def start(self):
#self._hardwarecontroller.stop_camera_stream()
tools = FSSystem()
tools.delete_folder(self.config.folders.scans + 'calibration')
self._hardwarecontroller.turntable.enable_motors()
self._hardwarecontroller.led.on(self.calibration_brightness[0],
self.calibration_brightness[1],
self.calibration_brightness[2])
#self.settings.camera.contrast = 30
#self.settings.camera.saturation = 20
#self.settings.camera.brightness = 50
self.reset_calibration_values()
self.settings.threshold = 30
self._starttime = self.get_time_stamp()
message = {"message": "START_CALIBRATION", "level": "info"}
self._eventmanager.broadcast_client_message(FSEvents.ON_INFO_MESSAGE,
message)
try:
self._hardwarecontroller.start_camera_stream(mode="calibration")
self._do_calibration(self._capture_camera_calibration,
self._calculate_camera_calibration)
self._do_calibration(self._capture_scanner_calibration,
self._calculate_scanner_calibration)
if self._stop:
self._logger.debug("Calibration canceled...")
# send information to client that calibration is finished
message = {"message": "STOPPED_CALIBRATION", "level": "info"}
self._eventmanager.broadcast_client_message(
FSEvents.ON_INFO_MESSAGE, message)
self._stop = False
else:
event = FSEvent()
event.command = 'CALIBRATION_COMPLETE'
self._eventmanager.publish(FSEvents.COMMAND, event)
# send information to client that calibration is finished
message = {"message": "FINISHED_CALIBRATION", "level": "info"}
self.config.save()
self._eventmanager.broadcast_client_message(
FSEvents.ON_INFO_MESSAGE, message)
self._hardwarecontroller.stop_camera_stream()
self._hardwarecontroller.led.off()
self._hardwarecontroller.turntable.disable_motors()
self.reset_calibration_values()
return
except StandardError as e:
self._logger.error(e)
def __init__(self, config, settings, eventmanager, imageprocessor,
hardwarecontroller, calibration):
super(FSScanProcessorInterface,
self).__init__(self, config, settings, eventmanager,
imageprocessor, hardwarecontroller, calibration)
#asyncio.set_event_loop(asyncio.new_event_loop())
self.settings = settings
self.config = config
self._logger = logging.getLogger(__name__)
self.eventmanager = eventmanager.instance
self.calibration = calibration
self._worker_pool = None
self.hardwareController = hardwarecontroller
self.image_processor = imageprocessor
self._prefix = None
self._resolution = 16
self._number_of_pictures = 0
self._total = 1
self._progress = 1
self._is_color_scan = True
self.point_clouds = []
self.both_cloud = []
self.current_position = 0
self._stop_scan = False
self._current_laser_position = 1
self._starttime = 0
self._additional_worker_number = 1
self.texture_lock_event = threading.Event()
self.texture_lock_event.set()
self.utils = FSSystem()
self._scan_brightness = self.settings.file.camera.brightness
self._scan_contrast = self.settings.file.camera.contrast
self._scan_saturation = self.settings.file.camera.saturation
self._logger.info("Laser Scan Processor initilized.")
# prevent deadlocks when opencv tbb is not available
cv_build_info = cv2.getBuildInformation()
# fallback to one worker.
if not "TBB" in cv_build_info:
self._logger.warning(
"OpenCV does not support TBB. Falling back to single processing."
)
self.config.file.process_numbers = 1
def __init__(self, config, settings, eventmanager, imageprocessor,
hardwarecontroller, calibration):
super(FSScanProcessorInterface,
self).__init__(self, config, settings, eventmanager,
imageprocessor, hardwarecontroller, calibration)
self.settings = settings
self.config = config
self._logger = logging.getLogger(__name__)
self.eventmanager = eventmanager.instance
self.calibration = calibration
self.hardwareController = hardwarecontroller
self.image_processor = imageprocessor
self._prefix = None
self._resolution = 16
self._number_of_pictures = 0
self._total = 0
self._laser_positions = 1
self._progress = 0
self._is_color_scan = True
self.point_cloud = None
self.image_task_q = multiprocessing.Queue(self.config.process_numbers *
2)
self.current_position = 0
self._stop_scan = False
self._current_laser_position = 1
self._starttime = 0
self.utils = FSSystem()
self.semaphore = multiprocessing.BoundedSemaphore()
self.event_q = self.eventmanager.get_event_q()
self._worker_pool = None
self._scan_brightness = self.settings.camera.brightness
self._scan_contrast = self.settings.camera.contrast
self._scan_saturation = self.settings.camera.saturation
self.eventmanager.subscribe(FSEvents.ON_IMAGE_PROCESSED,
self.image_processed)
self._logger.info("Laser Scan Processor initilized..." + str(self))
def start(self):
#self._hardwarecontroller.stop_camera_stream()
tools = FSSystem()
#self._hardwarecontroller.stop_camera_stream()
tools.delete_folder(self.config.file.folders.scans + 'calibration')
self._hardwarecontroller.turntable.enable_motors()
time.sleep(0.2)
if self.config.file.laser.interleaved == "False":
self._logger.debug("Turning Leds on in non interleaved mode.")
self._hardwarecontroller.led.on(self.calibration_brightness[0],
self.calibration_brightness[1],
self.calibration_brightness[2])
self.reset_calibration_values()
self.settings.threshold = 25
self._starttime = self.get_time_stamp()
message = {"message": "START_CALIBRATION", "level": "info"}
self._eventmanager.broadcast_client_message(FSEvents.ON_INFO_MESSAGE,
message)
try:
self._hardwarecontroller.start_camera_stream(mode="calibration")
self._do_calibration(self._capture_camera_calibration,
self._calculate_camera_calibration)
self._do_calibration(self._capture_scanner_calibration,
self._calculate_scanner_calibration)
if self.config.file.laser.interleaved == "False":
self._hardwarecontroller.led.off()
self._hardwarecontroller.turntable.disable_motors()
if self._stop:
self._logger.debug("Calibration canceled...")
# send information to client that calibration is finished
message = {"message": "STOPPED_CALIBRATION", "level": "info"}
self._eventmanager.broadcast_client_message(
FSEvents.ON_INFO_MESSAGE, message)
self._stop = False
else:
event = FSEvent()
event.command = 'CALIBRATION_COMPLETE'
self._eventmanager.publish(FSEvents.COMMAND, event)
# send information to client that calibration is finished
message = {"message": "FINISHED_CALIBRATION", "level": "info"}
self.config.save_json()
self._eventmanager.broadcast_client_message(
FSEvents.ON_INFO_MESSAGE, message)
self._hardwarecontroller.stop_camera_stream()
self._hardwarecontroller.led.off()
self._hardwarecontroller.turntable.disable_motors()
self.reset_calibration_values()
return
except Exception as e:
self._logger.exception(e)
message = {
"message": "SCANNER_CALIBRATION_FAILED",
"level": "warn"
}
self._eventmanager.broadcast_client_message(
FSEvents.ON_INFO_MESSAGE, message)