Merge pull request #3 from IQTLabs/rl/fix-docker-compose-env-template

Add capture directory
IQTLabs · Apr 19, 2023 · 712cea1 · 712cea1
2 parents e19002f + c23c1c5
commit 712cea1
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Showing 4 changed files with 24 additions and 19 deletions.
diff --git a/axis-ptz-controller/axis_ptz_controller.py b/axis-ptz-controller/axis_ptz_controller.py
@@ -203,9 +203,9 @@ def __init__(
         self.gamma = 0.0  # [deg]
 
         # Tripod yaw, pitch, and roll rotation quaternions
-        self.q_alpha = np.quaternion()  # type: ignore
-        self.q_beta = np.quaternion()  # type: ignore
-        self.q_gamma = np.quaternion()  # type: ignore
+        self.q_alpha = quaternion.quaternion()
+        self.q_beta = quaternion.quaternion()
+        self.q_gamma = quaternion.quaternion()
 
         # Orthogonal transformation matrix from geocentric (XYZ) to
         # camera housing fixed (uvw) coordinates
@@ -228,8 +228,8 @@ def __init__(
         self.tau_a = 0.0  # [deg]
 
         # Pan, and tilt rotation quaternions
-        self.q_row = np.quaternion()  # type: ignore
-        self.q_tau = np.quaternion()  # type: ignore
+        self.q_row = quaternion.quaternion()
+        self.q_tau = quaternion.quaternion()
 
         # Orthogonal transformation matrix from camera housing (uvw)
         # to camera fixed (rst) coordinates

diff --git a/axis-ptz-controller/axis_ptz_utilities.py b/axis-ptz-controller/axis_ptz_utilities.py
@@ -3,7 +3,7 @@
 import logging
 import math
 import os
-from typing import Generator, Tuple, Union
+from typing import cast, Generator, Tuple, Union
 
 import numpy as np
 import numpy.typing as npt
@@ -162,14 +162,14 @@ def compute_r_XYZ(
             ]
         )
     elif type(d_lambda) == np.ndarray:
-        r_lambda = np.radians(d_lambda)  # type: ignore
-        r_varphi = np.radians(d_varphi)  # type: ignore
-        N = R_OPLUS / np.sqrt(1.0 - f * (2.0 - f) * np.sin(r_varphi) ** 2)
+        r_lambda_np = np.radians(d_lambda)
+        r_varphi_np = np.radians(d_varphi)
+        N = R_OPLUS / np.sqrt(1.0 - f * (2.0 - f) * np.sin(r_varphi_np) ** 2)
         r_XYZ = np.row_stack(
             (
-                (N + o_h) * np.cos(r_varphi) * np.cos(r_lambda),
-                (N + o_h) * np.cos(r_varphi) * np.sin(r_lambda),
-                ((1.0 - f) ** 2 * N + o_h) * np.sin(r_varphi),
+                (N + o_h) * np.cos(r_varphi_np) * np.cos(r_lambda_np),
+                (N + o_h) * np.cos(r_varphi_np) * np.sin(r_lambda_np),
+                ((1.0 - f) ** 2 * N + o_h) * np.sin(r_varphi_np),
             ),
         )
     return r_XYZ
@@ -190,7 +190,7 @@ def as_quaternion(s: float, v: npt.NDArray[np.float64]) -> quaternion.quaternion
     quaternion.quaternion
         A quaternion with the specified scalar and vector parts
     """
-    return np.quaternion(s, v[0], v[1], v[2])  # type: ignore
+    return quaternion.quaternion(s, v[0], v[1], v[2])
 
 
 def as_rotation_quaternion(
@@ -213,7 +213,7 @@ def as_rotation_quaternion(
     """
     r_omega = math.radians(d_omega)
     v = math.sin(r_omega / 2.0) * u
-    return np.quaternion(math.cos(r_omega / 2.0), v[0], v[1], v[2])  # type: ignore
+    return quaternion.quaternion(math.cos(r_omega / 2.0), v[0], v[1], v[2])
 
 
 def as_vector(q: quaternion.quaternion) -> npt.NDArray[np.float64]:
@@ -504,7 +504,7 @@ def convert_time(time_a: Union[str, float]) -> datetime:
 
             # Construct datetime from aircraft time
             try:
-                datetime_a = datetime.fromtimestamp(time_a)  # type: ignore
+                datetime_a = datetime.fromtimestamp(cast(float, time_a))
             except Exception as e:
                 logger.warning(f"Could not construct datetime from aircraft time: {e}")
 

diff --git a/axis-ptz-controller/test_modules.py b/axis-ptz-controller/test_modules.py
@@ -359,7 +359,7 @@ def test_compute_r_XYZ(
     @pytest.mark.parametrize(
         "s, v, q_exp",
         [
-            (0.0, np.array([1.0, 2.0, 3.0]), np.quaternion(0.0, 1.0, 2.0, 3.0)),  # type: ignore
+            (0.0, np.array([1.0, 2.0, 3.0]), quaternion.quaternion(0.0, 1.0, 2.0, 3.0)),
         ],
     )
     def test_as_quaternion(
@@ -372,8 +372,12 @@ def test_as_quaternion(
     @pytest.mark.parametrize(
         "s, v, r_exp",
         [
-            (0.0, np.array([1.0, 2.0, 3.0]), np.quaternion(1.0, 0.0, 0.0, 0.0)),  # type: ignore
-            (180.0, np.array([1.0, 2.0, 3.0]), np.quaternion(0.0, 1.0, 2.0, 3.0)),  # type: ignore
+            (0.0, np.array([1.0, 2.0, 3.0]), quaternion.quaternion(1.0, 0.0, 0.0, 0.0)),
+            (
+                180.0,
+                np.array([1.0, 2.0, 3.0]),
+                quaternion.quaternion(0.0, 1.0, 2.0, 3.0),
+            ),
         ],
     )
     def test_as_rotation_quaternion(
@@ -386,7 +390,7 @@ def test_as_rotation_quaternion(
     @pytest.mark.parametrize(
         "q, v_exp",
         [
-            (np.quaternion(0.0, 1.0, 2.0, 3.0), np.array([1.0, 2.0, 3.0])),  # type: ignore
+            (quaternion.quaternion(0.0, 1.0, 2.0, 3.0), np.array([1.0, 2.0, 3.0])),
         ],
     )
     def test_as_vector(

diff --git a/template.axis-ptz-controller.env b/template.axis-ptz-controller.env
@@ -13,6 +13,7 @@ TRIPOD_LONGITUDE={{TRIPOD_LONGITUDE}}
 TRIPOD_ALTITUDE={{TRIPOD_ALTITUDE}}
 UPDATE_INTERVAL=0.1
 CAPTURE_INTERVAL=2.0
+CAPTURE_DIR=/data/tosort
 LEAD_TIME=0.25
 PAN_GAIN=0.2
 PAN_RATE_MIN=1.8