ykcheungab
77 lines
2.4 KiB
Python
77 lines
2.4 KiB
Python
"""Background Open3D mesh rendering for the Qt dashboard."""
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from __future__ import annotations
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import numpy as np
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from PyQt5.QtCore import QMutex, QMutexLocker, QThread, pyqtSignal
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class MeshRenderWorker(QThread):
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"""Render finger mesh off the GUI thread; drops stale frames."""
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rgb_ready = pyqtSignal(object)
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def __init__(self, parent=None):
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super().__init__(parent)
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self._mutex = QMutex()
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self._stop = False
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self._wake = False
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self._renderer = None
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self._pending: dict | None = None
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def set_renderer(self, renderer) -> None:
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with QMutexLocker(self._mutex):
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self._renderer = renderer
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def clear_renderer(self) -> None:
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with QMutexLocker(self._mutex):
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self._renderer = None
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self._pending = None
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def submit(self, *, flow, scalar_map, centroid, centroid_found, fnormal, valid_mask=None) -> None:
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with QMutexLocker(self._mutex):
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self._pending = {
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"flow": flow,
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"scalar_map": scalar_map,
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"centroid": centroid,
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"centroid_found": centroid_found,
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"fnormal": fnormal,
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"valid_mask": valid_mask,
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}
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self._wake = True
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if not self.isRunning():
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self.start()
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def stop_worker(self) -> None:
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with QMutexLocker(self._mutex):
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self._stop = True
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self._wake = True
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self.wait(2000)
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def run(self) -> None:
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while True:
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with QMutexLocker(self._mutex):
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if self._stop:
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break
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if not self._wake or self._renderer is None or self._pending is None:
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self.msleep(1)
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continue
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job = self._pending
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self._pending = None
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self._wake = False
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renderer = self._renderer
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rgb = renderer.render(
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flow=job["flow"],
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scalar_map=job["scalar_map"],
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centroid=job["centroid"],
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centroid_found=job["centroid_found"],
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fnormal=job["fnormal"],
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valid_mask=job["valid_mask"],
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)
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self.rgb_ready.emit(np.ascontiguousarray(rgb))
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with QMutexLocker(self._mutex):
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if self._pending is not None:
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self._wake = True
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