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removed old async read_updates in favor of silent frame grabbing. Added for loop handling. Set default framerate to infinite. Added no_display example.

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This commit is contained in:
simleek
2020-04-07 22:06:52 -07:00
parent beb15b2869
commit 09c687ff42
12 changed files with 119 additions and 51 deletions
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.gitignore
+1
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@@ -107,3 +107,4 @@ venv.bak/
.idea/
.pytest_cache/
.coveragerc
displayarray/__init__.py
+1 -2
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@@ -6,7 +6,6 @@ display is a function that displays these in their own windows.
__version__ = "0.7.2"
from .window.subscriber_windows import display, breakpoint_display
from .frame.frame_updater import read_updates
from .window.subscriber_windows import display, breakpoint_display, read_updates
from .frame.frame_publishing import publish_updates_zero_mq, publish_updates_ros
from . import effects
displayarray/frame/__init__.py
+1 -1
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@@ -9,7 +9,7 @@ np_cam simulates numpy arrays as OpenCV cameras
"""
from . import subscriber_dictionary
from .frame_updater import FrameUpdater, read_updates
from .frame_updater import FrameUpdater
from .get_frame_ids import get_cam_ids
from .np_to_opencv import NpCam
from .frame_publishing import pub_cam_thread
displayarray/frame/frame_publishing.py
+4 -5
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@@ -20,7 +20,7 @@ def pub_cam_loop(
cam_id: Union[int, str, np.ndarray],
request_size: Tuple[int, int] = (-1, -1),
high_speed: bool = True,
fps_limit: float = 240,
fps_limit: float = float("inf"),
) -> bool:
"""
Publish whichever camera you select to CVCams.<cam_id>.Vid.
@@ -47,7 +47,6 @@ def pub_cam_loop(
subscriber_dictionary.register_cam(name)
# cam.set(cv2.CAP_PROP_CONVERT_RGB, 0)
frame_counter = 0
sub = subscriber_dictionary.cam_cmd_sub(name)
@@ -89,7 +88,7 @@ def pub_cam_thread(
cam_id: Union[int, str],
request_ize: Tuple[int, int] = (-1, -1),
high_speed: bool = True,
fps_limit: float = 240,
fps_limit: float = float("inf"),
) -> threading.Thread:
"""Run pub_cam_loop in a new thread. Starts on creation."""
t = threading.Thread(
@@ -186,8 +185,8 @@ async def publish_updates_ros(
}[dtype]
else:
msg_type = (
dtype
) # allow users to use their own custom messages in numpy arrays
dtype # allow users to use their own custom messages in numpy arrays
)
return msg_type
publishers: Dict[str, rospy.Publisher] = {}
displayarray/frame/frame_updater.py
+3 -3
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@@ -26,7 +26,7 @@ class FrameUpdater(threading.Thread):
callbacks: Optional[Union[List[FrameCallable], FrameCallable]] = None,
request_size: Tuple[int, int] = (-1, -1),
high_speed: bool = True,
fps_limit: float = 240,
fps_limit: float = float("inf"),
):
"""Create the frame updater thread."""
super(FrameUpdater, self).__init__(target=self.loop, args=())
@@ -115,7 +115,7 @@ class FrameUpdater(threading.Thread):
raise self.exception_raised
async def read_updates(
'''async def read_updates(
*vids,
callbacks: Optional[
Union[
@@ -174,7 +174,7 @@ async def read_updates(
for v in vid_names:
subscriber_dictionary.stop_cam(v)
for v in vid_threads:
v.join()
v.join()'''
async def read_updates_zero_mq(
displayarray/window/subscriber_windows.py
+34 -14
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@@ -30,6 +30,7 @@ class SubscriberWindows(object):
window_names: Iterable[str] = ("displayarray",),
video_sources: Iterable[Union[str, int]] = (0,),
callbacks: Optional[List[Callable[[np.ndarray], Any]]] = None,
silent: bool = False,
):
"""Create the array displaying window."""
self.source_names: List[Union[str, int]] = []
@@ -39,14 +40,16 @@ class SubscriberWindows(object):
self.window_names: List[str] = []
self.input_cams: List[str] = []
self.exited = False
self.silent = silent
if callbacks is None:
callbacks = []
for name in video_sources:
self.add_source(name)
self.callbacks = callbacks
for name in window_names:
self.add_window(name)
if not self.silent:
for name in window_names:
self.add_window(name)
self.update()
@@ -54,6 +57,11 @@ class SubscriberWindows(object):
self.update()
return not self.exited
def __iter__(self):
while not self.exited:
self.update()
yield self.frames
def block(self):
"""Update the window continuously while blocking the outer program."""
