- improved PiCameraPipeline (added names for procs, better thread mgmt)

- added VideoSource to piCameraPipeline



git-svn-id: http://moon:8086/svn/software/trunk/projects/opencv@330 b431acfa-c32f-4a4a-93f1-934dc6c82436

lasertrack.py

@@ -21,6 +21,7 @@ from picamera import PiCamera
 from piCameraPipeline import PiCameraPipeline
 from piCameraPipeline.PiCameraPipeline import RgbProcess
 from piCameraPipeline.PiCameraPipeline import RgbProcessorAdapter
+from piCameraPipeline.VideoSource import VideoSource
 
 width = 320
 height = 240
@@ -42,52 +43,9 @@ framerate = args["framerate"]
 seconds = args["seconds"]
 with_ev3 = args["with_ev3"]
 
-class VideoSource(RgbProcessorAdapter):
-	def __init__(self, fileName, resolution, framerate):
-		super(VideoSource, self).__init__(resolution)
-		self.fileName = fileName
-		self.resolution = resolution
-		self.framerate = framerate
-		self.thread = None
-		self.camera = None
-		self.cancel = False
-		if fileName == 'piCamera':
-			self.camera = PiCamera()
-			self.camera.resolution = (self.resolution[0], self.resolution[1])
-			self.camera.framerate = self.framerate
-		else:
-			self.needRgbConversion = False
-			self.thread = Thread(target=self.fileReadThread)
-
-	def fileReadThread(self):
-		pass
-
-	def start(self):
-		if self.thread is not None:
-			self.thread.start()
-			pass
-		else:
-			self.camera.start_recording(self, format="bgr")
-		
-	def stop(self):
-		if self.thread is not None:
-			self.cancel = True
-			self.thread.join()
-		else:
-			self.camera.stop_recording()
-
-	def fileReadThread(self):
-		cap = cv2.VideoCapture(self.fileName)
-		while not self.cancel:
-			ret, frame = cap.read()
-			if ret:
-				self.write(frame)
-			time.sleep(1.0/self.framerate)
-
-
 class MyRgbProcess(RgbProcess):
-	def __init__(self, brick, resolution=(320, 240, 3), numEntries=2, next=None):
+	def __init__(self, name, resolution=(320, 240, 3), numEntries=2, next=None, brick=None):
-		super(MyRgbProcess, self).__init__(resolution, numEntries, next)
+		super(MyRgbProcess, self).__init__(name, resolution, numEntries, next)
 		self.brick = brick
 
 	def process(self):
@@ -145,7 +103,7 @@ if with_ev3:
 	with ev3.EV3() as brick:
 
 		videoSource = VideoSource(videoFile, (width,height,3), framerate)
-		proc = MyRgbProcess(brick, (240, 320, 3), 4)
+		proc = MyRgbProcess('MyRgbProcess', (240, 320, 3), 4, brick)
 		videoSource.processorAdd(proc)
 		videoSource.start()
 
@@ -155,14 +113,13 @@ if with_ev3:
 		proc.stop()
 else:
 	videoSource = VideoSource(videoFile, (width,height,3), framerate)
-	proc = MyRgbProcess(None, (240, 320, 3), 4)
+	proc = MyRgbProcess('MyRgbProcess', (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()
 
 # do a bit of cleanup
 cv2.destroyAllWindows()

piCameraPipeline/PiCameraPipeline.py

@@ -60,8 +60,9 @@ class Fifo(object):
 		return data
 		
 class RgbProcess(Fifo):
-	def __init__(self, resolution=(320, 240, 3), numEntries=2, next=None):
+	def __init__(self, name='RgbProcess', resolution=(320, 240, 3), numEntries=2, next=None):
 		super(RgbProcess, self).__init__((numEntries, ) + resolution)
+		self.name = name
 		self.next = next
 		self.thread = Thread(target=self.run)
 		self.cancel = False
@@ -74,9 +75,10 @@ class RgbProcess(Fifo):
 
 	# called on first frame
 	def onFirstFrame(self):
-		self.thread.start()
+		self.start()
-		if self.next is not None:
+
-			self.next.onFirstFrame()
+	def onLastFrame(self):
+		self.stop()
 
