[Personalrobots-commit] SF.net SVN: personalrobots:[19151] pkg/trunk

[<jam...@us...>]

Revision: 19151
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=19151&view=rev
Author:   jamesbowman
Date:     2009-07-17 23:50:49 +0000 (Fri, 17 Jul 2009)

Log Message:
-----------
camera mode test

Modified Paths:
--------------
    pkg/trunk/stacks/camera_drivers/dcam/src/python/dcam.cpp
    pkg/trunk/vision/vision_tests/manifest.xml
    pkg/trunk/vision/vision_tests/scripts/camera_hammer_1.py

Added Paths:
-----------
    pkg/trunk/vision/vision_tests/scripts/
    pkg/trunk/vision/vision_tests/scripts/loop.py

Removed Paths:
-------------
    pkg/trunk/vision/vision_tests/src/

Modified: pkg/trunk/stacks/camera_drivers/dcam/src/python/dcam.cpp
===================================================================
--- pkg/trunk/stacks/camera_drivers/dcam/src/python/dcam.cpp	2009-07-17 23:37:00 UTC (rev 19150)
+++ pkg/trunk/stacks/camera_drivers/dcam/src/python/dcam.cpp	2009-07-17 23:50:49 UTC (rev 19151)
@@ -34,110 +34,41 @@
 
 static void dcam_dealloc(PyObject *self)
 {
+  // dcam::fini();
   dcam_t *pc = (dcam_t*)self;
   delete pc->dev;
   PyObject_Del(self);
 }
 
-#if 0
-static PyObject *dcam_repr(PyObject *self)
+static uint8_t *getdata(ImageData *id)
 {
-  dcam_t *cva = (dcam_t*)self;
-  IplImage* ipl = (IplImage*)(cva->a);
-  char str[1000];
-  sprintf(str, "<dcam(");
-  char *d = str + strlen(str);
-  sprintf(d, "nChannels=%d ", ipl->nChannels);
-  d += strlen(d);
-  sprintf(d, "width=%d ", ipl->width);
-  d += strlen(d);
-  sprintf(d, "height=%d ", ipl->height);
-  d += strlen(d);
-  sprintf(d, "widthStep=%d ", ipl->widthStep);
-  d += strlen(d);
-  sprintf(d, ")>");
-  return PyString_FromString(str);
+  // left window display, try rect, then raw
+  if (id->imRectColorType != COLOR_CODING_NONE)
+      return id->imRectColor;
+  else if (id->imRectType != COLOR_CODING_NONE)
+      return id->imRect;
+  else if (id->imColorType != COLOR_CODING_NONE)
+      return id->imColor;
+  else if (id->imType != COLOR_CODING_NONE)
+      return id->im;
+  else
+      return NULL;
 }
-
-static PyObject *dcam_tostring(PyObject *self, PyObject *args)
+static size_t getdatasize(ImageData *id)
 {
-  IplImage *i;
-  if (!convert_to_IplImage(self, &i, "self"))
-    return NULL;
-  if (i == NULL)
-    return NULL;
-  int bps;
-  switch (i->depth) {
-  case IPL_DEPTH_8U:
-  case IPL_DEPTH_8S:
-    bps = 1;
-    break;
-  case IPL_DEPTH_16U:
-  case IPL_DEPTH_16S:
-    bps = 2;
-    break;
-  case IPL_DEPTH_32S:
-  case IPL_DEPTH_32F:
-    bps = 4;
-    break;
-  case IPL_DEPTH_64F:
-    bps = 8;
-    break;
-  default:
-    bps = 0;
-    assert(0);
-  }
-  int bpl = i->width * i->nChannels * bps;
-  int l = bpl * i->height;
-  char *s = new char[l];
-  int y;
-  for (y = 0; y < i->height; y++) {
-    memcpy(s + y * bpl, i->imageData + y * i->widthStep, bpl);
-  }
-  return PyString_FromStringAndSize(s, l);
+  // left window display, try rect, then raw
+  if (id->imRectColorType != COLOR_CODING_NONE)
+      return id->imRectColorSize;
+  else if (id->imRectType != COLOR_CODING_NONE)
+      return id->imRectSize;
+  else if (id->imColorType != COLOR_CODING_NONE)
+      return id->imColorSize;
+  else if (id->imType != COLOR_CODING_NONE)
+      return id->imSize;
+  else
+      return 0;
 }
 
