Changeset 508

Timestamp:

06/03/09 18:09:23 (3 years ago)

Author:

spenceal

Message:

* Starting Gui tab for auto
* Adding fake_ccam' and classifier' to rbconfig

Location:

trunk/software/rb

Files:

• auto.py (modified) (4 diffs)
• controller.py (modified) (1 diff)
• gui/auto.py (added)
• gui/gui.glade (modified) (2 diffs)
• gui/gui.py (modified) (3 diffs)
• gui/gui.xml (modified) (2 diffs)
• vision/__init__.py (modified) (2 diffs)
• vision/_vision.c (modified) (5 diffs)
• vision/vision.c (modified) (1 diff)

trunk/software/rb/auto.py

@@ -24 +24 @@
 from rb.core.logging import log_debug, log_info, log_warn, log_error, log_die
 from rb.utils import points_to_vec, rad_delta
+from rb.vision import Camera
 
 from time import sleep
@@ -67 +68 @@
 
         def navigate_course(self):
-                # TODO: import these from the C enum
-                RB_GRASS       = 0
-                RB_OBSTICLE    = 1
-                RB_LINE        = 2
-                RB_IGNORE      = 3
                 values = [0.1, 0.1, 0.1, 0.1]
 
@@ -79 +75 @@
                                 values[point[2]] += 1
 
-                if (values[RB_GRASS] < 10):
+                if (values[Camera.GRASS] < 10):
                         print "Auto.navigate_course: Not enough data, aborting" 
                         return False;
@@ -85 +81 @@
                 # If it's `mostly' clear
                 print "Auto.navigate_course: values = ", values 
-                if (values[RB_GRASS]/values[RB_OBSTICLE]) > 2:
+                if (values[Camera.GRASS]/values[Camera.OBSTICLE]) > 2:
                         # go forward
                         print "Auto.navigate_course: Moving forward" 

trunk/software/rb/controller.py

@@ -43 +43 @@
                 self.data_queue = Queue()
                 self.init_drive()
-                #self.init_camera()
+                self.init_camera()
                 #self.init_gps()
                 #self.init_microstrain()
 
-                self.transcript = TranscriptLogger('/tmp/rblog.txt',
-                                                        self.drive, self.gps, self.microstrain)
+                #self.transcript = TranscriptLogger('/tmp/rblog.txt',
+                #                                       self.drive, self.gps, self.microstrain)
 
                 self.set_navigator('laptop')

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 Wed May  6 22:08:34 2009 -->
+<!--Generated with glade3 3.4.5 on Wed Jun  3 20:52:53 2009 -->
 <glade-interface>
   <widget class="GtkWindow" id="window">
@@ -277 +277 @@
             </child>
             <child>
-              <widget class="GtkLabel" id="auto_body">
-                <property name="visible">True</property>
-                <property name="label" translatable="yes">TODO</property>
+              <widget class="GtkAlignment" id="auto_body">
+                <property name="visible">True</property>
+                <child>
+                  <placeholder/>
+                </child>
               </widget>
               <packing>
                 <property name="position">4</property>
-                <property name="tab_expand">True</property>
               </packing>
             </child>

trunk/software/rb/gui/gui.py

@@ -30 +30 @@
 from rb.gui.speedgraph import SpeedGraph
 from rb.gui.camera     import Camera
+from rb.gui.auto       import Auto
 
 
@@ -79 +80 @@
                 self.raw_orient_dir = self.compass.new_direction(RAW_ORIENT_BLUE, pi / 2)
                 self.speed_graph = SpeedGraph(self.controller.drive)
+                self.auto = Auto()
                 self.camera = Camera()
                 self.builder.get_object("speed_body").add(self.speed)
                 self.builder.get_object("compass_body").add(self.compass)
                 self.builder.get_object("speed_graph").add(self.speed_graph)
+                self.builder.get_object("auto_body").add(self.auto)
                 self.builder.get_object("camera_body").add(self.camera)
                 
@@ -108 +111 @@
                 elif type == 'vision_points':
                         points, pixbuf = data
+                        self.auto.points = points
                         self.camera.pixbuf = pixbuf
                         self.camera.queue_draw()

trunk/software/rb/gui/gui.xml

@@ -1 +1 @@
 <?xml version="1.0"?>
-<!--Generated with glade3 3.4.5 on Wed May  6 22:08:34 2009 -->
+<!--Generated with glade3 3.4.5 on Wed Jun  3 20:52:53 2009 -->
 <interface>
   <object class="GtkAdjustment" id="adjustment1">
@@ -288 +288 @@
             </child>
             <child>
-              <object class="GtkLabel" id="auto_body">
-                <property name="visible">True</property>
-                <property name="label" translatable="yes">TODO</property>
-              </object>
-              <packing>
-                <property name="position">4</property>
-                <property name="tab_expand">True</property>
-              </packing>
+              <object class="GtkAlignment" id="auto_body">
+                <property name="visible">True</property>
+                <child>
+                  <placeholder/>
+                </child>
+              </object>
             </child>
             <child type="tab">

