Changeset 485

Timestamp:

05/06/09 22:30:47 (3 years ago)

Author:

mosttw

Message:

Scaling of the camera image

Location:

trunk/software

Files:

• Makefile (modified) (2 diffs)
• rb/controller.py (modified) (7 diffs)
• rb/gui/camera.py (modified) (1 diff)
• rb/gui/gui.glade (modified) (2 diffs)
• rb/gui/gui.xml (modified) (2 diffs)
• rb/map.py (added)
• rb/vision/__init__.py (modified) (1 diff)
• rb/vision/_vision.c (modified) (1 diff)
• rb/vision/vision.c (modified) (1 diff)

trunk/software/Makefile

@@ -1 +1 @@
 default: all
 
-all: $(SUBDIRS) rb/gui/gui.xml
+all: $(SUBDIRS) rb/gui/gui.xml rb/vision/classify_dtree.o
         python setup.py build_ext --inplace
 
@@ -30 +30 @@
         # python -m rb.auto
 
+CPPFLAGS = -p -pg -g -Wall -Werror -pedantic -fPIC -O3 $(shell pkg-config --cflags opencv gsl)
+
+rb/vision/classify_dtree.o: rb/vision/classify_dtree.cpp
+        g++ $(CPPFLAGS) -c -o $@ $+

trunk/software/rb/controller.py

@@ -1 @@
-# Copyright (C) 2009 Thomas W. Most
-# Copyright (C) 2008 Andy Spencer
+# Copyright (C) 2008-2009 Thomas W. Most
+# Copyright (C) 2008-2009 Andy Spencer
 #
 # This program is free software: you can redistribute it and/or modify
@@ -15 +15 @@
 # along with this program.  If not, see <http://www.gnu.org/licenses/>.
 
-import thread
-from Queue import Queue
+from Queue import Queue, Empty
+from thread import start_new_thread
 
 import gobject
 
-from thread import start_new_thread
 import rbconfig
 import rb.drive
-import rb.gps
-import rb.microstrain
 import rb.kalman
-import rb.vision
-
-from rb.transcript     import TranscriptLogger
+from rb.transcript import TranscriptLogger
 
 
@@ -110 +105 @@
                 elif nav == 'laptop':
                         pass
-                elif nav == 'wiimote':
-                        pass
                 
                 self.navigator = nav
-
                 return True
         
@@ -128 +120 @@
 
         def init_camera(self):
-                self.camera = rb.vision.Camera(self)
+                from rb.vision import Camera
+                self.camera = Camera(self)
         
         def init_gps(self):
-                self.gps = rb.gps.GPS(rbconfig.gps_port)
+                from rb.gps import GPS
+                self.gps = GPS(rbconfig.gps_port)
         
         def init_microstrain(self):
-                self.microstrain = rb.microstrain.MicroStrain(rbconfig.microstrain_port)
+                from rb.microstrain import MicroStrain
+                self.microstrain = MicroStrain(rbconfig.microstrain_port)
         
         
@@ -147 +142 @@
                         try:
                                 type, data = self.data_queue.get(timeout=.1)
-                        except:
+                        except Empty:
                                 pass
                         else:
@@ -166 +161 @@
                 with GTK+ will need to move things to GTK's main loop.
                 '''
-                #print "process(%r, ...) in thread %s" % (type, thread.get_ident())
-
-                for interface in [self.auto, self.wiimote, self.shell, self.gui]:
-                        if interface != False and hasattr(interface, "process"):
-                                interface.process(type, data)
-                
                 if type == 'gps_fix':
                         self.kalman.update_gps(data)
@@ -180 +169 @@
                 elif type == 'drive_speeds':
                         self.kalman.update_drive_speed(data)
+                
+                for interface in (self.auto, self.wiimote, self.shell, self.gui):
+                        if interface and hasattr(interface, "process"):
+                                interface.process(type, data)
+                

