def __init__(self, namelist):
"""initialize VidMemReader
@param namelist - the list of the sources where to read from
"""
self.logger = logging.getLogger('Borg.Brain.Util.VidMemReader')
self.namelist = namelist
self.last_images = []
self.last_status = []
self.fail_counter = [0] * len(namelist)
for s in self.namelist:
self.last_images.append((None, None))
self.last_status.append(False)
self.img = None
self.conn = BinarySocket("localhost",
"VideoManager",
server=False,
bufsize=256 * 1024)
def __init__(self, namelist):
"""initialize VidMemReader
@param namelist - the list of the sources where to read from
"""
self.logger = logging.getLogger('Borg.Brain.Util.VidMemReader')
self.namelist = namelist
self.last_images = []
self.fail_counter = [0] * len(namelist)
for s in self.namelist:
self.last_images.append((None, None))
self.img = None
self.conn = BinarySocket("localhost", "VideoManager", server=False, bufsize=256*1024)
class VidMemReader():
"""Reads video frames from shared memory to be used by vision modules"""
def __init__(self, namelist):
"""initialize VidMemReader
@param namelist - the list of the sources where to read from
"""
self.logger = logging.getLogger('Borg.Brain.Util.VidMemReader')
self.namelist = namelist
self.last_images = []
self.fail_counter = [0] * len(namelist)
for s in self.namelist:
self.last_images.append((None, None))
self.img = None
self.conn = BinarySocket("localhost", "VideoManager", server=False, bufsize=256*1024)
def request_image(self, source):
# Request the new image
start = time.time()
self.conn.sendall({"get_image": source})
data = self.conn.wait_data(0.15)
for meta, img_string in data:
if 'error' in meta:
self.logger.warn("Obtaining image failed. Error message: %s" % meta['error'])
continue
shape = meta['shape']
nchannels = meta['nChannels']
depth = meta['depth']
mtime = meta['time']
img = cv.CreateImageHeader(shape, depth, nchannels)
cv.SetData(img, img_string)
took = time.time() - start
return mtime, img
took = time.time() - start
return None, None
def get_latest_image(self, just_filename=False, mtimes=False):
"""
Get a list of the latest images of each of the names in namelist
"""
images = []
mod_times = []
vm_sources = ['kinect_rgb', 'kinect_depth', 'webcam', 'naovideo']
for idx, source in enumerate(self.namelist):
if source in vm_sources:
mtime, img = self.request_image(source)
else:
print "Loading image from file"
mtime, img = self.get_latest_image_file(source)
if not img:
print "No image received"
self.fail_counter[idx] += 1
last_time, last_img = self.last_images[idx]
if last_img:
images.append(last_img)
mod_times.append(last_time)
else:
images.append(self.empty_image(source))
mod_times.append(time.time())
continue
self.last_images[idx] = (mtime, img)
images.append(img)
mod_times.append(mtime)
if mtimes:
return zip(images, mod_times)
return images
def get_latest_image_file(self, source):
dirname = "/dev/shm/images/" + source
if not os.path.exists(dirname):
self.logger.error("Directory %s does not exist; returning empty image" % dirname)
return None, None
files = glob.glob(os.path.join(dirname, "*.png")) + glob.glob(os.path.join(dirname, "*.jpg"))
if not files:
self.logger.error("No images in directory %s; returning empty image" % dirname)
return None, None
#Load the actual file
linkname = os.path.join(dirname, "lastimage")
try:
filename = os.path.realpath(linkname)
except OSError as e:
if e.errno != 2:
raise
# OSError 2 = File not found; use fallback
filename = linkname
if linkname == filename or not os.path.exists(filename):
# if anybody knows how to suppress warning when there's nothing in the folder please add it here...
second_last_file_name = os.popen("ls -tr " + dirname + " | head -n $(expr $(ls " + dirname + " | wc -l) - 1) | tail -n 1").read().replace("\n","")
#Load the actual file
filename = os.path.join(dirname, second_last_file_name)
try:
img = cv.LoadImage(filename)
mtime = os.path.getmtime(filename)
return mtime, img
except:
return None, None
def empty_image(self, source):
if source == "kinect_depth":
return cv.CreateImage((640,480), cv.IPL_DEPTH_8U, 1)
else:
return cv.CreateImage((640,480), cv.IPL_DEPTH_8U, 3)
def get_latest_ascii(self):
"""ls " + dirname + " | wc -l)
Get a list of the latest ascii of each of the names in namelist
"""
for name in range(len(self.namelist)):
#Read the index of the latest file
dirname = "/dev/shm/ascii/" + self.namelist[name]
#Load the actual file
# if anybody knows how to suppress warning when there's nothing in the folder please add it here...
second_last_file_name = os.popen("ls -tr " + dirname + " | head -n $(expr $(ls " + dirname + " | wc -l) - 1) | tail -n 1").read().replace("\n","")
#Load the actual file
if (len(second_last_file_name) == 0):
return None
filename = dirname + "/" + second_last_file_name
return filename
def get_resolution(self):
""" Returns the resolution of the image """
if self.img != None:
return ({'width':self.img.width, 'height':self.img.height})
else:
self.logger.info("No images captured yet ...")
