modules
self.modules = collections.OrderedDict({'CmapModule': self.cmap_frame, 'ContourLinesModule': self.contours})
self._modules = collections.OrderedDict({'CmapModule': self.cmap_frame, 'ContourLinesModule': self.contours})
# threading
self.lock = threading.Lock()
self.thread = None
self.thread_status = 'stopped' # status: 'stopped', 'running', 'paused'
self.main_task = None
# connect to ArucoMarker class
# if CV2_IMPORT is True:
self.Aruco = aruco
self.ARUCO_ACTIVE = False
if isinstance(self.Aruco, MarkerDetection):
self.ARUCO_ACTIVE = True
self.sb_params = {'frame': self.sensor.get_frame(),
'ax': self.projector.ax,
'set_colorbar': self.projector.set_colorbar,
'set_legend': self.projector.set_legend,
'extent': self.sensor.extent,
'box_dimensions': self.sensor.physical_dimensions,
'marker': pd.DataFrame(),
'cmap': plt.cm.get_cmap('gist_earth'),
'norm': None,
'active_cmap': True,
'active_shading': True,
'active_contours': True,
'same_frame': False,
'lock_thread': self.lock,
'trigger': self.projector.trigger,
# TODO: Carefull with this use because it can make to paint the figure incompletely
'del_contour': True, }
# 'freeze_frame': False}
self.previous_frame = self.sb_params['frame']
# To reduce the noise of the data
self.check_change = check_change
self._rtol = 0.07 # Widgets for this
self._atol = 0.001
# render the frame
self.cmap_frame.render_frame(self.sb_params['frame'], self.sb_params['ax'])
# plot the contour lines
self.contours.plot_contour_lines(self.sb_params['frame'], self.sb_params['ax'])
self.projector.trigger()
self._create_widgets()
self._loaded_frame = False
self._error_message = ''
self._widget_error_markdown = pn.pane.Markdown("<p>Open_AR_Sandbox</p>")
# @property @TODO: test if this works
# def sb_params(self):
# return {'frame': self.sensor.get_frame(),
# 'ax': self.projector.ax,
# 'extent': self.sensor.extent,
# 'marker': pd.DataFrame(),
# 'cmap': plt.cm.get_cmap('gist_earth'),
# 'norm': None,
# 'active_cmap': True,
# 'active_contours': True,
# 'same_frame': False,
# 'freeze_frame': False}
def update(self, **kwargs):
"""
Args:
**kwargs:
Returns:
"""
self.sb_params['ax'] = self.projector.ax
if self._loaded_frame:
frame = self.previous_frame # if loaded DEM the previous frame will have this information
self.sb_params['extent'] = [0, frame.shape[1], 0, frame.shape[0], frame.min(), frame.max()]
self.sb_params[
'same_frame'] = False # TODO: need to organize the usage of same_frame because is contradictory
else:
frame = self.sensor.get_frame()
self.sb_params['extent'] = self.sensor.extent
# This is to avoid noise in the data
if self.check_change:
cl = numpy.isclose(self.previous_frame, frame, atol=self._atol, rtol=self._rtol, equal_nan=True)
self.previous_frame[numpy.logical_not(cl)] = frame[numpy.logical_not(cl)]
frame = self.previous_frame
# self.sb_params['same_frame'] = True #TODO: Check for usage of this part
else:
self.previous_frame = frame
self.sb_params['same_frame'] = False
self.sb_params['frame'] = frame
# filter
self.lock.acquire()
if self.ARUCO_ACTIVE:
df = self.Aruco.update()
else:
df = pd.DataFrame()
self.lock.release()
self.sb_params['marker'] = df
try:
if self._error_message:
self.sb_params['ax'].texts = []
self._error_message = ''
self._widget_error_markdown.object = "Running"
self.lock.acquire()
_cmap = ['CmapModule'] if 'CmapModule' in self.modules.keys() else []
_contours = ['ContourLinesModule'] if 'ContourLinesModule' in self.modules.keys() else []
_always = _cmap + _contours
_actual = [name for name in self.modules.keys() if name not in _always]
for key in list(
_actual + _always): # TODO: maybe use OrderedDict to put this modules always at the end of the iteration
self.sb_params = self.modules[key].update(self.sb_params)
self.lock.release()
except Exception as e:
traceback.print_exc()
logger.critical(e, exc_info=True)
self._error_message = str(dateTimeObj) + str(type(e)) + str(e)
self._widget_error_markdown.object = self._error_message
self.lock.release()
self.thread_status = 'stopped'
self.projector.write_text("Ups... Something went wrong. The Thread is paused..."
