Merge pull request #67 from vaughantnrc/dev-tv-detector-comms-simplification

Detector Improvements

Author: vaughantnrc

data/detector_config.json

@@ -1,11 +1,12 @@
 {
-  "serial_identifier": "example_detector",
-  "camera_implementation": "picamera",
-  "camera_connection": {
-    "usb_id": 0
-  },
-  "camera_intrinsic_parameters": {},
   "calibrator_configuration": {
     "data_path": "./example_data_path/"
+  },
+  "camera_configuration": {
+    "driver": "picamera2",
+    "capture_device": "0"
+  },
+  "marker_configuration": {
+    "method": "aruco_opencv"
   }
 }

src/common/mct_component.py

@@ -85,6 +85,9 @@ def dequeue_status_messages(self, **kwargs) -> DequeueStatusMessagesResponse:
         return DequeueStatusMessagesResponse(
             status_messages=status_messages)
 
+    def get_status_message_source(self):
+        return self._status_message_source
+
     @abc.abstractmethod
     def supported_request_types(self) -> dict[type[MCTRequest], Callable[[dict], MCTResponse]]:
         """

src/common/structures/__init__.py

@@ -1,5 +1,4 @@
 from .capture_format import CaptureFormat
-from .capture_status import CaptureStatus
 from .component_role_label import \
     ComponentRoleLabel, \
     COMPONENT_ROLE_LABEL_DETECTOR, \
@@ -14,7 +13,6 @@
     CORNER_REFINEMENT_METHOD_DICTIONARY_TEXT_TO_INT
 from .detector_frame import DetectorFrame
 from .detection_parameters import DetectionParameters
-from .detector_resolution import DetectorResolution
 from .image_resolution import ImageResolution
 from .intrinsic_calibration import \
     IntrinsicCalibration, \
@@ -36,7 +34,6 @@
 from .marker_corner_image_point import MarkerCornerImagePoint
 from .marker_definition import MarkerDefinition
 from .marker_snapshot import MarkerSnapshot
-from .marker_status import MarkerStatus
 from .matrix4x4 import Matrix4x4
 from .mct_parsable import MCTParsable
 from .pose import Pose

src/common/structures/capture_status.py

@@ -5,8 +5,15 @@ class ImageResolution(BaseModel):
     x_px: int = Field()
     y_px: int = Field()
 
-    def __str__(self):
-        return f"{self.x_px}x{self.y_px}"
+    def __eq__(self, other) -> bool:
+        if type(self) is not type(other):
+            return False
+        return \
+            self.x_px == other.x_px and \
+            self.y_px == other.y_px
+
+    def __hash__(self) -> int:
+        return hash(str(self))
 
     def __lt__(self, other):
         if not isinstance(other, ImageResolution):
@@ -20,6 +27,9 @@ def __lt__(self, other):
         else:
             return False
 
+    def __str__(self):
+        return f"{self.x_px}x{self.y_px}"
+
     @staticmethod
     def from_str(in_str: str) -> 'ImageResolution':
         if 'x' not in in_str:

src/common/structures/detector_resolution.py

@@ -16,7 +16,6 @@ class IntrinsicCalibrationFrameResult(BaseModel):
 
 class IntrinsicCalibration(BaseModel):
     timestamp_utc: str = Field()
-    detector_serial_identifier: str = Field()
     image_resolution: ImageResolution = Field()
     calibrated_values: IntrinsicParameters = Field()
     calibrated_stdevs: list[float] = Field()

src/common/structures/image_resolution.py

@@ -1,4 +1,5 @@
 from pydantic import BaseModel, Field
+import math
 
 
 class IntrinsicParameters(BaseModel):
@@ -46,3 +47,24 @@ def get_distortion_coefficients(self) -> list[float]:
             self.tangential_distortion_coefficients[1]]
         coefficients += self.radial_distortion_coefficients[2:]
         return coefficients
+
+    @staticmethod
+    def generate_zero_parameters(
+        resolution_x_px: int,
+        resolution_y_px: int,
+        fov_x_degrees: float = 45.0,
+        fov_y_degrees: float = 45.0
+    ) -> "IntrinsicParameters":
+        optical_center_x_px: int = int(round(resolution_x_px/2.0))
+        fov_x_radians: float = fov_x_degrees * math.pi / 180.0
+        focal_length_x_px = (resolution_x_px / 2.0) / math.tan(fov_x_radians / 2.0)
+        optical_center_y_px: int = int(round(resolution_y_px/2.0))
+        fov_y_radians: float = fov_y_degrees * math.pi / 180.0
+        focal_length_y_px = (resolution_y_px / 2.0) / math.tan(fov_y_radians / 2.0)
+        return IntrinsicParameters(
+            focal_length_x_px=focal_length_x_px,
+            focal_length_y_px=focal_length_y_px,
+            optical_center_x_px=optical_center_x_px,
+            optical_center_y_px=optical_center_y_px,
+            radial_distortion_coefficients=[0.0, 0.0, 0.0],
+            tangential_distortion_coefficients=[0.0, 0.0])