trunk/software/rb/vision/__init__.py

@@ -1 +1 @@
 from thread import start_new_thread
 
+import rbconfig
 from rb.vision import _vision
 from time import sleep
 
 class Camera(object):
+        # TODO: import these from the C enum
+        GRASS    = 0
+        OBSTICLE = 1
+        LINE     = 2
+        IGNORE   = 3
+
+        DTREE    = 0
+        HARD     = 1
+        
+        COLORS = {
+                GRASS    : [0,   255, 0  ],
+                OBSTICLE : [255, 0,   0  ],
+                LINE     : [255, 255, 255],
+                IGNORE   : [0,   0,   255],
+        }
+
         def __init__(self, controller):
                 self.running = True
                 self.controller = controller
-                _vision._init_classifier()
-                #_vision._init_capture()
+                _vision._init(rbconfig.fake_ccam, rbconfig.classifier)
                 start_new_thread(self._main, ())
 
@@ -30 +46 @@
         win = gtk.Window()
         image = gtk.Image()
-        _vision._init_classifier()
+        _vision._init(TRUE, Camera.DTREE)
         points, pixbuf = _vision._get_points()
         image.set_from_pixbuf(pixbuf)

trunk/software/rb/vision/_vision.c

@@ -65 +65 @@
 } 
 
+static PyObject*
+_init(PyObject *self, PyObject *args)
+{
+        int fake_ccam, classifier_num;
+        if (!PyArg_ParseTuple(args, "bb", &fake_ccam, &classifier_num))
+                return NULL;
 
-/* TODO: define some constants for the types of points */
-static PyObject*
-_init_classifier(PyObject *self, PyObject *args)
-{
+        /* Init ccam */
+        if (!fake_ccam) {
+                printf("Initializing capture\n");
+                cam = cvCreateCameraCapture(0);
+                if (cam == NULL)
+                        return PyErr_SetFromErrno(PyExc_IOError);
+        }
+
+        /* Init classifier */
         printf("Initialzing classifier\n");
-        classifier = classifier_new(RB_DTREE);
+        classifier = classifier_new(classifier_num);
         classifier_add_data_from_files(classifier,
                         "rb/vision/data/classes/input.jpeg",
@@ -77 +88 @@
         classifier_train(classifier);
         return Py_None;
-}
-
-static PyObject*
-_init_capture(PyObject *self, PyObject *args)
-{
-  if (!PyArg_ParseTuple(args, "")) {
-    return NULL;
-  }
-  printf("Initializing capture\n");
-  cam = cvCreateCameraCapture(0);
-  if (cam == NULL) {
-    return PyErr_SetFromErrno(PyExc_IOError);
-  }
-  return Py_None;
-}
-
-IplImage *capture()
-{
-  cvGrabFrame(cam);
-  return cvRetrieveFrame(cam);
 }
 
@@ -121 +112 @@
         CvSeq    *seq;
         
-        // Release the global interpreter lock.  No messing with Python objects without it, though!
-        // This creates a new block, so we need to declare variables above to access them after we
-        // reacquire the GIL.
+        // Release the global interpreter lock.  No messing with Python objects
+        // without it, though!  This creates a new block, so we need to declare
+        // variables above to access them after we reacquire the GIL.
         Py_BEGIN_ALLOW_THREADS
 
-        //input       = capture();
-        input       = get_image("rb/vision/data/classes/input.jpeg");
+        input       = get_image(cam);
         transformed = transform_image(input, 0.25);
         classes     = classifier_predict(classifier, transformed);
@@ -150 +140 @@
 
         cvReleaseMemStorage(&seq->storage);
-        //cvReleaseImage(&input); // Don't free captured images
+        cvReleaseImage(&input); // Don't free captured images
         cvReleaseImage(&transformed);
         cvReleaseMat(&classes);
@@ -163 +153 @@
         {"_get_points", _get_points, METH_VARARGS,
          "Return a list of points corresponding to obstacles and lines"},
-        {"_init_classifier", _init_classifier, METH_VARARGS,
-         "Initialize the classifier using predefined training images"},
-        {"_init_capture", _init_capture, METH_VARARGS,
-         "Initialize the camera capture device"},
+        {"_init", _init, METH_VARARGS,
+         "Initialize the classifier and camera capture device"},
         {NULL, NULL, 0, NULL} // sentinel
 };

trunk/software/rb/vision/vision.c

@@ -29 +29 @@
 #include "classify.h"
 
-IplImage *get_image()
-{
-        const char *file = "rb/vision/data/classes/input.jpeg";
-        IplImage *image = cvLoadImage(file, 1);
-        if (!image) {
-                printf("Could not load image file: %s\n", file);
-                return NULL;
-        }
-        return image;
+
+IplImage *get_image(CvCapture *cam)
+{
+        if (cam) {
+                cvGrabFrame(cam);
+                return cvRetrieveFrame(cam);
+        } else {
+                const char *file = "rb/vision/data/classes/input.jpeg";
+                IplImage *image = cvLoadImage(file, 1);
+                if (!image) {
+                        printf("Could not load image file: %s\n", file);
+                        return NULL;
+                }
+                return image;
+        }
 }