- tidied up some bugs

- removed passing args to a function, gross.
- increased strip visualisation threshold to +50%

marimapper/camera.py

@@ -100,7 +100,7 @@ def eat(self, count=30):
         for _ in range(count):
             self.read()
 
-    def read(self, color=False):
+    def read(self):
         ret_val, image = self.device.read()
         if not ret_val:
             raise Exception("Failed to read image")

marimapper/file_writer_process.py

@@ -2,6 +2,9 @@
 import time
 from marimapper.file_tools import write_3d_leds_to_file, write_2d_leds_to_file
 from pathlib import Path
+import os
+
+from marimapper.led import LED2D
 
 
 class FileWriterProcess(Process):
@@ -14,6 +17,7 @@ def __init__(self, base_path: Path):
         self._input_queue_3d.cancel_join_thread()
         self._exit_event = Event()
         self._base_path = base_path
+        os.makedirs(self._base_path, exist_ok=True)
 
     def stop(self):
         self._exit_event.set()
@@ -28,6 +32,7 @@ def get_new_filename(self) -> Path:
         string_time = time.strftime("%Y%m%d-%H%M%S")
         return self._base_path / f"led_map_2d_{string_time}.csv"
 
+    # This function is a bit gross and needs cleaning up
     def run(self):
         views = {}
         view_id_to_filename = {}
@@ -37,21 +42,22 @@ def run(self):
         while not self._exit_event.is_set():
             if not self._input_queue_3d.empty():
                 leds = self._input_queue_3d.get()
-                write_3d_leds_to_file(leds, Path("led3d.csv"))
+                write_3d_leds_to_file(leds, self._base_path / "led_map_3d.csv")
 
             if not self._input_queue_2d.empty():
-                led = self._input_queue_2d.get()
-                if led.view_id not in view_id_to_filename:
-                    view_id_to_filename[led.view_id] = self.get_new_filename()
-                    views[led.view_id] = []
+                led: LED2D = self._input_queue_2d.get()
+                if led.point is not None:
+                    if led.view_id not in view_id_to_filename:
+                        view_id_to_filename[led.view_id] = self.get_new_filename()
+                        views[led.view_id] = []
 
-                views[led.view_id].append(led)
-                requires_update.add(led.view_id)
+                    views[led.view_id].append(led)
+                    requires_update.add(led.view_id)
 
             else:
                 for view_id in requires_update:
                     write_2d_leds_to_file(views[view_id], view_id_to_filename[view_id])
-                requires_update = []
+                requires_update = set()
                 time.sleep(1)
 
         # clear the queues, don't ask why.

marimapper/scanner.py

@@ -2,7 +2,6 @@
 # FATAL WEIRD CRASH IF THIS ISN'T IMPORTED FIRST DON'T ASK
 from marimapper.sfm_process import SFM
 
-import os
 from tqdm import tqdm
 from pathlib import Path
 from marimapper.detector_process import DetectorProcess
@@ -18,17 +17,26 @@
 
 class Scanner:
 
-    def __init__(self, cli_args):
+    def __init__(
+        self,
+        output_dir: Path,
+        device: str,
+        exposure: int,
+        threshold: int,
+        backend: str,
+        server: str,
+        led_start: int,
+        led_end: int,
+    ):
         logger.debug("initialising scanner")
-        self.output_dir = Path(cli_args.dir)
-        os.makedirs(self.output_dir, exist_ok=True)
+        self.output_dir = output_dir
 
         self.detector = DetectorProcess(
-            cli_args.device,
-            cli_args.exposure,
-            cli_args.threshold,
-            cli_args.backend,
-            cli_args.server,
+            device,
+            exposure,
+            threshold,
+            backend,
+            server,
         )
 
         self.sfm = SFM()
@@ -58,7 +66,7 @@ def __init__(self, cli_args):
         self.file_writer.start()
 
         self.led_id_range = range(
-            cli_args.start, min(cli_args.end, self.detector.get_led_count())
+            led_start, min(led_end, self.detector.get_led_count())
         )
 
         logger.debug("scanner initialised")

marimapper/scripts/scanner_cli.py

@@ -4,7 +4,7 @@
 import argparse
 import logging
 from marimapper.utils import add_camera_args, add_backend_args
-
+from pathlib import Path
 
 logger = log_to_stderr()
 logger.setLevel(level=logging.ERROR)
@@ -21,7 +21,7 @@ def main():
     parser.add_argument("-v", "--verbose", action="store_true")
 
     parser.add_argument(
-        "--dir", type=str, help="The output folder for your capture", default="."
+        "--dir", type=Path, help="The output folder for your capture", default="."
     )
 
     args = parser.parse_args()
@@ -32,7 +32,16 @@ def main():
     if args.verbose:
         logger.setLevel(logging.DEBUG)
 
-    scanner = Scanner(cli_args=args)
+    scanner = Scanner(
+        args.dir,
+        args.device,
+        args.exposure,
+        args.threshold,
+        args.backend,
+        args.server,
+        args.start,
+        args.end,
+    )
 
     scanner.mainloop()
     scanner.close()

marimapper/sfm_process.py

@@ -66,9 +66,10 @@ def run(self):
         while not self._exit_event.is_set():
 
             if not self._input_queue.empty():
-                led = self._input_queue.get()
-                leds_2d.append(led)
-                update_required = True
+                led: LED2D = self._input_queue.get()
+                if led.point is not None:
+                    leds_2d.append(led)
+                    update_required = True
 
             else:
                 if not update_required:

marimapper/visualize_process.py

@@ -122,7 +122,7 @@ def reload_geometry__(self, first=False):
         for led_index, led in enumerate(leds):
             next_led = get_next(led, leds)
             if next_led is not None:
-                if get_distance(led, next_led) < 1.10:  # + 10%
+                if get_distance(led, next_led) < 1.50:  # + 50%
                     strips.append((led_index, leds.index(next_led)))
 
         self.strip_set.lines = open3d.utility.Vector2iVector(strips)

pyproject.toml

@@ -55,7 +55,7 @@ marimapper_check_camera = "marimapper.scripts.check_camera_cli:main"
 marimapper_check_backend ="marimapper.scripts.check_backend_cli:main"
 marimapper_upload_to_pixelblaze = "marimapper.scripts.upload_map_to_pixelblaze_cli:main"
 
-# this currently does nothing because of path issues
+
 [tool.coverage.run]
 omit = [
     "*/__init__.py",