more removals of file based monitoring

lib/logging.py

@@ -1,7 +1,5 @@
-
-
 def debug(string):
-    print(string)
+    pass  # print(string)
 
 
 def error(string):

lib/sfm/sfm.py

@@ -16,7 +16,13 @@
 class SFM(Process):
 
     def __init__(
-        self, directory: Path, rescale=False, interpolate=False, event_on_update=None
+        self,
+        directory: Path,
+        rescale=False,
+        interpolate=False,
+        event_on_update=None,
+        led_map_2d_queue=None,
+        led_map_3d_queue=None,
     ):
         logging.debug("SFM initialising")
         super().__init__()
@@ -26,8 +32,16 @@ def __init__(
         self.exit_event = Event()
         self.reload_event = Event()
         self.event_on_update = event_on_update
+        self.led_map_3d_queue = led_map_3d_queue
+        self.led_map_2d_queue = led_map_2d_queue
+
+        self.led_map_2d_queue.put(get_all_2d_led_maps(self.directory))
+
         logging.debug("SFM initialised")
 
+    def add_led_maps_2d(self, maps):
+        self.led_map_2d_queue.put(maps)
+
     def shutdown(self):
         logging.debug("SFM sending shutdown request")
         self.exit_event.set()
@@ -48,10 +62,16 @@ def reload__(self):
         logging.debug("SFM process reloading")
         maps_2d = get_all_2d_led_maps(self.directory)
         if len(maps_2d) < 2:
+            self.reload_event.clear()
             return None
+
+        logging.debug(f"SFM process running on {len(maps_2d)} maps")
+
         map_3d = self.process__(maps_2d, self.rescale, self.interpolate)
         if map_3d is None:
+            self.reload_event.clear()
             return None
+
         map_3d.write_to_file(self.directory / "led_map_3d.csv")
 
         self.event_on_update.set()
@@ -85,7 +105,9 @@ def process__(maps_2d, rescale=False, interpolate=False):
                 )
 
             if not os.path.exists(os.path.join(temp_dir, "0", "points3D.bin")):
-                logging.debug("SFM process failed to run sfm process as reconstruction failed")
+                logging.debug(
+                    "SFM process failed to run sfm process as reconstruction failed"
+                )
                 return None
 
             map_3d, cams = get_map_and_cams(temp_dir)

lib/visualize_model.py

@@ -2,25 +2,27 @@
 import open3d
 from lib import logging
 from multiprocessing import Process, Event
-from lib.led_map_3d import LEDMap3D
 
 
 class Renderer3D(Process):
 
-    def __init__(self, filename):
+    def __init__(self, led_map_3d_queue):
         logging.debug("Renderer3D initialising")
         super().__init__()
-        self.filename = filename
         self._vis = None
         self.exit_event = Event()
         self.reload_event = Event()
+        self.led_map_3d_queue = led_map_3d_queue
         self.point_cloud = None
         logging.debug("Renderer3D initialised")
 
     def __del__(self):
         if self._vis is not None:
             self._vis.destroy_window()
 
+    def get_reload_event(self):
+        return self.reload_event
+
     def shutdown(self):
         self.exit_event.set()
 
@@ -31,17 +33,19 @@ def reload(self):
     def run(self):
         logging.debug("Renderer3D process starting")
 
-        self.initialise_visualiser__()
-
-        self.reload_geometry__(first=True)
-        self._vis.update_renderer()
+        while not self.reload_event.wait(timeout=1):
+            if self.exit_event.is_set():
+                return
 
-        logging.debug("Renderer3D process initialised and reloaded geometry for the first time")
+        self.initialise_visualiser__()
+        self.reload_geometry__(True)
 
         while not self.exit_event.is_set():
             if self.reload_event.is_set():
-                logging.debug("Renderer3D process received reload event, reloading geometry")
                 self.reload_geometry__()
+                logging.debug(
+                    "Renderer3D process received reload event, reloading geometry"
+                )
 
             window_closed = not self._vis.poll_events()
 
@@ -56,7 +60,7 @@ def initialise_visualiser__(self):
 
         self._vis = open3d.visualization.Visualizer()
         self._vis.create_window(
-            window_name=f"MariMapper - {self.filename}",
+            window_name="MariMapper",
             width=640,
             height=640,
         )
@@ -80,7 +84,7 @@ def initialise_visualiser__(self):
     def reload_geometry__(self, first=False):
         logging.debug("Renderer3D process reloading geometry")
 
-        led_map = LEDMap3D(filename=self.filename)
+        led_map = self.led_map_3d_queue.get()
 
         xyz = []
         normals = []

marimapper.py

@@ -11,36 +11,46 @@
 from lib.led_map_2d import LEDMap2D
 from lib.sfm.sfm import SFM
 from lib.visualize_model import Renderer3D
-
+from multiprocessing import Queue
+from lib.led_map_2d import get_all_2d_led_maps
 