 	# may be overriden to process in caller context
 	def onData(self, data):
@@ -84,31 +86,46 @@ class RgbProcess(Fifo):
 
 	# thread main loop
 	def run(self):
-		self.fps = FPS().start()
+		self.started()
 		while not self.cancel:
 			self.process()
 			self.frames += 1
 
+		self.stopped()
+
+	def started(self):
+		print(self.name + ": started()")
+		self.fps = FPS().start()
+		if self.next is not None:
+			self.next.onFirstFrame()
+
+	def stopped(self):
+		self.fps.stop()
+		print(self.name + ": stopped()")
+		print(self.name + ": Processed " + str(self.frames) + " frames")
+		print(self.name + ": FPS = " + str(self.frames/self.fps.elapsed()))
+		
 	# abstractmethod
 	def process(self):
 		pass
 
+	def start(self):
+		if not self.thread.is_alive():
+			self.thread.start()
+
 	# should be called to exit thread
 	def stop(self):
-		self.fps.stop()
+		if self.thread.is_alive():
-		print("Processed " + str(self.frames) + " frames")
+			if self.next is not None:
-		print("FPS = " + str(self.frames/self.fps.elapsed()))
+				self.next.stop()
-		self.cancel = True
+			self.cancel = True
-		self.thread.join()
+			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 = []
 		self.needRgbConversion = True
@@ -121,18 +138,15 @@ class RgbProcessorAdapter(object):
 		return True
 
 	def write(self, data):
+		if data is None:
+			return
+
 		if self.size == 0:
 			for proc in self.processors:
 				proc.onFirstFrame()
 
 			self.fps = FPS().start()
 
-		if data is None:
-			return
-
-		self.size += len(data)
-		self.frames += len(data)/self.frameSize
-
 		res = (self.resolution[0], self.resolution[1])
 
 		if self.needRgbConversion:
@@ -140,6 +154,8 @@ class RgbProcessorAdapter(object):
 		else:
 			rgbData = data
 		
+		self.size += rgbData.size
+
 		for proc in self.processors:
 			proc.onData(rgbData)
 
@@ -149,16 +165,19 @@ class RgbProcessorAdapter(object):
 	def flush(self):
 		if self.size > 0:
 			self.fps.stop()
-			print("Recorded " + str(self.frames) + " frames (" + str(self.size) + " bytes)")
+			frames = self.size/self.frameSize
-			print("FPS = " + str(self.frames/self.fps.elapsed()))
+			print("Recorded " + str(frames) + " frames (" + str(self.size) + " bytes)")
+			print("FPS = " + str(frames/self.fps.elapsed()))
+		for proc in self.processors:
+			proc.onLastFrame()
 
 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):
+		def __init__(self, name, resolution=(320, 240, 3), numEntries=2, next=None):
-			super(MyRgbProcess1, self).__init__(resolution, numEntries, next)
+			super(MyRgbProcess1, self).__init__(name, resolution, numEntries, next)
 
 		def process(self):
 			data = self.read(1.0)
@@ -173,8 +192,8 @@ if ("__main__" == __name__):
 					self.next.write(cv2.cvtColor(gray_blurred,cv2.COLOR_GRAY2BGR))
 
 	class MyRgbProcess2(RgbProcess):
-		def __init__(self, resolution=(320, 240, 3), numEntries=2, next=None):
+		def __init__(self, name, resolution=(320, 240, 3), numEntries=2, next=None):
-			super(MyRgbProcess2, self).__init__(resolution, numEntries, next)
+			super(MyRgbProcess2, self).__init__(name, resolution, numEntries, next)
 
