def __init__(self, stitcher_controller):
self.algorithm_scheduler = algorithm_scheduler.AlgorithmScheduler()
self.running_algorithms = set()
self.algo_lock = threading.RLock()
self.extract_output_list = vs.ExtractOutputPtrVector()
self.extract_output_managed = []
for i in range(stitcher_controller.getPano().numInputs()):
input = stitcher_controller.getPano().getInput(i)
if not input.getIsVideoEnabled():
continue
surf = vs.OffscreenAllocator_createSourceSurface(
input.width, input.height, "Algorithm")
if not surf.ok():
raise errors.AlgorithmError(
'Cannot run algorithm:' +
str(surf.status().getErrorMessage()))
dontmemleak = vs.sourceSurfaceSharedPtr(surf.release())
# SWIG create a proxy object with an empty deleter
# when passing directly the pointer to the vector object :(
# DON'T TRY TO FACTORIZE THE PREVIOUS LINE OR MEMLEAK
extract_output = stitcher_controller.createBlockingExtractOutput(
i, dontmemleak, None, None)
if not extract_output.status().ok():
raise errors.AlgorithmError("Cannot create AsyncExtractOutput")
# To preserve ownership over outputs
self.extract_output_managed.append(extract_output)
self.extract_output_list.push_back(extract_output.object())
self._connect_signals()
def stretch_so_it_looks_like(self, other):
if self.facing in [DIR_UP, DIR_DOWN]:
u = self.x_to_range().union_if_match(other.x_to_range())
if not u:
raise errors.AlgorithmError('This shouldn\'t be possible')
return Edge(self.facing, self.y0, u.p0, self.y0, u.p1)
else:
u = self.y_to_range().union_if_match(other.y_to_range())
if not u:
raise errors.AlgorithmError('This shouldn\'t be possible')
return Edge(self.facing, u.p0, self.x0, u.p1, self.x1)
def different_endpoint(self, point):
if self.facing in [DIR_UP, DIR_DOWN]:
assert self.y0 == self.y1 == point.y
if self.x0 == point.x:
return Point(self.y0, self.x1)
elif self.x1 == point.x:
return Point(self.y0, self.x0)
else:
raise errors.AlgorithmError('Not one of my endpoints')
else:
assert self.x0 == self.x1 == point.x
if self.y0 == point.y:
return Point(self.y1, self.x0)
elif self.y1 == point.y:
return Point(self.y0, self.x0)
else:
raise errors.AlgorithmError('Not one of my endpoints')
def get_move(self, dir, y, x):
m = self.turn_left(dir, y, x)
if m:
return m[0], m[1], m[2]
m = self.go_forward(dir, y, x)
if m:
return m[0], m[1], m[2]
m = self.turn_right(dir, y, x)
if m:
return m[0], m[1], m[2]
raise errors.AlgorithmError('Stuck, cannot move at %sy, %sx' % (y, x))
def distance_from(self, other):
if isinstance(other, Edge):
if self.facing in [other.facing, opposite_dir(other.facing)]:
other = other.get_endpoints()[0]
else:
raise errors.AlgorithmError('Cannot get distance from misaligned edges')
if self.facing == DIR_UP:
return self.y0 - other.y
elif self.facing == DIR_RIGHT:
return other.x - self.x0
elif self.facing == DIR_DOWN:
return other.y - self.y0
elif self.facing == DIR_LEFT:
return self.x0 - other.x
def side_between(self, first, second, rotate_clockwise):
if first.facing != opposite_dir(second.facing):
raise errors.AlgorithmError('Side direction mismatch!')
if rotate_clockwise:
dir = rotate_dir_cw(first.facing)
else:
dir = rotate_dir_counter_cw(first.facing)
if first.facing in DIR_UP:
# +---+
# cc | | rc
# | |
# | |
y0, y1 = first.y0, second.y0
if rotate_clockwise:
# right-hand side from the top and bottom
x0 = x1 = first.x1
else:
# left-hand side from the top and bottom
x0 = x1 = first.x0
elif first.facing == DIR_RIGHT:
x0, x1 = second.x0, first.x0
if rotate_clockwise:
# bottom side from the right and left
y0 = y1 = first.y1
else:
# top side from the right and left
y0 = y1 = first.y0
elif first.facing == DIR_DOWN:
# | |
# | |
# rc | | cc
# +---+
y0, y1 = second.y0, first.y0
if rotate_clockwise:
# left-hand side from the bottom and top
x0 = x1 = first.x0
else:
# right-hand side from the bottom and top
x0 = x1 = first.x1
elif first.facing == DIR_LEFT:
x0, x1 = first.x0, second.x0
if rotate_clockwise:
# bottom side from the right and left
y0 = y1 = first.y0
else:
# top side from the right and left
y0 = y1 = first.y1
return geometry.Edge(dir, y0, x0, y1, x1)
def get_algo_output(self, panorama):
# Todo: investigate OnlineAlgorithm opaque pointer (shared calibration context? / last parameter)
# Clone a panorama and acquire ownership.
self.panorama = panorama.clone()
self.panorama.thisown = 1
self._update_config(panorama)
self.online_algorithm = vs.OnlineAlgorithm_create(self.config_name, self.config.to_config())
if not self.online_algorithm.status().ok():
CLIENT_MESSENGER.send_error(
errors.AlgorithmError("Online algorithm \"{}\" creation failed".format(self.config_name)))
return None
self.listener_wrapper = vs.AlgorithmListenerGIL(self.this)
self.algorithm_output = vs.AlgorithmOutput(self.online_algorithm.release(), panorama,
vs.toListener(self.listener_wrapper.this), None)
return self.algorithm_output
def add(self, dir, point_y, point_x, next_dir):
self.count += 1
if self.count >= 128:
raise errors.AlgorithmError('loop detected at y=%s, x=%s' %
(point_y, point_x))
# Adjust
if dir == DIR_DOWN:
point_x += 1
if dir == DIR_LEFT:
point_y += 1
if next_dir == DIR_DOWN:
point_x += 1
elif next_dir == DIR_LEFT:
point_y += 1
# Edge
edge = geometry.Edge(rotate_dir_cw(dir), self.curr_y, self.curr_x,
point_y, point_x)
self.edges.append(edge)
# Vertex
kind = 'convex' if next_dir == rotate_dir_cw(dir) else 'reflex'
self.vertices.append(
geometry.Vertex(kind, point_y, point_x, len(self.vertices)))
# Border
if point_y < self.min_y:
self.min_y = point_y
if point_y > self.max_y:
self.max_y = point_y
if point_x < self.min_x:
self.min_x = point_x
if point_x > self.max_x:
self.max_x = point_x
# Done?
self.curr_y = point_y
self.curr_x = point_x
if point_y == self.start_y and point_x == self.start_x:
first = self.vertices[-1]
self.vertices = [first] + self.vertices[:-1]
return True
def common_endpoint(self, other):
ys = set([self.y0, self.y1]).intersection([other.y0, other.y1])
xs = set([self.x0, self.x1]).intersection([other.x0, other.x1])
if len(ys) == 1 and len(xs) == 1:
return Point(list(ys)[0], list(xs)[0])
raise errors.AlgorithmError('No common endpoint found')
