- removed dup

git-svn-id: http://moon:8086/svn/software/trunk/projects/opencv@327 b431acfa-c32f-4a4a-93f1-934dc6c82436

PiCameraPipeline.py

@@ -1,207 +0,0 @@
-# import the necessary packages
-from __future__ import print_function
-from imutils.video import FPS
-from picamera import PiCamera
-from picamera import array
-import imutils
-import time
-import numpy as np
-from threading import Thread
-from threading import Lock
-from threading import Semaphore
-
-class Fifo(object):
-	def __init__(self, dim=(4, 320, 240, 3), dtype=np.uint8):
-		self.size = 0
-		self.capacity = dim[0]
-		self.wi = 0
-		self.ri = 0
-		self.buffer = np.empty(dim, dtype=dtype)
-		self.lock = Lock()
-		self.sema = Semaphore(value=0)
-
-	def write(self, data):
-		shouldNotify = False
-		
-		self.lock.acquire()
-
-		self.buffer[self.wi] = data
-		self.wi += 1
-
-		if self.wi == self.capacity:
-			self.wi = 0
-
-		if self.size < self.capacity:
-			self.size += 1
-			shouldNotify = True
-
-		self.lock.release()
-
-		if shouldNotify:
-			self.sema.release()
-
-	def read(self, timeout=None):
-		data = None
-		
-		if self.sema.acquire(blocking=True, timeout=timeout):
-
-			self.lock.acquire()
-	
-			data = self.buffer[self.ri]
-			self.ri += 1
-
-			if self.ri == self.capacity:
-				self.ri = 0
-
-			self.size -= 1
-
-			self.lock.release()
-
-		return data
-		
-class RgbProcess(Fifo):
-	def __init__(self, resolution=(320, 240, 3), numEntries=2, next=None):
-		super(RgbProcess, self).__init__((numEntries, ) + resolution)
-		self.next = next
-		self.thread = Thread(target=self.run)
-		self.cancel = False
-		self.fps = None
-		self.frames = 0
-
-	# called on construction
-	def onConstruct(self):
-		pass
-
-	# called on first frame
-	def onFirstFrame(self):
-		self.thread.start()
-		if self.next is not None:
-			self.next.onFirstFrame()
-
-	# may be overriden to process in caller context
-	def onData(self, data):
-		self.write(data)
-
-	# thread main loop
-	def run(self):
-		self.fps = FPS().start()
-		while not self.cancel:
-			self.process()
-			self.frames += 1
-
-	# abstractmethod
-	def process(self):
-		pass
-
-	# should be called to exit thread
-	def stop(self):
-		self.fps.stop()
-		print("Processed " + str(self.frames) + " frames")
-		print("FPS = " + str(self.frames/self.fps.elapsed()))
-		self.cancel = True
-		self.thread.join()
-		if self.next is not None:
-			self.next.stop()
-
-class RgbProcessorAdapter(object):
-	def __init__(self, resolution=(320, 240, 3)):
-		self.resolution = resolution
-		self.frameSize = resolution[0]*resolution[1]*resolution[2]
-		self.size = 0
-		self.frames = 0
-		self.fps = None
-		self.processors = []
-
-	def processorAdd(self, processor):
-		self.processors.append(processor)		
-		processor.onConstruct()
-
-	def writable(self):
-		return True
-
-	def write(self, data):
-		if self.size == 0:
-			for proc in self.processors:
-				proc.onFirstFrame()
-
-			self.fps = FPS().start()
-
-		self.size += len(data)
-		self.frames += len(data)/self.frameSize
-
-		res = (self.resolution[0], self.resolution[1])
-		
-				
-#		rgbData = array.bytes_to_rgb(data, res)
-		rgbData = data
-		for proc in self.processors:
-			proc.onData(rgbData)
-
-	def size(self):
-		return self.size
-
-	def flush(self):
-		if self.size > 0:
-			self.fps.stop()
-			print("Recorded " + str(self.frames) + " frames (" + str(self.size) + " bytes)")
-			print("FPS = " + str(self.frames/self.fps.elapsed()))
-
-if ("__main__" == __name__):
-	import cv2
-
-	# Unit test with to threaded processors
-	class MyRgbProcess1(RgbProcess):
-		def __init__(self, resolution=(320, 240, 3), numEntries=2, next=None):
-			super(MyRgbProcess1, self).__init__(resolution, numEntries, next)
-
-		def process(self):
-			data = self.read(1.0)
-			if data is not None:
-				gray = cv2.cvtColor(data,cv2.COLOR_BGR2GRAY)
-				gray_blurred = cv2.medianBlur(gray,5)
-
-				cv2.imshow('displayThread1', gray_blurred)
-				cv2.waitKey(1)
-
-				if self.next is not None:
-					self.next.write(cv2.cvtColor(gray_blurred,cv2.COLOR_GRAY2BGR))
-
-	class MyRgbProcess2(RgbProcess):
-		def __init__(self, resolution=(320, 240, 3), numEntries=2, next=None):
-			super(MyRgbProcess2, self).__init__(resolution, numEntries)
-
-		def process(self):
-			data = self.read(1.0)
-			if data is not None:
-				gray = cv2.cvtColor(data,cv2.COLOR_BGR2GRAY)
-
-				# Canny edge detection
-				canny = cv2.Canny(gray, 100, 50)
-				cv2.imshow('displayThread2', canny)
-				cv2.waitKey(1)
-
-	# initialize the camera and stream
-	camera = PiCamera()
-	camera.resolution = (320, 240)
-	camera.framerate = 60
-	frameDim = (camera.resolution[0], camera.resolution[1], 3)
-	myProcessor2 = MyRgbProcess2((240, 320, 3), 4)
-	myProcessor1 = MyRgbProcess1((240, 320, 3), 4, myProcessor2)
-	myRgbProcessorAdapter = RgbProcessorAdapter(frameDim)
-	myRgbProcessorAdapter.processorAdd(myProcessor1)
-	camera.start_recording(myRgbProcessorAdapter, format="bgr")
-
-	dictFifo = Fifo(dim=(8,), dtype=dict)
-	dictFifo.write({'a':1, 'b':2})
-	print(dictFifo.read())
-
-	# allow the camera to warmup and start the FPS counter
-	print("[INFO] sampling frames from `picamera` module...")
-	time.sleep(10.0)
-	camera.stop_recording()
-	myProcessor1.stop()
-
-	# do a bit of cleanup
-	cv2.destroyAllWindows()
-	camera.close()
-

