Dataset

BaseDatasetSource

Base Module for DatasetSources

__init__(self, playback_speed=inf) special

Initializes the BaseDatasetSource

Parameters:

Name	Type	Description	Default
playback_speed	float	sets the playback speed. Default set to as fast as possible.	inf

Source code in multisensor_pipeline/modules/persistence/dataset.py

def __init__(self, playback_speed: float = float("inf")):
    """
    Initializes the BaseDatasetSource
    Args:
        playback_speed: sets the playback speed. Default set to as fast as possible.
    """
    super(BaseDatasetSource, self).__init__()
    self._playback_speed = playback_speed
    self._last_frame_timestamp = None
    self._last_playback_timestamp = None

_notify(self, frame) private

If the frame is not null (End of Dataset) it notifies all observers that there's a new dataframe else it stops

Parameters:

Name	Type	Description	Default
frame	Optional[multisensor_pipeline.dataframe.dataframe.MSPDataFrame]	Dataframe	required

Source code in multisensor_pipeline/modules/persistence/dataset.py

def _notify(self, frame: Optional[MSPDataFrame]):
    """
    If the frame is not null (End of Dataset) it notifies all observers that there's a new dataframe else it stops
    Args:
        frame:  Dataframe
    """
    if frame is None:
        self._auto_stop()
    else:
        self._sleep(frame)
        super(BaseDatasetSource, self)._notify(frame)

_sleep(self, frame) private

Modifies the dataframe timestamp corresponding the playback speed. Sleeps if necessary to achieve correct playback speed

Parameters:

Name	Type	Description	Default
frame	MSPDataFrame	Dataframe	required

Source code in multisensor_pipeline/modules/persistence/dataset.py

def _sleep(self, frame: MSPDataFrame):
    """
    Modifies the dataframe timestamp corresponding the playback speed. Sleeps if necessary to achieve correct
    playback speed
    Args:
        frame:  Dataframe
    """
    if isinstance(frame, MSPControlMessage):
        return
    if self._playback_speed == float("inf"):
        return

    if self._last_frame_timestamp is not None:
        original_delta = frame.timestamp - self._last_frame_timestamp
        target_delta = original_delta / self._playback_speed

        actual_delta = time() - self._last_playback_timestamp
        if actual_delta < target_delta:
            sleep(target_delta - actual_delta)

    self._last_frame_timestamp = frame.timestamp
    self._last_playback_timestamp = time()
    frame['playback_timestamp'] = self._last_playback_timestamp