- PiCameraPipeline: refactored interfaces

git-svn-id: http://moon:8086/svn/software/trunk/projects/opencv@332 b431acfa-c32f-4a4a-93f1-934dc6c82436

lasertrack.py

@@ -32,7 +32,7 @@ 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,
+ap.add_argument("-e", "--with-ev3", type=str, default='off',
 	help="Framerate in frame/s")
 ap.add_argument("-f", "--filename", type=str, default='piCamera',
 	help="Choose video source")
@@ -41,7 +41,7 @@ args = vars(ap.parse_args())
 videoFile = args["filename"]
 framerate = args["framerate"]
 seconds = args["seconds"]
-with_ev3 = args["with_ev3"]
+with_ev3 = args["with_ev3"] == 'on'
 
 class MyRgbProcess(RgbProcess):
 	def __init__(self, name, resolution=(320, 240, 3), numEntries=2, next=None, brick=None):
@@ -49,14 +49,13 @@ class MyRgbProcess(RgbProcess):
 		self.brick = brick
 		self.isVisible = False
 
-	def sendBrick(self, errorX, errorY):
+	def onFirstFrame(self):
-		if self.brick is not None:
+		self.sendBrick(0, 0)
-			data = struct.pack("f", errorX)
-			ev3.system_command.write_mailbox(self.brick, 'ErrorX', data)
-			data = struct.pack("f", errorY)
-			ev3.system_command.write_mailbox(self.brick, 'ErrorY', data)
 
-	def process(self):
+	def onLastFrame(self):
+		self.sendBrick(0, 0)
+
+	def onProcess(self):
 		data = self.read(1.0)
 		if data is not None:
 			gray = cv2.cvtColor(data,cv2.COLOR_BGR2GRAY)
@@ -108,13 +107,19 @@ class MyRgbProcess(RgbProcess):
 			if self.next is not None:
 				self.next.write(cv2.cvtColor(gray_blurred,cv2.COLOR_GRAY2BGR))
 
-# Connect to brick
+	def sendBrick(self, errorX, errorY):
+		if self.brick is not None:
+			data = struct.pack("f", errorX)
+			ev3.system_command.write_mailbox(self.brick, 'ErrorX', data)
+			data = struct.pack("f", errorY)
+			ev3.system_command.write_mailbox(self.brick, 'ErrorY', data)
 
 if with_ev3:
+	# Connect to brick
 	with ev3.EV3() as brick:
 
 		videoSource = VideoSource(videoFile, (width,height,3), framerate)
-		proc = MyRgbProcess('MyRgbProcess', (240, 320, 3), 4, brick)
+		proc = MyRgbProcess('MyRgbProcess', (240, 320, 3), 4, brick=brick)
 		videoSource.processorAdd(proc)
 		videoSource.start()
 

piCameraPipeline/PiCameraPipeline.py

@@ -69,50 +69,13 @@ class RgbProcess(Fifo):
 		self.fps = None
 		self.frames = 0
 
-	# called on construction
+	# Interface
-	def onConstruct(self):
+	# should be called to start thread
-		pass
-
-	# called on first frame
-	def onFirstFrame(self):
-		self.start()
-
-	def onLastFrame(self):
-		self.stop()
-
-	# may be overriden to process in caller context
-	def onData(self, data):
-		self.write(data)
-
-	# thread main loop
-	def run(self):
-		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()
 
+	# Interface
 	# should be called to exit thread
 	def stop(self):
 		if self.thread.is_alive():
@@ -121,6 +84,56 @@ class RgbProcess(Fifo):
 			self.cancel = True
 			self.thread.join()
 
+	# overideable method
+	# called on construction
+	def onConstruct(self):
+		pass
+
+	# overideable method
+	# called on first frame
+	def onFirstFrame(self):
+		pass
+
+	# overideable method
+	# called on last frame
+	def onLastFrame(self):
+		pass
+
+	# overideable method
+	def onProcess(self):
+		pass
+
+	# protected
+	# may be overriden to process in caller context
+	def onData(self, data):
+		self.write(data)
+
+	# private
+	# thread main loop
+	def run(self):
+		self.started()
+		while not self.cancel:
+			self.onProcess()
+			self.frames += 1
+
+		self.stopped()
+
+	# private
+	def started(self):
+		print(self.name + ": started()")
+		self.onFirstFrame()
+		self.fps = FPS().start()
+		if self.next is not None:
+			self.next.start()
+
+	# private
+	def stopped(self):
+		self.fps.stop()
+		self.onLastFrame()
+		print(self.name + ": stopped()")
+		print(self.name + ": Processed " + str(self.frames) + " frames")
+		print(self.name + ": FPS = " + str(self.frames/self.fps.elapsed()))
+
 class RgbProcessorAdapter(object):
 	def __init__(self, resolution=(320, 240, 3)):
 		self.resolution = resolution
@@ -143,7 +156,7 @@ class RgbProcessorAdapter(object):
 
 		if self.size == 0:
 			for proc in self.processors:
-				proc.onFirstFrame()
+				proc.start()
 
 			self.fps = FPS().start()
 
@@ -169,7 +182,7 @@ class RgbProcessorAdapter(object):
 			print("Recorded " + str(frames) + " frames (" + str(self.size) + " bytes)")
 			print("FPS = " + str(frames/self.fps.elapsed()))
 		for proc in self.processors:
-			proc.onLastFrame()
+			proc.stop()
 
 if ("__main__" == __name__):
 	import cv2
@@ -179,7 +192,7 @@ if ("__main__" == __name__):
 		def __init__(self, name, resolution=(320, 240, 3), numEntries=2, next=None):
 			super(MyRgbProcess1, self).__init__(name, resolution, numEntries, next)
 
-		def process(self):
+		def onProcess(self):
 			data = self.read(1.0)
 			if data is not None:
 				gray = cv2.cvtColor(data,cv2.COLOR_BGR2GRAY)
@@ -195,7 +208,7 @@ if ("__main__" == __name__):
 		def __init__(self, name, resolution=(320, 240, 3), numEntries=2, next=None):
 			super(MyRgbProcess2, self).__init__(name, resolution, numEntries, next)
 
-		def process(self):
+		def onProcess(self):
 			data = self.read(1.0)
 			if data is not None:
 				gray = cv2.cvtColor(data,cv2.COLOR_BGR2GRAY)

picam_test.py

@@ -13,7 +13,7 @@ if ("__main__" == __name__):
 		def __init__(self, name, resolution=(320, 240, 3), numEntries=2, next=None):
 			super(MyRgbProcess1, self).__init__(name, resolution, numEntries, next)
 
-		def process(self):
+		def onProcess(self):
 			data = self.read(1.0)
 			if data is not None:
 				gray = cv2.cvtColor(data,cv2.COLOR_BGR2GRAY)
@@ -29,7 +29,7 @@ if ("__main__" == __name__):
 		def __init__(self, name, resolution=(320, 240, 3), numEntries=2, next=None):
 			super(MyRgbProcess2, self).__init__(name, resolution, numEntries, next)
 
-		def process(self):
+		def onProcess(self):
 			data = self.read(1.0)
 			if data is not None:
 				gray = cv2.cvtColor(data,cv2.COLOR_BGR2GRAY)