lasertrack.py

@@ -31,13 +31,16 @@ ap.add_argument("-n", "--seconds", type=int, default=10,
 	help="# of seconds to run")
 ap.add_argument("-r", "--framerate", type=int, default=30,
 	help="Framerate in frame/s")
+ap.add_argument("-e", "--with-ev3", type=bool, default=False,
+	help="Framerate in frame/s")
 ap.add_argument("-f", "--filename", type=str, default='piCamera',
-	help="Whether or not frames should be displayed")
+	help="Choose video source")
 args = vars(ap.parse_args())
 
 videoFile = args["filename"]
 framerate = args["framerate"]
 seconds = args["seconds"]
+with_ev3 = args["with_ev3"]
 
 class VideoSource(RgbProcessorAdapter):
 	def __init__(self, fileName, resolution, framerate):
@@ -101,12 +104,13 @@ class MyRgbProcess(RgbProcess):
 				if maxVal > 100*minVal:
 					img1_objects = cv2.rectangle(img1_objects,(x-5,y-5),(x+5,y+5),(0,0,255),2)
 					print(maxLoc)
-					error = float(x)-160
+					if self.brick is not None:
-					data = struct.pack("f", error/2)
+						error = float(x)-160
-					ev3.system_command.write_mailbox(self.brick, 'ErrorX', data)
+						data = struct.pack("f", error/2)
-					error = float(y)-120
+						ev3.system_command.write_mailbox(self.brick, 'ErrorX', data)
-					data = struct.pack("f", error/2)
+						error = float(y)-120
-					ev3.system_command.write_mailbox(self.brick, 'ErrorY', data)
+						data = struct.pack("f", error/2)
+						ev3.system_command.write_mailbox(self.brick, 'ErrorY', data)
 
 			else:
 				# Contour approach
@@ -135,10 +139,22 @@ class MyRgbProcess(RgbProcess):
 				self.next.write(cv2.cvtColor(gray_blurred,cv2.COLOR_GRAY2BGR))
 
 # Connect to brick
-with ev3.EV3() as brick:
 
+if with_ev3:
+	with ev3.EV3() as brick:
+
+		videoSource = VideoSource(videoFile, (width,height,3), framerate)
+		proc = MyRgbProcess(brick, (240, 320, 3), 4)
+		videoSource.processorAdd(proc)
+		videoSource.start()
+
+		print("[INFO] sampling THREADED frames from `" + videoFile + "` at " + str(framerate) + " frame/s")
+		time.sleep(seconds)
+		videoSource.stop()
+		proc.stop()
+else:
 	videoSource = VideoSource(videoFile, (width,height,3), framerate)
-	proc = MyRgbProcess(brick, (240, 320, 3), 4)
+	proc = MyRgbProcess(None, (240, 320, 3), 4)
 	videoSource.processorAdd(proc)
 	videoSource.start()
 
@@ -147,7 +163,7 @@ with ev3.EV3() as brick:
 	videoSource.stop()
 	proc.stop()
 
-	# do a bit of cleanup
+# do a bit of cleanup
-	cv2.destroyAllWindows()
+cv2.destroyAllWindows()
 
 

piCameraPipeline/PiCameraPipeline.py

@@ -174,7 +174,7 @@ if ("__main__" == __name__):
 
 	class MyRgbProcess2(RgbProcess):
 		def __init__(self, resolution=(320, 240, 3), numEntries=2, next=None):
-			super(MyRgbProcess2, self).__init__(resolution, numEntries)
+			super(MyRgbProcess2, self).__init__(resolution, numEntries, next)
 
 		def process(self):
 			data = self.read(1.0)

picam_test.py

@@ -27,7 +27,7 @@ if ("__main__" == __name__):
 
 	class MyRgbProcess2(RgbProcess):
 		def __init__(self, resolution=(320, 240, 3), numEntries=2, next=None):
-			super(MyRgbProcess2, self).__init__(resolution, numEntries)
+			super(MyRgbProcess2, self).__init__(resolution, numEntries, next)
 
 		def process(self):
 			data = self.read(1.0)