self.loop()
@@ -109,7 +117,7 @@ class SubscriberWindows(object):
mousey = MouseEvent(event, x, y, flags, param)
window_commands.mouse_pub.publish(mousey)
def _display_frames(self, frames, win_num=0, ids=None):
def display_frames(self, frames, win_num=0, ids=None):
if isinstance(frames, Exception):
raise frames
for f in range(len(frames)):
@@ -122,7 +130,7 @@ class SubscriberWindows(object):
and (len(frames[f].shape) != 3 or frames[f].shape[-1] != 3)
)
):
win_num = self._display_frames(frames[f], win_num, ids)
win_num = self.display_frames(frames[f], win_num, ids)
else:
if len(self.window_names) <= win_num:
self.add_window(str(win_num))
@@ -157,7 +165,7 @@ class SubscriberWindows(object):
self.frames[fr] = self.callbacks[-1](self.frames[fr])
break
def update_window_frames(self):
def update_frames(self):
"""Update the windows with the newest data for all frames."""
self.frames = []
for i in range(len(self.input_vid_global_names)):
@@ -172,9 +180,11 @@ class SubscriberWindows(object):
frame = c(self.frames[-1])
if frame is not None:
self.frames[-1] = frame
self.__check_too_many_channels()
if not self.silent:
self.__check_too_many_channels()
self.FRAME_DICT[self.input_vid_global_names[i]] = NoData()
self._display_frames(self.frames)
if not self.silent:
self.display_frames(self.frames)
def update(self, arr: np.ndarray = None, id: str = None):
"""Update window frames once. Optionally add a new input and input id."""
@@ -182,9 +192,10 @@ class SubscriberWindows(object):
global_cv_display_callback(arr, id)
if id not in self.input_cams:
self.add_source(id)
self.add_window(id)
if not self.silent:
self.add_window(id)
sub_cmd = window_commands.win_cmd_sub()
self.update_window_frames()
self.update_frames()
msg_cmd = sub_cmd.get()
key = self.handle_keys(cv2.waitKey(1))
return msg_cmd, key
@@ -231,7 +242,7 @@ class SubscriberWindows(object):
def _get_video_callback_dict_threads(
*vids,
callbacks: Optional[Dict[Any, Union[FrameCallable, List[FrameCallable]]]] = None,
fps=240,
fps=float("inf"),
size=(-1, -1),
):
assert callbacks is not None
@@ -264,7 +275,7 @@ def _get_video_threads(
FrameCallable,
]
] = None,
fps=240,
fps=float("inf"),
size=(-1, -1),
):
vid_threads: List[Thread] = []
@@ -300,8 +311,9 @@ def display(
] = None,
window_names=None,
blocking=False,
fps_limit=240,
fps_limit=float("inf"),
size=(-1, -1),
silent=False,
):
"""
Display all the arrays, cameras, and videos passed in.
@@ -318,11 +330,15 @@ def display(
if window_names is None:
window_names = ["window {}".format(i) for i in range(len(vids))]
if blocking:
SubscriberWindows(window_names=window_names, video_sources=vids).loop()
SubscriberWindows(
window_names=window_names, video_sources=vids, silent=silent
).loop()
for vt in vid_threads:
vt.join()
else:
s = SubscriberWindows(window_names=window_names, video_sources=vids)
s = SubscriberWindows(
window_names=window_names, video_sources=vids, silent=silent
)
s.close_threads = vid_threads
return s
@@ -330,3 +346,7 @@ def display(
def breakpoint_display(*args, **kwargs):
"""Display all the arrays, cameras, and videos passed in. Stops code execution until the window is closed."""
return display(*args, **kwargs, blocking=True)
def read_updates(*args, **kwargs):
return display(*args, **kwargs, silent=True)
docs/docsrc/conf.py
+2 -1
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@@ -12,7 +12,8 @@
#
import os
import sys
sys.path.insert(0, os.path.abspath(f'..{os.sep}..'))
sys.path.insert(0, os.path.abspath(f"..{os.sep}.."))