trunk/software/rb/gui/camera.py

@@ -25 +25 @@
 
         def expose_cb(self, da, event):
-                print "expose"
+                # This rescales and redraws the image at every expose event, which
+                # is pretty awful.  This could pretty easily be changed to at least
+                # keep the scaled image around between exposes.
                 if not self.pixbuf:
                         return
                 # TODO: Scale
                 drawable = da.window
-                gc = gtk.gdk.GC(drawable)
                 alloc = self.get_allocation()
+                new_w = alloc.width
+                new_h = alloc.height
+                scaled_pixbuf = self.pixbuf.scale_simple(new_w, new_h, gtk.gdk.INTERP_NEAREST)
                 drawable.draw_pixbuf(
-                                gc, self.pixbuf,
+                    drawable.new_gc(),
+                    scaled_pixbuf,
                                 0, 0, # src_x, src_y,
-                                alloc.x, alloc.x,
-                                alloc.width, alloc.height,
-                                gtk.gdk.RGB_DITHER_NONE,
-                                1, 1, # x_dither, y_dither
+                                0, 0, # dest_x, dest_y,
+                                alloc.width, alloc.height
                 )

trunk/software/rb/gui/gui.glade

@@ -1 +1 @@
 <?xml version="1.0" encoding="UTF-8" standalone="no"?>
 <!DOCTYPE glade-interface SYSTEM "glade-2.0.dtd">
-<!--Generated with glade3 3.4.5 on Thu Apr 30 07:14:52 2009 -->
+<!--Generated with glade3 3.4.5 on Wed May  6 22:08:34 2009 -->
 <glade-interface>
   <widget class="GtkWindow" id="window">
@@ -359 +359 @@
           </widget>
           <packing>
+            <property name="expand">False</property>
             <property name="position">1</property>
           </packing>

trunk/software/rb/gui/gui.xml

@@ -1 +1 @@
 <?xml version="1.0"?>
-<!--Generated with glade3 3.4.5 on Thu Apr 30 07:14:52 2009 -->
+<!--Generated with glade3 3.4.5 on Wed May  6 22:08:34 2009 -->
 <interface>
   <object class="GtkAdjustment" id="adjustment1">
@@ -365 +365 @@
           </object>
           <packing>
+            <property name="expand">False</property>
             <property name="position">1</property>
           </packing>

trunk/software/rb/vision/__init__.py

@@ -40 +40 @@
 if __name__ == "__main__":
         test()
+

trunk/software/rb/vision/_vision.c

@@ -83 +83 @@
         CvSeqReader reader;
         cvStartReadSeq(seq, &reader, 0);
-        for(int i = 0; i < seq->total; i++) {
+        int i;
+        for(i = 0; i < seq->total; i++) {
                 int data[3];
                 CV_READ_SEQ_ELEM(data, reader);

trunk/software/rb/vision/vision.c

@@ -52 +52 @@
         CvMat* mat= cvCreateMat( 3, 3, CV_32F );
         CvPoint2D32f from[] = {
-                cvPoint2D32f(0           , size.height*0.12),
-                cvPoint2D32f(0           , size.height-1),
-                cvPoint2D32f(size.width-1, size.height-1),
-                cvPoint2D32f(size.width-1, size.height*0.12)
+                cvPoint2D32f(1208, 1172),
+                cvPoint2D32f(1196, 1224),
+                cvPoint2D32f(1295, 1178),
+                cvPoint2D32f(1294, 1231)
         };
         CvPoint2D32f to[] = {
-                cvPoint2D32f(0              , -62          ),
-                cvPoint2D32f(size.width*0.33, size.height-1),
-                cvPoint2D32f(size.width*0.67, size.height-1),
-                cvPoint2D32f(size.width-1   , -62          )
+                cvPoint2D32f(1210, 1170),
+                cvPoint2D32f(1210, 1250),
+                cvPoint2D32f(1290, 1170),
+                cvPoint2D32f(1290, 1250)
         };
         cvGetPerspectiveTransform(from, to, mat);