return
class VidMemReader():
"""Reads video frames from shared memory to be used by vision modules"""
def __init__(self, namelist):
"""initialize VidMemReader
@param namelist - the list of the sources where to read from
"""
self.logger = logging.getLogger('Borg.Brain.Util.VidMemReader')
self.namelist = namelist
self.last_images = []
self.last_status = []
self.fail_counter = [0] * len(namelist)
for s in self.namelist:
self.last_images.append((None, None))
self.last_status.append(False)
self.img = None
self.conn = BinarySocket("localhost",
"VideoManager",
server=False,
bufsize=256 * 1024)
def request_image(self, source):
# Request the new image
start = time.time()
self.conn.sendall({"get_image": source})
data = self.conn.wait_data(0.15)
for meta, img_string in data:
if 'error' in meta:
self.logger.warn("Obtaining image failed. Error message: %s" %
meta['error'])
continue
shape = meta['shape']
nchannels = meta['nChannels']
depth = meta['depth']
mtime = meta['time']
img = cv.CreateImageHeader(shape, depth, nchannels)
cv.SetData(img, img_string)
took = time.time() - start
return mtime, img
took = time.time() - start
return None, None
def get_latest_image(self, just_filename=False, mtimes=False):
"""
Get a list of the latest images of each of the names in namelist
"""
images = []
mod_times = []
vm_sources = [
'kinect_rgb', 'kinect_depth', 'webcam', 'naovideo', 'ros_'
]
for idx, source in enumerate(self.namelist):
if source in vm_sources or ros_pattern.match(source):
mtime, img = self.request_image(source)
else:
print "Loading image from file"
mtime, img = self.get_latest_image_file(source)
if not img:
print "No image received"
self.last_status[idx] = False
self.fail_counter[idx] += 1
last_time, last_img = self.last_images[idx]
if last_img:
images.append(last_img)
mod_times.append(last_time)
else:
images.append(self.empty_image(source))
mod_times.append(time.time())
continue
self.last_status[idx] = True
self.last_images[idx] = (mtime, img)
images.append(img)
mod_times.append(mtime)
if mtimes:
return zip(images, mod_times)
return images
def get_status(self, source):
try:
idx = self.namelist.index(source)
return self.last_status[idx]
except:
return False
def get_latest_image_file(self, source):
dirname = "/dev/shm/images/" + source
if not os.path.exists(dirname):
self.logger.error(
"Directory %s does not exist; returning empty image" % dirname)
return None, None
files = glob.glob(os.path.join(dirname, "*.png")) + glob.glob(
os.path.join(dirname, "*.jpg"))
if not files:
self.logger.error(
"No images in directory %s; returning empty image" % dirname)
return None, None
#Load the actual file
linkname = os.path.join(dirname, "lastimage")
try:
filename = os.path.realpath(linkname)
except OSError as e:
if e.errno != 2:
raise
# OSError 2 = File not found; use fallback
filename = linkname
if linkname == filename or not os.path.exists(filename):
# if anybody knows how to suppress warning when there's nothing in the folder please add it here...
second_last_file_name = os.popen(
"ls -tr " + dirname + " | head -n $(expr $(ls " + dirname +
" | wc -l) - 1) | tail -n 1").read().replace("\n", "")
#Load the actual file
filename = os.path.join(dirname, second_last_file_name)
try:
img = cv.LoadImage(filename)
mtime = os.path.getmtime(filename)
return mtime, img
except:
return None, None
def empty_image(self, source):
if source == "kinect_depth":
return cv.CreateImage((640, 480), cv.IPL_DEPTH_8U, 1)
else:
return cv.CreateImage((640, 480), cv.IPL_DEPTH_8U, 3)
def get_latest_ascii(self):
"""ls " + dirname + " | wc -l)
Get a list of the latest ascii of each of the names in namelist
"""
for name in range(len(self.namelist)):
#Read the index of the latest file
dirname = "/dev/shm/ascii/" + self.namelist[name]
#Load the actual file
# if anybody knows how to suppress warning when there's nothing in the folder please add it here...
second_last_file_name = os.popen(
"ls -tr " + dirname + " | head -n $(expr $(ls " + dirname +
" | wc -l) - 1) | tail -n 1").read().replace("\n", "")
#Load the actual file
if (len(second_last_file_name) == 0):
return None
filename = dirname + "/" + second_last_file_name
return filename
def get_resolution(self):
""" Returns the resolution of the image """
if self.img != None:
return ({'width': self.img.width, 'height': self.img.height})
else:
self.logger.info("No images captured yet ...")
return