Swap to after_idle call to thread image processing to fix threading management

config.toml

@@ -1,9 +1,9 @@
 [camera]
-type = "none"
+type = "flir"
 gui-scale = 0.1
 
 [stage]
-homing = false
-enabled = false
+homing = true
+enabled = true
 port = "COM4"
 baud-rate = 115200

src/gui.py

@@ -33,10 +33,10 @@
 
 def compute_focus_score(camera_image, blue_only):
     camera_image = camera_image.copy()
-    camera_image[:, :, 1] = 0  # green should never be used for focus
-    if blue_only:
-        camera_image[:, :, 0] = 0  # disable red
-    img = cv2.cvtColor(camera_image, cv2.COLOR_RGB2GRAY)
+    # camera_image[:, :, 1] = 0  # green should never be used for focus
+    # if blue_only:
+    #     camera_image[:, :, 0] = 0  # disable red
+    img = cv2.cvtColor(camera_image, cv2.COLOR_BGR2GRAY)
     img = cv2.resize(img, (0, 0), fx=0.5, fy=0.5)
     mean = np.sum(img) / (img.shape[0] * img.shape[1])
     img_lapl = cv2.Sobel(img, cv2.CV_64F, 1, 0, ksize=1) / mean
@@ -735,38 +735,14 @@ def __init__(
         self.camera = c
         self.pending_frame = None
 
-    def _on_new_frame(self):
-        # FIXME: is this really the only way tkinter exposes to do this??
-        # We want to send frames from the callback over to the main thread,
-        # but in way where it just grabs the most recently-made-available frame.
-        # If you send an event, events will just pile up in the queue if we ever fall behind.
-        # This might have the same problem!
-        # I have no idea how to fix this
-        self.event_dispatcher.root.after(33, lambda: self._on_new_frame())
-        if self.pending_frame is None:
-            return
-        image, dimensions, format = self.pending_frame
-
-        try:
-            filename = self.snapshots_pending.get_nowait()
-            print(f"Saving image {filename}")
-            img = cv2.cvtColor(image, cv2.COLOR_BGR2RGB)
-            cv2.imwrite(filename, img)
-        except queue.Empty:
-            pass
-
-        self.gui_camera_preview(image, dimensions)
-
     def start(self):
         if not self.camera:
             print("No camera available")
             return
 
-        # self.event_dispatcher.root.bind('<<NewFrame>>', lambda x: self._on_new_frame(x))
-
         def cameraCallback(image, dimensions, format):
             self.pending_frame = (image, dimensions, format)
-            # self.event_dispatcher.root.event_generate('<<NewFrame>>', when='tail')
+            self.event_dispatcher.root.after_idle(lambda: self._on_new_frame(image, dimensions, format))
 
         if not self.camera.open():
             print("Camera failed to start")
@@ -775,8 +751,17 @@ def cameraCallback(image, dimensions, format):
             self.camera.setStreamCaptureCallback(cameraCallback)
             if not self.camera.startStreamCapture():
                 print("Failed to start stream capture for camera")
+
+    def _on_new_frame(self, image, dimensions, format):
+        try:
+            filename = self.snapshots_pending.get_nowait()
+            print(f"Saving image {filename}")
+            img = cv2.cvtColor(image, cv2.COLOR_BGR2RGB)
+            cv2.imwrite(f"{self.event_dispatcher.snapshot_directory}/{filename}", img)
+        except queue.Empty:
+            pass
 
-        self._on_new_frame()
+        self.gui_camera_preview(image, dimensions)
 
     def cleanup(self):
         if self.camera is not None:
@@ -942,7 +927,7 @@ def callback_set():
             self.step_size_intputs.append(
                 IntEntry(
                     parent=self.relative_frame,
-                    default=10,
+                    default=[840, 540, 200][i],
                     min_value=-1000,
                     max_value=1000,
                 )
@@ -1584,9 +1569,9 @@ def __init__(self, parent, model: EventDispatcher):
         self.model = model
 
         # TODO: Tune default offsets
-        self.x_settings = OffsetAmountFrame(self.frame, "X", 1050)
+        self.x_settings = OffsetAmountFrame(self.frame, "X", 840)
         self.x_settings.frame.grid(row=0, column=0)
-        self.y_settings = OffsetAmountFrame(self.frame, "Y", 900)
+        self.y_settings = OffsetAmountFrame(self.frame, "Y", 540)
         self.y_settings.frame.grid(row=1, column=0)
 
         def on_begin():
@@ -1689,7 +1674,7 @@ def on_start():
             self.camera.start()
             if self.event_dispatcher.hardware.stage.has_homing():
                 self.event_dispatcher.home_stage()
-                self.event_dispatcher.move_relative({"x": 5000.0, "y": 3500.0, "z": 1900.0})
+                self.event_dispatcher.move_relative({"x": 10000.0, "y": 3500.0, "z": 4000.0})
             messagebox.showinfo(
                 message="BEFORE CONTINUING: Ensure that you move the projector window to the correct display! Click on the fullscreen, completely black window, then press Windows Key + Shift + Left Arrow until it no longer is visible!"
             )
@@ -1724,6 +1709,7 @@ def main():
 
     camera_config = config["camera"]
 
+    # Camera Type Selection
     if camera_config["type"] == "webcam":
         try:
             index = int(camera_config["index"])
@@ -1742,6 +1728,7 @@ def main():
         print(f"config.toml specifies invalid camera type {camera_config['type']}")
         return 1
 
+    # GUI-Scaling
     try:
         camera_scale = float(camera_config["gui-scale"])
     except Exception: