Changeset 484

Timestamp:

05/06/09 22:27:01 (3 years ago)

Author:

spenceal

Message:

Fixing memory leaks mostly

Location:

trunk/software

Files:

• rb/gui/camera.py (modified) (1 diff)
• rb/vision/__init__.py (modified) (2 diffs)
• rb/vision/_vision.c (modified) (4 diffs)
• rb/vision/classify.c (modified) (1 diff)
• rb/vision/classify.h (modified) (1 diff)
• rb/vision/classify_dtree.cpp (modified) (2 diffs)
• rb/vision/classify_dtree.h (modified) (1 diff)
• rb/vision/main.c (modified) (2 diffs)
• rb/vision/makefile (modified) (1 diff)
• rb/vision/vision.c (modified) (1 diff)
• setup.py (modified) (1 diff)

trunk/software/rb/gui/camera.py

@@ -32 +32 @@
                 gc = gtk.gdk.GC(drawable)
                 alloc = self.get_allocation()
-                self.pixbuf.render_to_drawable(
-                                drawable, gc,
+                drawable.draw_pixbuf(
+                                gc, self.pixbuf,
                                 0, 0, # src_x, src_y,
                                 alloc.x, alloc.x,

trunk/software/rb/vision/__init__.py

@@ -18 +18 @@
                         print "done getting points"
                         self.controller.send("vision_points", data)
-                        sleep(10)
+                        sleep(1)
+
+def key_press_cb(widget, event):
+        import gtk
+        if event.keyval in (gtk.keysyms.Escape, gtk.keysyms.q):
+                gtk.main_quit() 
 
 def test():
@@ -28 +33 @@
         image.set_from_pixbuf(pixbuf)
         win.add(image)
+        win.connect("key-press-event", key_press_cb)
+        win.connect("destroy", gtk.main_quit)
         win.show_all()
         gtk.main()

trunk/software/rb/vision/_vision.c

@@ -37 +37 @@
         IplImage *rgb = cvCreateImage(size, image->depth, image->nChannels);
         cvCvtColor(image, rgb, CV_BGR2RGB);
-        return gdk_pixbuf_new_from_data(
+        GdkPixbuf *pixbuf = gdk_pixbuf_new_from_data(
                 (guchar*)rgb->imageData, 
                 GDK_COLORSPACE_RGB, 
@@ -48 +48 @@
                 NULL
         ); 
+        cvReleaseImageHeader(&rgb);
+        return pixbuf;
 } 
 
@@ -75 +77 @@
 
         IplImage *input       = get_image();
-        IplImage *transformed = transform_image(input, 0.50);
+        IplImage *transformed = transform_image(input, 0.25);
         CvMat    *classes     = classifier_predict(classifier, transformed);
         CvSeq    *seq         = get_points(classes);
@@ -88 +90 @@
                 PyList_Append(points, point);
         }
+
+        GdkPixbuf *pixbuf = ipl_image_to_gtk_pixbuf(transformed);
+        PyObject  *py_pixbuf  = pygobject_new((GObject*)pixbuf);
+
         cvReleaseMemStorage(&seq->storage);
-
-        GdkPixbuf *pixbuf = ipl_image_to_gtk_pixbuf(input);
-        PyObject  *py_pixbuf  = pygobject_new((GObject*)pixbuf);
+        cvReleaseImage(&input);
+        cvReleaseImage(&transformed);
+        cvReleaseMat(&classes);
 
         return Py_BuildValue("(OO)", points, py_pixbuf);

trunk/software/rb/vision/classify.c

@@ -90 +90 @@
 }
 
+void classifier_free(classifier_t *classifier)
+{
+        cvReleaseMat(&classifier->train_input);
+        cvReleaseMat(&classifier->train_desired);
+        switch (classifier->type) {
+        case RB_DTREE: dtree_free(classifier->classifier); break;
+        case RB_HARD:  break;
+        }
+        free(classifier);
+}
+
 void classifier_add_data(classifier_t *classifier, CvMat *input, CvMat *desired)
 {

trunk/software/rb/vision/classify.h

@@ -45 +45 @@
  */
 classifier_t *classifier_new(int type);
+void classifier_free(classifier_t *classifier);
 
