✨

selflocalization/framebuffer.py

@@ -0,0 +1,33 @@
+# import copy
+import threading
+
+
+class FrameBuffer(object):
+    """This class represents a framebuffer with a front and back buffer storing frames. 
+    Access to the class is thread safe (controlled via an internal lock)."""
+    
+    def __init__(self):
+        self.frameBuffer = [None, None]  # Initialize the framebuffer with None references
+        self.currentBufferIndex = 0 
+        self.lock = threading.Lock()
+        
+    def get_frame(self):
+        """Return latest frame from the framebuffer"""
+        
+        # Obtain lock and release it when done
+        with self.lock:
+            if self.frameBuffer[self.currentBufferIndex] is not None:
+                # return copy.deepcopy(self.frameBuffer[self.currentBufferIndex])
+                return self.frameBuffer[self.currentBufferIndex]
+            else:
+                return None
+                
+    def new_frame(self, frame):
+        """Add a new frame to the frame buffer"""
+        # self.frameBuffer[int(not self.currentBufferIndex)] = copy.deepcopy(frame)
+        self.frameBuffer[int(not self.currentBufferIndex)] = frame
+        
+        # Obtain lock and release it when done
+        with self.lock:
+            # Switch buffer index
+            self.currentBufferIndex = int(not self.currentBufferIndex)