 # PYCHARM DEVELOPER WARNING!
-# You MUST enabled "Emulate terminal in output console" in the run configuration or
+# You MUST enable "Emulate terminal in output console" in the run configuration or
 # really weird  stuff happens with multiprocessing!
 
 
 class MariMapper:
 
-    def __init__(self, args):
-        self.led_backend = utils.get_backend(args.backend, args.server)
+    def __init__(self, cli_args):
+        self.led_backend = utils.get_backend(cli_args.backend, cli_args.server)
         os.makedirs(args.output_dir, exist_ok=True)
 
+        self.led_map_2d_queue = Queue()
+        self.led_map_3d_queue = Queue()
+
         self.reconstructor = Reconstructor(
-            args.device,
-            args.exposure,
-            args.threshold,
+            cli_args.device,
+            cli_args.exposure,
+            cli_args.threshold,
             self.led_backend,
-            width=args.width,
-            height=args.height,
+            width=cli_args.width,
+            height=cli_args.height,
         )
 
-        self.renderer3d = Renderer3D(Path(args.output_dir) / "led_map_3d.csv")
+        self.renderer3d = Renderer3D(led_map_3d_queue=self.led_map_3d_queue)
         self.sfm = SFM(
-            Path(args.output_dir),
+            Path(cli_args.output_dir),
             rescale=True,
             interpolate=True,
-            event_on_update=self.renderer3d.reload_event,
+            event_on_update=self.renderer3d.get_reload_event(),
+            led_map_2d_queue=self.led_map_2d_queue,
+            led_map_3d_queue=self.led_map_3d_queue,
         )
 
+        self.led_maps_2d = get_all_2d_led_maps(Path(cli_args.output_dir))
+
+        self.sfm.add_led_maps_2d(self.led_maps_2d)
+
         self.sfm.start()
         self.renderer3d.start()
 
@@ -124,6 +134,8 @@ def mainloop(self):
                 led_map_2d.write_to_file(filepath)
                 cprint(f"{total_leds_found}/{led_count} leds found", Col.BLUE)
 
+                self.led_maps_2d.append(led_map_2d)
+                self.sfm.add_led_maps_2d(self.led_maps_2d)
                 self.sfm.reload()
 
 
@@ -146,6 +158,6 @@ def mainloop(self):
 
     args = parser.parse_args()
 
-    marimapper = MariMapper(args=args)
+    marimapper = MariMapper(cli_args=args)
 
     marimapper.mainloop()

test/test_reconstruction.py

@@ -36,7 +36,7 @@ def check_dimensions(map_3d, max_error):
 def test_reconstruction():
     maps = get_all_2d_led_maps("test/scan")
 
-    map_3d = SFM.process(maps)
+    map_3d = SFM.process__(maps)
 
     assert len(map_3d) == 21
 
@@ -50,7 +50,7 @@ def test_sparse_reconstruction():
 
     maps_sparse = [maps[1], maps[3], maps[5], maps[7]]
 
-    map_3d = SFM.process(maps_sparse)
+    map_3d = SFM.process__(maps_sparse)
 
     assert map_3d is not None
 
@@ -64,7 +64,7 @@ def test_sparse_reconstruction():
 def test_2_track_reconstruction():
     partial_map = get_all_2d_led_maps("test/scan")[1:3]
 
-    map_3d = SFM.process(partial_map)
+    map_3d = SFM.process__(partial_map)
 
     assert map_3d is not None
 
@@ -76,14 +76,14 @@ def test_invalid_reconstruction_views():
 
     invalid_maps = [maps[0], maps[4], maps[8]]  # no useful overlap
 
-    map_3d = SFM.process(invalid_maps)
+    map_3d = SFM.process__(invalid_maps)
 
     assert map_3d is None
 
 
 def test_reconstruct_higbeam():
     highbeam_map = get_all_2d_led_maps("test/MariMapper-Test-Data/highbeam")
 
-    map_3d = SFM.process(highbeam_map)
+    map_3d = SFM.process__(highbeam_map)
 
     assert map_3d is not None

test/test_remesh.py

@@ -4,9 +4,9 @@
 
 
 def test_remesh_higbeam():
-    highbeam_map = get_all_2d_led_maps("test/MariMapper-Test-Data/highbeam")
+    highbeam_maps = get_all_2d_led_maps("test/MariMapper-Test-Data/highbeam")
 
-    map_3d = SFM.process(highbeam_map)
+    map_3d = SFM.process__(highbeam_maps)
 
     mesh_high_res = remesh(map_3d, 8)