 

trunk/software/rb/vision/classify_dtree.cpp

@@ -10 +10 @@
         CvDTree *dtree = new CvDTree;
         return dtree;
+}
+
+void dtree_free(CvCDTree *_dtree)
+{
+        CvDTree *dtree = (CvDTree *)_dtree;
+        delete dtree;
 }
 
@@ -26 +32 @@
         dtree->train(input, CV_ROW_SAMPLE, desired, 0, 0, var_type, NULL,
                 CvDTreeParams(
-                        15,             // Max depth
-                        50,             // min sample count
+                        5,  // 15,             // Max depth
+                        10, // 50,             // min sample count
                         0,              // regression accuracy: N/A here
                         false,          // no not compute surrogate split
                         RB_NUM_CLASSES, // max number of categories (use sub-optimal algorithm for larger numbers)
-                        20,             // the number of cross-validation folds
+                        4, // 20,             // the number of cross-validation folds
                         false,          // use 1SE rule => smaller tree
                         true,           // throw away the pruned tree branches

trunk/software/rb/vision/classify_dtree.h

@@ -8 +8 @@
 /* Decision tree classifier */
 CvCDTree *dtree_create();
+void dtree_free(CvCDTree *);
 void dtree_train(CvCDTree *dtree, CvMat *input, CvMat *desired);
 CvMat *dtree_predict(CvCDTree *dtree, CvMat *input);

trunk/software/rb/vision/main.c

@@ -69 +69 @@
         /* Display images */
         print_time("Displaying images");
-        cvNamedWindow("input", 0);
-        cvMoveWindow ("input", 100, 100);
-        cvShowImage  ("input", input);
-        cvNamedWindow("transformed", 0);
-        cvMoveWindow ("transformed", 100, 100);
-        cvShowImage  ("transformed", transformed);
-        cvNamedWindow("colors", 0);
-        cvMoveWindow ("colors", 100, 100);
-        cvShowImage  ("colors", colors);
+        //cvNamedWindow("input", 0);
+        //cvMoveWindow ("input", 100, 100);
+        //cvShowImage  ("input", input);
+        //cvNamedWindow("transformed", 0);
+        //cvMoveWindow ("transformed", 100, 100);
+        //cvShowImage  ("transformed", transformed);
+        //cvNamedWindow("colors", 0);
+        //cvMoveWindow ("colors", 100, 100);
+        //cvShowImage  ("colors", colors);
 
-        while (cvWaitKey(0) != XK_q);
+        //while (cvWaitKey(0) != XK_q);
 
         /* Release temp data */
@@ -86 +86 @@
         cvReleaseMat(&classes);
         cvReleaseImage(&colors);
+        classifier_free(classifier);
 
         return 0;

trunk/software/rb/vision/makefile

@@ -1 +1 @@
 CFLAGS   = -p -pg -g -Wall -Werror -pedantic -fPIC --std=gnu99 -fgnu89-inline -O3 $(shell pkg-config --cflags opencv gsl)
+#CFLAGS   = -p -pg -g -Wall -Werror -pedantic -fPIC -O3 $(shell pkg-config --cflags opencv gsl)
 CPPFLAGS = -p -pg -g -Wall -Werror -pedantic -fPIC -O3 $(shell pkg-config --cflags opencv gsl)
 LDFLAGS  = $(shell pkg-config --libs opencv gsl)

trunk/software/rb/vision/vision.c

@@ -81 +81 @@
         for(int x = 0; x < classes->cols; x+=10) {
                 for(int y = 0; y < classes->rows; y+=10) {
-                        CvScalar class = cvGet2D(classes, y, x);
-                        int data[3] = {class.val[0], x, y};
+                        CvScalar klass = cvGet2D(classes, y, x);
+                        int data[3] = {klass.val[0], x, y};
                         CV_WRITE_SEQ_ELEM(data, writer);
                 }

trunk/software/setup.py

@@ -30 +30 @@
          'rb/vision/vision.c',
          'rb/vision/classify.c',
-         'rb/vision/classify_hard.c',
-         'rb/vision/classify_dtree.cpp'],
+         'rb/vision/classify_hard.c'],
+         #'rb/vision/classify_dtree.cpp'],
         libraries=['cv', 'highgui', 'gsl'],
-        extra_compile_args=['-I/usr/include/opencv -lcv -lhighgui -lgsl']
+        extra_compile_args=['-I/usr/include/opencv -lcv -lhighgui -lgsl'],
+        language="c++",
 );