# -- Project information -----------------------------------------------------
examples/callbacks/black_and_white.py
+8 -1
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@@ -6,4 +6,11 @@ def black_and_white(arr):
return (np.sum(arr, axis=-1) / 3).astype(np.uint8)
display(0, callbacks=black_and_white, blocking=True)
import time
t0 = t1 = time.time()
for up in display(0, size=(1, 1), callbacks=black_and_white):
if up:
t1 = time.time()
print(1.0 / (t1 - t0))
t0 = t1
examples/looping/no_display.py
+30
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@@ -0,0 +1,30 @@
from displayarray import read_updates, end_feeds
import time
import cProfile
from examples.videos import test_video
def profile_reading(total_seconds=2):
t_init = t01 = time.time()
times = []
started = False
for up in read_updates(test_video, size=(1, 1)):
if up:
t1 = time.time()
if started:
times.append((t1 - t01) * 1000)
t01 = t1
started = True
if started:
t2 = time.time()
if t2 - t_init >= total_seconds:
if times:
print(f"Average framerate: {1000 / (sum(times) / len(times))}fps")
else:
print("failure")
break
else:
t_init = time.time()
cProfile.run("profile_reading()")
tests/frame/test_frame_publishing.py
+1 -1
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@@ -145,6 +145,6 @@ def test_pub_cam_thread():
pub_cam_thread(5)
mock_thread.assert_called_once_with(
target=fpub.pub_cam_loop, args=(5, (-1, -1), True, 240)
target=fpub.pub_cam_loop, args=(5, (-1, -1), True, float("inf"))
)
thread_instance.start.assert_called_once()
tests/frame/test_frame_updater.py
+2 -2
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@@ -14,7 +14,7 @@ def test_init_defaults():
assert ud.callbacks == []
assert ud.request_size == (-1, -1)
assert ud.high_speed == True
assert ud.fps_limit == 240
assert ud.fps_limit == float("inf")
def test_init():
@@ -57,7 +57,7 @@ def test_loop():
ud.loop()
mock_pubcam_thread.assert_called_once_with(0, (-1, -1), True, 240)
mock_pubcam_thread.assert_called_once_with(0, (-1, -1), True, float("inf"))
mock_frame_sub.assert_called_once_with("0")
handler_cmd_sub.assert_called_once_with("0")
sub_cam.get.assert_has_calls([mock.call(blocking=True, timeout=1.0)] * 3)
tests/window/test_subscriber_windows.py
+32 -21
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@@ -181,7 +181,7 @@ def test_handle_mouse():
mock_win_cmd.mouse_pub.publish.assert_called_once_with(mock_mousey)
def test_update_window_frames():
def test_update_frames():
sub_win.SubscriberWindows.FRAME_DICT = {}
with mock.patch.object(cv2, "namedWindow"), mock.patch.object(
cv2, "imshow"
@@ -191,13 +191,13 @@ def test_update_window_frames():
frame = np.ones((100, 100))
sw.FRAME_DICT["0"] = frame
sw.update_window_frames()
sw.update_frames()
assert sw.frames == [frame]
mock_imshow.assert_called_once_with("displayarray (press ESC to quit)", frame)
def test_update_window_frames_callback():
def test_update_frames_callback():
sub_win.SubscriberWindows.FRAME_DICT = {}
with mock.patch.object(cv2, "namedWindow"), mock.patch.object(
cv2, "imshow"
@@ -217,7 +217,7 @@ def test_update_window_frames_callback():
sw.FRAME_DICT["0"] = frame
sw.FRAME_DICT["1"] = frame
sw.update_window_frames()
sw.update_frames()
assert sw.frames == [frame3, frame3]
assert np.all(cb.mock_calls[0].args[0] == frame)
@@ -230,7 +230,7 @@ def test_update_window_frames_callback():
)
def test_update_window_frames_too_many_channels():
def test_update_frames_too_many_channels():
sub_win.SubscriberWindows.FRAME_DICT = {}
with mock.patch.object(cv2, "namedWindow"), mock.patch.object(
cv2, "imshow"
@@ -242,7 +242,7 @@ def test_update_window_frames_too_many_channels():
frame = np.ones((100, 100, 100))
sw.FRAME_DICT["0"] = frame
sw.update_window_frames()
