trackerstate

MotionTrackerController(config)

Bases: StateMachine

State machine for webserver

Source code in motiontracker\trackerstate.py

def __init__(self, config: Config):
    StateMachine.__init__(self)
    self.config = config
    camera_config = config["motion_tracker"]["camera"]
    if "video_fpath" in camera_config:
        self.camera = CameraVideo(
            **camera_config,
            callback_thread_closed=self.callback_camera_thread_closed,
        )
    else:
        self.camera = CameraCV(
            **camera_config,
            callback_thread_closed=self.callback_camera_thread_closed,
        )
    self.tracker = Tracker(
        camera=self.camera,
        callback_thread_closed=self.callback_tracking_thread_closed,
    )

    # all states that indicate the camera is on
    self.camera_on_states = [
        self.calibrating.id,
        self.calibrated.id,
        self.tracking.id,
        self.experiment.id,
        self.recording.id,
    ]
    # states where tracking is happening
    self.tracking_on_states = [
        self.tracking.id,
        self.experiment.id,
        self.recording.id,
    ]

    self.recording_main_directory = Path(CONFIG["motion_tracker"]["recording"]["save_directory"])
    if not self.recording_main_directory.exists():
        log.info(f"Creating {self.recording_main_directory}")
        self.recording_main_directory.mkdir(parents=True, exist_ok=True)

on_enter_calibrated(event, state)

This event should be called only after the calibration_points_pixels have been received and updated

Parameters:

Name	Type	Description	Default
event	_type_	description	required
state	_type_	description	required

Source code in motiontracker\trackerstate.py

def on_enter_calibrated(self, event, state):
    """This event should be called only after the calibration_points_pixels have been received and updated

    Args:
        event (_type_): _description_
        state (_type_): _description_
    """
    self.dlt = find_transition_matrix(
        self.calibration_coordinates_px,
        CONFIG["motion_tracker"]["calibration_stickers"]["coordinates_local"],
    )
    log.info(f"Updating DLT matrix: {self.dlt}")

on_enter_tracking(event, state, start=None)

This event should be called only after the calibration_points_pixels have been received and updated

Parameters:

Name	Type	Description	Default
event	_type_	description	required
state	_type_	description	required

Source code in motiontracker\trackerstate.py

def on_enter_tracking(self, event, state, start: PointInt = None):
    """This event should be called only after the calibration_points_pixels have been received and updated

    Args:
        event (_type_): _description_
        state (_type_): _description_
    """
    log.info(f"Entering tracking state with start coordinates: {start}")
    self.tracker.start_tracking(start.x, start.y, self.dlt)