- added PiCameraPipeline

- added Lasertrack
- picam_test uses PiCameraPipeline



git-svn-id: http://moon:8086/svn/software/trunk/projects/opencv@324 b431acfa-c32f-4a4a-93f1-934dc6c82436

picam_test.py

@@ -1,54 +1,62 @@
 # import the necessary packages
-from __future__ import print_function
-from imutils.video import FPS
-from picamera import PiCamera
-from picamera import CircularIO
-import imutils
 import time
-import cv2
+from picamera import PiCamera
+from piCameraPipeline import PiCameraPipeline
+from piCameraPipeline.PiCameraPipeline import RgbProcess
+from piCameraPipeline.PiCameraPipeline import RgbProcessorAdapter
 
-class MyCameraIo(object):
-	def __init__(self, frameSize):
-		print("MyCameraIo")
-		self.frameSize = frameSize[0]*frameSize[1]
-		self.size = 0
-		self.frames = 0
-		self.fps = None
+if ("__main__" == __name__):
+	import cv2
 
-	def writable(self):
-		return True
+	# 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 write(self, data):
-		if self.size == 0:
-			self.fps = FPS().start()
+		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)
 
-		self.size += len(data)
-		self.frames += len(data)/(3*self.frameSize)
+				cv2.imshow('displayThread1', gray_blurred)
+				cv2.waitKey(1)
 
-	def size(self):
-		print("size")
-		return self.size
+				if self.next is not None:
+					self.next.write(cv2.cvtColor(gray_blurred,cv2.COLOR_GRAY2BGR))
 
-	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()))
+	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)
 
-# initialize the camera and stream
-camera = PiCamera()
-camera.resolution = (320, 240)
-camera.framerate = 90
+				# Canny edge detection
+				canny = cv2.Canny(gray, 100, 50)
+				cv2.imshow('displayThread2', canny)
+				cv2.waitKey(1)
 
-myCameraIo = MyCameraIo(camera.resolution)
-camera.start_recording(myCameraIo, format="bgr")
+	# 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")
 
-# allow the camera to warmup and start the FPS counter
-print("[INFO] sampling frames from `picamera` module...")
-time.sleep(10.0)
+	# 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()
+	# do a bit of cleanup
+	cv2.destroyAllWindows()
+	camera.close()