refactor: adding mutex to variable access

tier4 · Jan 17, 2025 · 9a2f940 · 9a2f940
1 parent 1cd430b
commit 9a2f940
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Showing 2 changed files with 7 additions and 4 deletions.
diff --git a/...nsic_camera_calibrator/intrinsic_camera_calibrator/board_detectors/chessboard_detector.py b/...nsic_camera_calibrator/intrinsic_camera_calibrator/board_detectors/chessboard_detector.py
@@ -42,7 +42,8 @@ def __init__(self, **kwargs):
         self.lost_frames = 0
 
     def restart_lost_frames_counter(self):
-        self.lost_frames = self.max_lost_frames.value
+        with self.lock:
+            self.lost_frames = self.max_lost_frames.value
 
     def detect(self, img: np.array, stamp: float):
         """Slot to detect boards from an image. Results are sent through the detection_results signals."""
@@ -62,8 +63,10 @@ def detect(self, img: np.array, stamp: float):
 
             resized_detection = self.resized_detection.value
             resized_max_resolution = self.resized_max_resolution.value
+            local_padding = self.padding.value
+            max_lost_frames = self.max_lost_frames.value
 
-        def get_roi(corners, frame_shape, padding=self.padding.value):
+        def get_roi(corners, frame_shape, padding=local_padding):
             # Region to keep track of the chessboard in the next frame
             x_min, y_min = np.min(corners, axis=0).ravel().astype(int) - padding
             x_max, y_max = np.max(corners, axis=0).ravel().astype(int) + padding
@@ -74,7 +77,7 @@ def get_roi(corners, frame_shape, padding=self.padding.value):
         h, w = img.shape[0:2]
         grayscale = to_grayscale(img)
         if not resized_detection or max(h, w) <= resized_max_resolution:
-            if self.roi is None or self.lost_frames >= self.max_lost_frames.value:
+            if self.roi is None or self.lost_frames >= max_lost_frames:
                 (detected, corners) = cv2.findChessboardCorners(
                     grayscale, (cols, rows), flags=flags
                 )

diff --git a/...a_calibrator/intrinsic_camera_calibrator/intrinsic_camera_calibrator/camera_calibrator.py b/...a_calibrator/intrinsic_camera_calibrator/intrinsic_camera_calibrator/camera_calibrator.py
@@ -169,7 +169,7 @@ def make_mode_group(self):
 
         self.rectify_label = QLabel("Rectify option:")
         self.rectify_type_combobox = QComboBox()
-        self.rectify_type_combobox.addItem("Opencv", 0)
+        self.rectify_type_combobox.addItem("OpenCV", 0)
         self.rectify_type_combobox.addItem("Fixed aspect ratio", 1)
         self.rectify_type_combobox.setEnabled(False)