Changeset 713

Timestamp:

03/03/10 01:43:17 (2 years ago)

Author:

mosttw

Message:

First step in implementing image processing in C: sobelizing

Location:

trunk/software/rb/vision

Files:

• _camera.c (modified) (1 diff)
• _processing.c (added)
• gstcam.py (modified) (3 diffs)
• makefile (modified) (1 diff)

trunk/software/rb/vision/_camera.c

@@ -359 +359 @@
                 "Save an image using the ``cvSaveImage()`` function.  "
                 "The file type will be taken from the extension in the "
-                "given filename --- use ``.jpg`` or ``.png``."},
+                "given filename --- use ``.jpg`` or ``.png``.\n\n"
+                "Arguments: string filename, IplImage."},
         {"ipl_image_from_rgb_buffer", _camera_ipl_image_from_rgb_buffer, METH_VARARGS,
                 "Produce a BGR IplImage from an RGB buffer.  Takes two "

trunk/software/rb/vision/gstcam.py

@@ -32 +32 @@
                 self.controller = controller
                 self.source = source
+                self.state = 'Initializing'
                 self.running = True
                 launch_string = (
@@ -46 +47 @@
                 bus.add_signal_watch()
                 bus.connect('message', self.message_cb)
+                self._start_playback()
                 
-                self.pipeline.set_state(gst.STATE_PLAYING)
-
                 if self.controller is not None:
                         gobject.timeout_add(100, self._send_image)
         
+        def _start_playback(self):
+                self.state = 'Starting'
+                self.pipeline.set_state(gst.STATE_PLAYING)
+
         def _send_image(self):
                 image = self.get_last_image()
                 if image is not None:
+                        self.status = 'Capturing'
                         self.controller.send('camera_image', (self.source, image))
                 return True # Call me again
@@ -70 +75 @@
                         msg, details = message.parse_error()
                         logger.error("%s\n%s", msg, details)
+                        self.state = 'Error %s' % (msg,)
                         self.pipeline.set_state(gst.STATE_NULL) # Stop playback
 

trunk/software/rb/vision/makefile

@@ -1 @@
-CFLAGS   = -p -pg -g -Wall -Werror -Wno-unused -pedantic -fPIC --std=gnu99 -fgnu89-inline -O3 $(shell pkg-config --cflags opencv gsl glib-2.0 gobject-2.0)
-#CFLAGS   = -p -pg -g -Wall -Werror -pedantic -fPIC -O3 $(shell pkg-config --cflags opencv gsl)
-CPPFLAGS = -p -pg -g -Wall -Werror -Wno-unused -pedantic -fPIC -O3 $(shell pkg-config --cflags opencv gsl)
-LDFLAGS  = $(shell pkg-config --libs opencv gsl)
-DLFLAGS  = -shared -nostartfiles
-PYFLAGS  = -pthread -fno-strict-aliasing -fwrapv -I/usr/include/python2.6/ $(shell pkg-config --cflags gtk+-2.0 pygtk-2.0 pygobject-2.0)
-PYLIBS   = -lpython2.6 $(shell pkg-config --libs gtk+-2.0 pygtk-2.0 pygobject-2.0)
+CFLAGS   := -p -pg -g -Wall -Werror -Wno-unused -pedantic -fPIC --std=gnu99 -fgnu89-inline -O3 $(shell pkg-config --cflags opencv gsl glib-2.0 gobject-2.0)
+#CFLAGS   := -p -pg -g -Wall -Werror -pedantic -fPIC -O3 $(shell pkg-config --cflags opencv gsl)
+CPPFLAGS := -p -pg -g -Wall -Werror -Wno-unused -pedantic -fPIC -O3 $(shell pkg-config --cflags opencv gsl)
+LDFLAGS  := $(shell pkg-config --libs opencv gsl)
+DLFLAGS  := -shared -nostartfiles
+PYFLAGS  := -pthread -fno-strict-aliasing -fwrapv -I/usr/include/python2.6/ $(shell pkg-config --cflags gtk+-2.0 pygtk-2.0 pygobject-2.0)
+PYLIBS   := -lpython2.6 $(shell pkg-config --libs gtk+-2.0 pygtk-2.0 pygobject-2.0)
 
-PROG=main
-OBJS=vision.o classify.o classify_hard.o classify_dtree.o classify_svm.o pathplan.o
-LIBS=_camera.so _calibrate.so
+PROG := main
+OBJS := vision.o classify.o classify_hard.o classify_dtree.o classify_svm.o pathplan.o
+LIBS := _camera.so _calibrate.so _processing.so
 
 all: $(LIBS) $(PROG)