Changeset 665 for trunk/software/rb/vision/gstcam.py

Timestamp:

02/11/10 01:33:02 (2 years ago)

Author:

mosttw

Message:

Fixed issues with GStreamer camera driver

Files:

• trunk/software/rb/vision/gstcam.py (modified) (5 diffs)

trunk/software/rb/vision/gstcam.py

@@ -16 +16 @@
 import time
 import logging
-from thread import start_new_thread
+from rb.vision._camera import ipl_image_from_rgb_buffer, save_image
+
 import gst
 
-from rb.vision._camera import ipl_image_from_rgb_string, save_image
 
 
@@ -38 +38 @@
                         'appsink name=out max_buffers=1 drop=1'
                 ) % source
-                import pdb; pdb.set_trace()
+                logger.info('Launching pipeline %r', launch_string)
                 self.pipeline = gst.parse_launch(launch_string)
                 self.appsink = self.pipeline.get_by_name('out')
+                assert self.appsink
         
                 bus = self.pipeline.get_bus()
@@ -46 +47 @@
                 bus.connect('message', self.message_cb)
                 
-                start_new_thread(self._main, ())
+                self.pipeline.set_state(gst.STATE_PLAYING)
         
-        def _main(self):
-                '''
-                Main loop: pull images from the buffer and dispatch them.
-                '''
-                self.pipeline.set_state(gst.STATE_PLAYING)
+        def get_last_image(self):
+                buffer = self.appsink.get_last_buffer()
+                if buffer is None:
+                        return None
+                return gst_buffer_to_ipl_image(buffer)
 
-                while self.running:
-                        # TODO: Detect EOS (end of stream)
-                        # TODO: Make this non-blocking
-                        buffer = self.appsink.emit('pull-buffer')
-                        if buffer is None:
-                                logger.error("Pulled None buffer")
-                                time.sleep(0.1)
-                                continue
-                        struct = buffer.caps[0]
-                        size = (struct['width'], struct['height'])
-                        image = ipl_image_from_rgb_string(buffer, size)
-                        if self.controller:
-                                self.controller.send('camera_image', (self.source, image))
-                                logger.debug("Captured image")
-                        else:
-                                fn = "cap%0.2f.png" % time.time()
-                                print "Got image; saving to", fn
-                                save_image(fn, image)
-
-        
         def message_cb(self, bus, message):
                 if message.type == gst.MESSAGE_STATE_CHANGED:
@@ -82 +63 @@
                         self.pipeline.set_state(gst.STATE_NULL) # Stop playback
 
+
+def gst_buffer_to_ipl_image(buffer):
+        struct = buffer.caps[0]
+        size = (struct['width'], struct['height'])
+        return ipl_image_from_rgb_buffer(buffer, size)
+
+
 if __name__ == '__main__':
-        import sys, gtk
+        import sys, gtk, gobject
         logging.basicConfig(level=logging.DEBUG)
         try:
@@ -89 +77 @@
         except IndexError:
                 source = 'v4l2src'
-        gtk.gdk.threads_init()
         cam = GstCamera(None, source)
+
+        def save_pic():
+                ipl_image = cam.get_last_image()
+                if ipl_image is None:
+                        print "Got None"
+                else:
+                        fn = "cap%0.4f.png" % time.time()
+                        print "Got image, saving to", fn
+                        save_image(fn, ipl_image)
+                return True
+
+        gobject.timeout_add(1000, save_pic)
         gtk.main()