"\n Check 'self._error_message' to see what happened"
"\n or open the 'sandbox.log' file for a detailed description")
self.sb_params['ax'].set_xlim(xmin=self.sb_params.get('extent')[0], xmax=self.sb_params.get('extent')[1])
self.sb_params['ax'].set_ylim(ymin=self.sb_params.get('extent')[2], ymax=self.sb_params.get('extent')[3])
if isinstance(self.Aruco, MarkerDetection):
_ = self.Aruco.plot_aruco(self.sb_params['ax'], self.sb_params['marker'])
# Update of legend
self.sb_params['set_legend'](self.Aruco.legend_elements)
self.lock.acquire()
self.projector.trigger()
self.lock.release()
def load_frame(self, frame: numpy.ndarray = None, from_file: str=None):
"""
During the sandbox thread, if you want to fix a frame but not interrupt the thread,
load the desired numpy array here.
This will change the flag self._loaded_frame = False to True in the update function and
stop the sensor frame acquisition.
# TODO: Make this compatible with DEM of differ shapes (e.g. bennisson DEM)
To stop this, pass: frame = None or change the flag self._loaded_frame to False.
Args:
frame: numpy.ndarray: must be a matrix of desired resolution
from_file: Path to DEM. Can be either .npz or .npy (internally normalized)
Returns:
"""
if frame is None and from_file is None:
self._loaded_frame = False
logger.info("No frame to load, resuming sandbox frame acquisition")
return False
if isinstance(from_file, str):
try:
file = numpy.load(from_file)
except Exception:
logger.error("%s as path not valid" % from_file, exc_info=True)
return False
if from_file.split(".")[1] == "npy":
frame_new = self.normalize_topography(file, self.sensor.extent)
self._loaded_frame = True
self.previous_frame = frame_new
logger.info("loaded .npy file")
return True
elif from_file.split(".")[1] == "npz":
frame_new = file["arr_0"]
frame_new = frame_new - frame_new.min()
self._loaded_frame = True
self.previous_frame = frame_new
logger.info("loaded .npz file")
return True
else:
logger.error("%s format not recognized. Please pass a .npy or .npz file" % from_file)
return False
if isinstance(frame, numpy.ndarray):
self._loaded_frame = True
self.previous_frame = frame
logger.info("loaded")
return True
logger.error("Frame and path not valid: Frame -> %s, Path -> %s" % (frame, from_file))
return False
@staticmethod
def normalize_topography(dem, target_extent):
"""
# TODO: Multiple implementations. TopoModule and LoadSaveModule
Normalize any size of numpy array to fit the sandbox frame.
Useful when passing DEM with resolution bigger than sandbox sensor.
Args:
dem:
target_extent: [minx, maxx, miny, maxy, vmin, vmax] ->
[0, frame_width, 0, frame_height, vmin_sensor, vmax_sensor]
Returns:
normalized frame
"""
# Change shape of numpy array to desired shape
topo_changed = skimage.transform.resize(dem,
(target_extent[3], target_extent[1]),
order=3,
mode='edge',
anti_aliasing=True,
preserve_range=False)
topo_min = topo_changed.min()
topo_max = topo_changed.max()
# when the min value is not 0
topo_changed = topo_changed - topo_min
topo_changed = topo_changed * (target_extent[-1] - target_extent[-2]) / (topo_max - topo_min)
return topo_changed
def add_module(self, name: str, module):
"""Add an specific module to run the update in the main thread"""
self.lock.acquire()
self.modules[name] = module
self._modules[name] = module
self.lock.release()
# self.modules.move_to_end(name, last=True)
logger.info('module ' + name + ' added to modules')
def remove_module(self, name: str):
"""Remove a current module from the main thread"""
if name in self.modules.keys():
self.lock.acquire()
self.modules.pop(name)
logger.info('module ' + name + ' removed')
self.lock.release()
else:
logger.warning('No module with name ' + name + ' was found')
def module_manager(self, active_modules: list = []):
# add a module
for name_module in active_modules:
if name_module not in self.modules:
self.add_module(name=name_module, module=self._modules[name_module])
# delete the module
if len(active_modules) > 0:
[self.remove_module(name) for name in self.modules if name not in active_modules]
# self._update_widget_module_selector()
# if self._widget_module_selector is not None:
# self._widget_module_selector.value = list(self.modules.keys())
# self._widget_module_selector.options = list(self._modules.keys())
def _update_widget_module_selector(self):
if self._widget_module_selector is not None:
self._widget_module_selector.value = list(self.modules.keys())
self._widget_module_selector.options = list(self._modules.keys())
async def thread_loop(self):
while self.thread_status == 'running':
self.update()
await asyncio.sleep(0.1) #give other threads a chance to run
def run(self):
if self.thread_status != 'running':
if _platform == "Linux":
if self.sensor.s_name == "kinect_v2" or self.sensor.s_name == "lidar":
self.sensor.Sensor._run()
self.thread_status = 'running'
self.main_task = asyncio.create_task(self.thread_loop())
#self.thread = threading.Thread(target=self.thread_loop, daemon=True, )
#self.thread.start()
logger.info('Thread started or resumed...')