 		def process(self):
 			data = self.read(1.0)
@@ -191,8 +210,8 @@ if ("__main__" == __name__):
 	camera.resolution = (320, 240)
 	camera.framerate = 60
 	frameDim = (camera.resolution[0], camera.resolution[1], 3)
-	myProcessor2 = MyRgbProcess2((240, 320, 3), 4)
+	myProcessor2 = MyRgbProcess2('Process 2', (240, 320, 3), 4)
-	myProcessor1 = MyRgbProcess1((240, 320, 3), 4, myProcessor2)
+	myProcessor1 = MyRgbProcess1('Process 1', (240, 320, 3), 4, myProcessor2)
 	myRgbProcessorAdapter = RgbProcessorAdapter(frameDim)
 	myRgbProcessorAdapter.processorAdd(myProcessor1)
 	camera.start_recording(myRgbProcessorAdapter, format="bgr")

piCameraPipeline/VideoSource.py

@@ -0,0 +1,51 @@
+import time
+import cv2
+from threading import Thread
+from picamera import PiCamera
+from piCameraPipeline.PiCameraPipeline import RgbProcessorAdapter
+
+class VideoSource(RgbProcessorAdapter):
+	def __init__(self, fileName, resolution, framerate):
+		super(VideoSource, self).__init__(resolution)
+		self.fileName = fileName
+		self.resolution = resolution
+		self.framerate = framerate
+		self.thread = None
+		self.camera = None
+		self.cancel = False
+		if fileName == 'piCamera':
+			self.camera = PiCamera()
+			self.camera.resolution = (self.resolution[0], self.resolution[1])
+			self.camera.framerate = self.framerate
+		else:
+			self.needRgbConversion = False
+			self.thread = Thread(target=self.fileReadThread)
+
+	def fileReadThread(self):
+		pass
+
+	def start(self):
+		if self.thread is not None:
+			if not self.thread.is_alive():
+				self.thread.start()
+		else:
+			self.camera.start_recording(self, format="bgr")
+		
+	def stop(self):
+		if self.thread is not None:
+			if self.thread.is_alive():
+				self.cancel = True
+				self.thread.join()
+		else:
+			self.camera.stop_recording()
+
+	def fileReadThread(self):
+		cap = cv2.VideoCapture(self.fileName)
+		while not self.cancel:
+			ret, frame = cap.read()
+			if ret:
+				self.write(frame)
+			else:
+				break
+			time.sleep(1.0/self.framerate)
+		self.flush()

picam_test.py

@@ -10,8 +10,8 @@ if ("__main__" == __name__):
 
 	# Unit test with to threaded processors
 	class MyRgbProcess1(RgbProcess):
-		def __init__(self, resolution=(320, 240, 3), numEntries=2, next=None):
+		def __init__(self, name, resolution=(320, 240, 3), numEntries=2, next=None):
-			super(MyRgbProcess1, self).__init__(resolution, numEntries, next)
+			super(MyRgbProcess1, self).__init__(name, resolution, numEntries, next)
 
 		def process(self):
 			data = self.read(1.0)
@@ -26,8 +26,8 @@ if ("__main__" == __name__):
 					self.next.write(cv2.cvtColor(gray_blurred,cv2.COLOR_GRAY2BGR))
 
 	class MyRgbProcess2(RgbProcess):
-		def __init__(self, resolution=(320, 240, 3), numEntries=2, next=None):
+		def __init__(self, name, resolution=(320, 240, 3), numEntries=2, next=None):
-			super(MyRgbProcess2, self).__init__(resolution, numEntries, next)
+			super(MyRgbProcess2, self).__init__(name, resolution, numEntries, next)
 
 		def process(self):
 			data = self.read(1.0)
@@ -44,8 +44,8 @@ if ("__main__" == __name__):
 	camera.resolution = (320, 240)
 	camera.framerate = 60
 	frameDim = (camera.resolution[0], camera.resolution[1], 3)
-	myProcessor2 = MyRgbProcess2((240, 320, 3), 4)
+	myProcessor2 = MyRgbProcess2('Process 2', (240, 320, 3), 4)
-	myProcessor1 = MyRgbProcess1((240, 320, 3), 4, myProcessor2)
+	myProcessor1 = MyRgbProcess1('Process 1', (240, 320, 3), 4, myProcessor2)
 	myRgbProcessorAdapter = RgbProcessorAdapter(frameDim)
 	myRgbProcessorAdapter.processorAdd(myProcessor1)
 	camera.start_recording(myRgbProcessorAdapter, format="bgr")