-static PyObject *dcam_getnChannels(dcam_t *cva)
-{
-  return PyInt_FromLong(((IplImage*)(cva->a))->nChannels);
-}
-static PyObject *dcam_getwidth(dcam_t *cva)
-{
-  return PyInt_FromLong(((IplImage*)(cva->a))->width);
-}
-static PyObject *dcam_getheight(dcam_t *cva)
-{
-  return PyInt_FromLong(((IplImage*)(cva->a))->height);
-}
-static PyObject *dcam_getdepth(dcam_t *cva)
-{
-  return PyInt_FromLong(((IplImage*)(cva->a))->depth);
-}
-static PyObject *dcam_getorigin(dcam_t *cva)
-{
-  return PyInt_FromLong(((IplImage*)(cva->a))->origin);
-}
-static void dcam_setorigin(dcam_t *cva, PyObject *v)
-{
-  ((IplImage*)(cva->a))->origin = PyInt_AsLong(v);
-}
-
-static PyGetSetDef dcam_getseters[] = {
-  {(char*)"nChannels", (getter)dcam_getnChannels, (setter)NULL, (char*)"nChannels", NULL},
-  {(char*)"width", (getter)dcam_getwidth, (setter)NULL, (char*)"width", NULL},
-  {(char*)"height", (getter)dcam_getheight, (setter)NULL, (char*)"height", NULL},
-  {(char*)"depth", (getter)dcam_getdepth, (setter)NULL, (char*)"depth", NULL},
-  {(char*)"origin", (getter)dcam_getorigin, (setter)dcam_setorigin, (char*)"origin", NULL},
-  {NULL}  /* Sentinel */
-};
-
-static PyMappingMethods dcam_as_map = {
-  NULL,
-  &cvarr_GetItem,
-  &cvarr_SetItem,
-};
-#endif
-
 static PyObject *dcam_getImage(PyObject *self, PyObject *args)
 {
   dcam_t *ps = (dcam_t*)self;
@@ -151,14 +82,19 @@
       int w = stIm->imWidth;
       int h = stIm->imHeight;
 
-    assert(stIm->imLeft->imRect != NULL);
-    assert(stIm->imRight->imRect != NULL);
+    uint8_t *Ld = NULL, *Rd = NULL;   // left data, right data
 
+    Ld = getdata(stIm->imLeft);
+    Rd = getdata(stIm->imRight);
+
+    assert(Ld != NULL);
+    assert(Rd != NULL);
+
     return Py_BuildValue("iiNN",
                          w,
                          h,
-                         PyBuffer_FromMemory(stIm->imLeft->imRect, w * h),
-                         PyBuffer_FromMemory(stIm->imRight->imRect, w * h));
+                         PyBuffer_FromMemory(Ld, getdatasize(stIm->imLeft)),
+                         PyBuffer_FromMemory(Rd, getdatasize(stIm->imRight)));
   }
 #if 0
   printf("%p\n", stIm->imLeft->imRaw);
@@ -207,7 +143,13 @@
 static PyObject *make_dcam(PyObject *self, PyObject *args)
 {
   dcam_t *ps = PyObject_NEW(dcam_t, &dcam_Type);
+  char *str_pmode;
 
+  if (!PyArg_ParseTuple(args, "s", &str_pmode))
+    return NULL;
+
+  dcam::init();
+
   // This code copied from ost.cpp - it is the initialization sequence
   // for the camera.
   //
@@ -215,7 +157,17 @@
   ps->dev = new dcam::StereoDcam(dcam::getGuid(devIndex));
   ps->dev->setRangeMax(4.0);	// in meters
   ps->dev->setRangeMin(0.5);	// in meters
-  static videre_proc_mode_t pmode = PROC_MODE_RECTIFIED;
+  videre_proc_mode_t pmode = PROC_MODE_RECTIFIED;
+  if (strcmp(str_pmode, "rectified") == 0)
+    pmode = PROC_MODE_RECTIFIED;
+  else if (strcmp(str_pmode, "none") == 0)
+    pmode = PROC_MODE_NONE;
+  else if (strcmp(str_pmode, "test") == 0)
+    pmode = PROC_MODE_TEST;
+  else {
+    PyErr_SetString(PyExc_TypeError, "mode must be none/test/rectified ");
+    return NULL;
+  }
   dc1394video_mode_t videoMode;	// current video mode
   dc1394framerate_t videoRate;	// current video rate
   videoMode = VIDERE_STEREO_640x480;
@@ -238,8 +190,6 @@
 
 extern "C" void initdcam()
 {
-  dcam::init();
-
   dcam_Type.tp_flags = Py_TPFLAGS_DEFAULT | Py_TPFLAGS_BASETYPE;
   dcam_specials();
   if (PyType_Ready(&dcam_Type) < 0)