else:
logger.info('Thread already running.')
def stop(self):
if self.thread_status is not 'stopped':
if _platform == "Linux":
if self.sensor.s_name == "kinect_v2" or self.sensor.s_name == "lidar":
self.sensor.Sensor._stop()
self.thread_status = 'stopped' # set flag to end thread loop
#self.thread.join() # wait for the thread to finish
self.main_task.cancel()
logger.info('Thread stopped.')
else:
logger.info('thread was not running.')
def pause(self):
if self.thread_status == 'running':
self.thread_status = 'paused' # set flag to end thread loop
#self.thread.join() # wait for the thread to finish
self.main_task.cancel()
logger.info('Thread paused.')
else:
logger.info('There is no thread running.')
def resume(self):
if self.thread_status != 'stopped':
self.run()
else:
logger.info('Thread already stopped.')
def widget_plot_module(self):
if isinstance(self.Aruco, MarkerDetection):
marker = pn.Column(self.widgets_aruco_visualization(), self.widget_thread_controller())
widgets = pn.Column(self.cmap_frame.show_widgets(),
self.contours.show_widgets())
rows = pn.Row(widgets, marker)
else:
widgets = pn.Column(self.cmap_frame.show_widgets(),
self.contours.show_widgets())
rows = pn.Row(widgets, self.widget_thread_controller())
panel1 = pn.Column("## Plotting interaction widgets", rows)
self._update_widget_module_selector()
panel2 = self.projector.show_widgets_sidepanels()
panel = pn.Tabs(("Main frame controller", panel1),
("Side panel controller", panel2))
return panel
def widget_thread_controller(self):
panel = pn.Column("##<b>Thread Controller</b>",
self._widget_thread_selector,
self._widget_check_difference,
self._widget_module_selector,
self._widget_clear_axes,
self._widget_error_markdown
# self._widget_freeze_frame)
)
return panel
def _create_widgets(self):
self._widget_thread_selector = pn.widgets.RadioButtonGroup(name='Thread controller',
options=["Start", "Stop"],
value="Start",
button_type='success')
self._widget_thread_selector.param.watch(self._callback_thread_selector, 'value', onlychanged=False)
self._widget_check_difference = pn.widgets.Checkbox(name='Check changes in fame', value=self.check_change)
self._widget_check_difference.param.watch(self._callback_check_difference, 'value',
onlychanged=False)
self._widget_clear_axes = pn.widgets.Button(name="Clear axes from projector / refresh list",
button_type="warning")
self._widget_clear_axes.param.watch(self._callback_clear_axes, 'clicks',
onlychanged=False)
self._widget_module_selector = pn.widgets.CrossSelector(name="Module manager",
value=list(self.modules.keys()),
options=list(self._modules.keys()),
definition_order=False)
self._widget_module_selector.param.watch(self._callback_module_selector, 'value',
onlychanged=False)
def _callback_clear_axes(self, event):
self.projector.clear_axes()
self._update_widget_module_selector()
# if self._widget_module_selector is not None:
# self._widget_module_selector.value = list(self.modules.keys())
# self._widget_module_selector.options = list(self._modules.keys())
def _callback_check_difference(self, event):
self.check_change = event.new
def _callback_module_selector(self, event):
self.module_manager(event.new)
def _callback_thread_selector(self, event):
if event.new == "Start":
self.run()
elif event.new == "Stop":
self.stop()
def widgets_aruco_visualization(self):
self._widget_aruco = pn.widgets.Checkbox(name='Aruco Detection', value=self.ARUCO_ACTIVE)
self._widget_aruco.param.watch(self._callback_aruco, 'value',
onlychanged=False)
panel = pn.Column("## Activate aruco detection", self._widget_aruco, self.Aruco.widgets_aruco())
return panel
def _callback_aruco(self, event):
self.ARUCO_ACTIVE = event.new
def test_widgets():
module = CmapModule(extent=extent)
widget = module.show_widgets()
widget.show()
def test_init():
module = CmapModule(extent=extent)
print(module)