sw.update_frames()
mock_print.assert_has_calls(
[
@@ -263,7 +263,7 @@ def test_update_window_frames_too_many_channels():
assert sw.frames[0].shape[-1] == 3
def test_update_window_frames_nested():
def test_update_frames_nested():
sub_win.SubscriberWindows.FRAME_DICT = {}
with mock.patch.object(cv2, "namedWindow"), mock.patch.object(
cv2, "imshow"
@@ -273,7 +273,7 @@ def test_update_window_frames_nested():
frame = np.ones((20, 100, 100, 100))
sw.FRAME_DICT["0"] = frame
sw.update_window_frames()
sw.update_frames()
assert np.all(sw.frames[0] == np.ones((20, 100, 100, 3)))
assert len(sw.frames) == 1
@@ -319,7 +319,7 @@ def test_update_window_frames_nested():
assert np.all(mock_imshow.mock_calls[19].args[1] == np.ones((100, 100, 3)))
def test_update_window_frames_exception():
def test_update_frames_exception():
sub_win.SubscriberWindows.FRAME_DICT = {}
with mock.patch.object(cv2, "namedWindow"), mock.patch.object(
cv2, "imshow"
@@ -330,14 +330,14 @@ def test_update_window_frames_exception():
sw.FRAME_DICT["0"] = frame
with pytest.raises(RuntimeError) as e:
sw.update_window_frames()
sw.update_frames()
assert e.value == frame
def test_update():
sub_win.SubscriberWindows.FRAME_DICT = {}
with mock.patch.object(cv2, "namedWindow"), mock.patch.object(
sub_win.SubscriberWindows, "update_window_frames"
sub_win.SubscriberWindows, "update_frames"
) as mock_update_win_frames, mock.patch(
"displayarray.window.subscriber_windows.window_commands"
) as mock_win_cmd, mock.patch.object(
@@ -364,7 +364,7 @@ def test_update():
def test_update_with_array():
sub_win.SubscriberWindows.FRAME_DICT = {}
with mock.patch.object(cv2, "namedWindow"), mock.patch.object(
sub_win.SubscriberWindows, "update_window_frames"
sub_win.SubscriberWindows, "update_frames"
) as mock_update_win_frames, mock.patch(
"displayarray.window.subscriber_windows.window_commands"
) as mock_win_cmd, mock.patch.object(
@@ -495,13 +495,13 @@ def test_display():
fup.assert_has_calls(
[
mock.call(0, fps_limit=240, request_size=(50, 50)),
mock.call(1, fps_limit=240, request_size=(50, 50)),
mock.call(0, fps_limit=float("inf"), request_size=(50, 50)),
mock.call(1, fps_limit=float("inf"), request_size=(50, 50)),
]
)
assert fup_inst.start.call_count == 2
sws.assert_called_once_with(
window_names=["window 0", "window 1"], video_sources=(0, 1)
window_names=["window 0", "window 1"], video_sources=(0, 1), silent=False
)
assert sws_inst.close_threads == [fup_inst, fup_inst]
assert d == sws_inst
@@ -521,7 +521,7 @@ def test_display_blocking():
assert fup_inst.start.call_count == 2
sws.assert_called_once_with(
window_names=["window 0", "window 1"], video_sources=(0, 1)
window_names=["window 0", "window 1"], video_sources=(0, 1), silent=False
)
sws_inst.loop.assert_called_once()
assert fup_inst.join.call_count == 2
@@ -540,8 +540,12 @@ def test_display_callbacks():
fup.assert_has_calls(
[
mock.call(0, callbacks=[cb], fps_limit=240, request_size=(-1, -1)),
mock.call(1, callbacks=[cb], fps_limit=240, request_size=(-1, -1)),
mock.call(
0, callbacks=[cb], fps_limit=float("inf"), request_size=(-1, -1)
),
mock.call(
1, callbacks=[cb], fps_limit=float("inf"), request_size=(-1, -1)
),
]
)
@@ -574,10 +578,17 @@ def test_display_callbacks_dict():
fup.assert_has_calls(
[
mock.call(0, callbacks=[cb1], fps_limit=240, request_size=(-1, -1)),
mock.call(
1, callbacks=[cb1, cb2], fps_limit=240, request_size=(-1, -1)
0, callbacks=[cb1], fps_limit=float("inf"), request_size=(-1, -1)
),
mock.call(
1,
callbacks=[cb1, cb2],
fps_limit=float("inf"),
request_size=(-1, -1),
),
mock.call(
2, callbacks=[cb3], fps_limit=float("inf"), request_size=(-1, -1)
),
mock.call(2, callbacks=[cb3], fps_limit=240, request_size=(-1, -1)),
]
)