Changeset 489

Timestamp:

05/14/09 00:13:53 (3 years ago)

Author:

mosttw

Message:

Added support for video capture and releasing the GIL

Location:

trunk/software/rb/vision

Files:

: 3 modified

__init__.py (modified) (1 diff)
_vision.c (modified) (6 diffs)
vision.c (modified) (1 diff)

Legend:

: Unmodified
: Added
: Removed

trunk/software/rb/vision/init.py

r485	r489
9	9	self.controller = controller
10	10	_vision._init_classifier()
	11	_vision._init_capture()
11	12	start_new_thread(self._main, ())
12	13
13	14	def _main(self):
14	15	sleep(2)
15		while ~~(self.running == True)~~:
	16	while self.running:
16	17	print "getting points"
17	18	data = _vision._get_points()

trunk/software/rb/vision/_vision.c

r488	r489
25	25
26	26	#include <opencv/cv.h>
	27	#include <opencv/highgui.h>
27	28
28	29	#include "vision.h"
…	…
31	32	static PyTypeObject *PyGObject_Type=NULL;
32	33	classifier_t *classifier = NULL;
	34	CvCapture *cam = NULL;
33	35
34	36	void free_pixbuf_data(guchar *pixels, gpointer _ipl_image)
…	…
78	80
79	81	static PyObject*
	82	_init_capture(PyObject self, PyObject args)
	83	{
	84	if (!PyArg_ParseTuple(args, "")) {
	85	return NULL;
	86	}
	87	printf("Initializing capture\n");
	88	cam = cvCreateCameraCapture(0);
	89	if (cam == NULL) {
	90	return PyErr_SetFromErrno(PyExc_IOError);
	91	}
	92	return Py_None;
	93	}
	94
	95	IplImage *capture()
	96	{
	97	cvGrabFrame(cam);
	98	return cvRetrieveFrame(cam);
	99	}
	100
	101	static PyObject*
80	102	_get_points(PyObject self, PyObject args)
81	103	{
82	104	if (classifier == NULL) {
83		printf("Error: you must call _init_classifier first\n");
	105	PyErr_SetString(PyExc_RuntimeError, "_init_classifier must be called first");
	106	return NULL;
	107	} else if (cam == NULL) {
	108	PyErr_SetString(PyExc_RuntimeError, "_init_capture must be called first");
84	109	return NULL;
85	110	}
…	…
89	114	PyObject *points = PyList_New(0);
90	115
91		IplImage *input = get_image();
92		IplImage *transformed = transform_image(input, 0.25);
93		CvMat *classes = classifier_predict(classifier, transformed);
94		CvSeq *seq = get_points(classes);
	116	IplImage *input;
	117	IplImage *transformed;
	118	CvMat *classes;
	119	CvSeq *seq;
	120
	121	// Release the global interpreter lock. No messing with Python objects without it, though!
	122	// This creates a new block, so we need to declare variables above to access them after we
	123	// reacquire the GIL.
	124	Py_BEGIN_ALLOW_THREADS
95	125
	126	input = capture();
	127	transformed = transform_image(input, 0.25);
	128	classes = classifier_predict(classifier, transformed);
	129	seq = get_points(classes);
	130
	131	Py_END_ALLOW_THREADS
	132
96	133	CvSeqReader reader;
97	134	cvStartReadSeq(seq, &reader, 0);
…	…
110	147
111	148	cvReleaseMemStorage(&seq->storage);
112		~~cvReleaseImage(&input);~~
	149	//cvReleaseImage(&input); // Don't free captured images
113	150	cvReleaseImage(&transformed);
114	151	cvReleaseMat(&classes);
…	…
125	162	{"_init_classifier", _init_classifier, METH_VARARGS,
126	163	"Initialize the classifier using predefined training images"},
	164	{"_init_capture", _init_capture, METH_VARARGS,
	165	"Initialize the camera capture device"},
127	166	{NULL, NULL, 0, NULL} // sentinel
128	167	};

trunk/software/rb/vision/vision.c

r488	r489
69	69	}
70	70
71		int [3]point_to_
	71	//int [3]point_to_
72	72
73	73	CvSeq get_points(CvMat classes)

Changeset 489

Legend:

trunk/software/rb/vision/__init__.py

trunk/software/rb/vision/_vision.c

trunk/software/rb/vision/vision.c

trunk/software/rb/vision/init.py