Modified: pkg/trunk/vision/vision_tests/manifest.xml
===================================================================
--- pkg/trunk/vision/vision_tests/manifest.xml	2009-07-17 23:37:00 UTC (rev 19150)
+++ pkg/trunk/vision/vision_tests/manifest.xml	2009-07-17 23:50:49 UTC (rev 19151)
@@ -11,7 +11,11 @@
   <depend package="rospy"/>
   <depend package="sensor_msgs"/>
   <depend package="robot_msgs"/>
+  <depend package="robot_actions"/>
+  <depend package="python_actions"/>
+  <depend package="tf"/>
   <depend package="opencvpython"/>
+  <depend package="dcam"/>
 
   <url>http://pr.willowgarage.com/wiki/vision_tests</url>
 


Property changes on: pkg/trunk/vision/vision_tests/scripts
___________________________________________________________________
Added: svn:mergeinfo
   + 

Modified: pkg/trunk/vision/vision_tests/scripts/camera_hammer_1.py
===================================================================
--- pkg/trunk/vision/vision_tests/src/camera_hammer_1.py	2009-07-17 20:15:00 UTC (rev 19131)
+++ pkg/trunk/vision/vision_tests/scripts/camera_hammer_1.py	2009-07-17 23:50:49 UTC (rev 19151)
@@ -43,13 +43,46 @@
 import cv
 import dcam
 
-self.dc = dcam.dcam()
+def runTest(mode):
+    print mode
+    dc = dcam.dcam(mode)
+    paramstr = dc.retParameters()
 
-paramstr = self.dc.retParameters()
+    for i in range(50):
+        print i
+        w,h,l,r = dc.getImage()
+    cv_l = cv.CreateImageHeader((w, h), cv.IPL_DEPTH_8U, 1)
+    cv.SetData(cv_l, str(l), w)
+    cv_r = cv.CreateImageHeader((w, h), cv.IPL_DEPTH_8U, 1)
+    cv.SetData(cv_r, str(r), w)
+    return (cv_l, cv_r)
 
-w,h,l,r = self.dc.getImage()
-sz = (w, h)
-print sz
-#li = Im(sz, l)
-#ri = Im(sz, r)
+def compose(a, b):
+    w,h = cv.GetSize(a)
+    r = cv.CreateImage((w*2, h), cv.IPL_DEPTH_8U, 1)
+    cv.SetImageROI(r, (0, 0, w, h))
+    cv.Copy(a, r)
+    cv.SetImageROI(r, (w, 0, w, h))
+    cv.Copy(b, r)
+    cv.ResetImageROI(r)
+    return r
 
+i = int(sys.argv[1])
+m = sys.argv[2]
+l,r = runTest(m)
+comp = compose(l, r)
+cv.SaveImage("cam-%s-%06d.png" % (m, i), compose(l, r))
+
+## Collect goldens
+#modes = ('none', 'test')
+#goldens = {}
+#for m in modes:
+#    goldens[m] = runTest(m)
+#
+#modes = ('test',)
+#for i in range(10):
+#    for m in modes:
+#        gl,gr = goldens[m]
+#        l,r = runTest(m)
+#        comp = compose(l, r)
+#        cv.SaveImage("cam-%s-%06d.png" % (m, i), compose(l, r))

Added: pkg/trunk/vision/vision_tests/scripts/loop.py
===================================================================
--- pkg/trunk/vision/vision_tests/scripts/loop.py	                        (rev 0)
+++ pkg/trunk/vision/vision_tests/scripts/loop.py	2009-07-17 23:50:49 UTC (rev 19151)
@@ -0,0 +1,39 @@
+#!/usr/bin/env python
+# Software License Agreement (BSD License)
+#
+# Copyright (c) 2009, Willow Garage, Inc.
+# All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+#  * Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+#  * Redistributions in binary form must reproduce the above
+#    copyright notice, this list of conditions and the following
+#    disclaimer in the documentation and/or other materials provided
+#    with the distribution.
+#  * Neither the name of the Willow Garage nor the names of its
+#    contributors may be used to endorse or promote products derived
+#    from this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+import os
+
+modes = ('none', 'test')
+for i in range(10):
+    for m in modes:
+        os.system("scripts/camera_hammer_1.py %d %s" % (i, m))


Property changes on: pkg/trunk/vision/vision_tests/scripts/loop.py
___________________________________________________________________
Added: svn:executable
   + *


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