diff options
| -rw-r--r-- | .gitignore | 2 | ||||
| -rw-r--r-- | c_extension.c | 425 | ||||
| -rw-r--r-- | helpers.c | 407 | ||||
| -rw-r--r-- | helpers.h | 60 | ||||
| -rw-r--r-- | image-record-annotate.py | 332 | ||||
| -rw-r--r-- | setup_c_extension.py | 8 |
6 files changed, 1234 insertions, 0 deletions
diff --git a/.gitignore b/.gitignore new file mode 100644 index 0000000..be1a124 --- /dev/null +++ b/.gitignore @@ -0,0 +1,2 @@ +# python c-extension build directory +build diff --git a/c_extension.c b/c_extension.c new file mode 100644 index 0000000..00da503 --- /dev/null +++ b/c_extension.c @@ -0,0 +1,425 @@ +/* +Copyright 2020 - Stettbacher Signal Processing AG + +Author: Jonas Schmid + +Redistribution and use in source and binary forms, with or without modification, +are permitted provided that the following conditions are met: + +1. Redistributions of source code must retain the above copyright notice, this +list of conditions and the following disclaimer. + +2. 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. + +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 HOLDER 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. +*/ + +#include <Python.h> + +#include <sys/types.h> +#include <sys/stat.h> +#include <fcntl.h> +#include <stdlib.h> +#include <stdio.h> +#include <signal.h> +#include <string.h> +#include <errno.h> +#include <unistd.h> +#include <pthread.h> +#include <o3000/o3000.h> +#include <o3000/color_pipe.h> + +#include "helpers.h" + +#include </usr/lib64/python3.6/site-packages/numpy/core/include/numpy/arrayobject.h> + + + +#define DEFAULT_FRAME_RATE 10 ///< default frame rate +#define MAX_FRAME_WIDTH 1280 ///< O-3000 image width in pixels +#define MAX_FRAME_HEIGHT 960 ///< O-3000 image height in pixels + + +/** + * default video cache size in bytes + * use multiple of maximum image size for better performance + */ +#define DEFAULT_VIDEO_CACHE_SIZE (MAX_FRAME_WIDTH*MAX_FRAME_HEIGHT*5) + +#define MAX_REC_THREAD 8 ///< maximum possible threads + + + +/** + * thread data definition structure + */ +struct recpthread_data_t { + int is_running; ///< flag indicating whether thread is running or not + int id; ///< thread data ID + unsigned long long frame_cnt; ///< frame counter of the processed image + pthread_cond_t cond; ///< thread condition variable used for synchronization + pthread_mutex_t mutex; ///< mutex used by pthread_cond_wait() + struct color_pipe_t *color_pipe; ///< allocated color pipeline for this thread + unsigned char *img_raw; ///< pointer to raw input image (from sensor) + struct img_header_t img_header; ///< image header corresponding to raw input image + char filename[256]; ///< image filename without extensions +}; + +static struct recpthread_data_t recthread_data[MAX_REC_THREAD]; ///< recording thread array +static struct recpthread_data_t *recthread_data_recent; + +static pthread_t pthread_video; ///< thread where o3000_connect + +static int cam_session; ///< camera session ID +static unsigned long long frame_cnt; ///< image counter used to generate file number if is enabled +static int is_color; ///< not 0 if color camera is connected + + +static int log_level = O3000_LOG_ERROR; +static int video_cache_size = DEFAULT_VIDEO_CACHE_SIZE; +static int num_recthread = MAX_REC_THREAD-1; +static int prio_rec = PRIO_TIME_SLICED; +static int prio_video = PRIO_TIME_SLICED; +static float fps = DEFAULT_FRAME_RATE; +static int awb_enable = 0; +static int ccm_enable = 0; +static int lense_enable = 1; +static int lense_nr = 2; // C-Mount 6mm 1/2.7" IR MP +static int sharp_enable = 0; +static int gamma_enable = 0; +static float gamma_fact = 1.0; +static int img_width = MAX_FRAME_WIDTH; +static int img_height = MAX_FRAME_HEIGHT; + + +/** + * O-3000 log handler + * + * @param id session ID + * @param msg logging message from O-3000 driver + */ +static void log_handling(int id, char* msg) { + printf("%s: %s", __func__, msg); +} + +/** + * XML handler + * This function is called of the host receives XML messages from the camera. + * + * @param id session ID + * @param msg message string + * @param len string length + */ +static void xml_handling(int id, char* msg, int len) { + printf("%s: %s", __func__, msg); +} + +/** + * Thread used for image processing + * + * @param ptr Pointer to thread ID + */ +static void *rec_thread(void *ptr) { + + int id = *((int*)ptr); + struct recpthread_data_t *data = &recthread_data[id]; + + while(1) { + + data->is_running = 0; + + if(pthread_cond_wait(&(data->cond), &(data->mutex))) { + printf("pthread_cond_wait: %s\n", strerror(errno)); + // TODO do something + continue; + } + recthread_data_recent = data; // TODO TODO replace by looking for the oldest frame + // TODO copy data to cache + + color_pipe_process(data->color_pipe, data->img_raw, &(data->img_header)); + is_color = data->color_pipe->is_color; + } + pthread_exit(NULL); +} + +/** + * This callback is called from the underlying O-3000 driver after receiving a complete image frame. + * This function should finish quickly before the next image is received. Therfore, CPU intensive work + * should be done at another thread. + * + * @param id session ID + * @param buf image frame data + * @param img_header image header + */ +static void video_handling(int id, unsigned char *buf, struct img_header_t *img_header) { + + int i, thdrec_index; + + /* + * Find next thread ready for processing image data. + */ + for(i = 0; i < num_recthread; i++) { + if(!recthread_data[i].is_running) { + // at least one thread is not running + break; + } + } + + // TODO TODO look for a recthread with an older frame + + if(i >= num_recthread) { + printf("%s: All image processing threads are busy --> skip image frame.\n", __func__); + return; + } + + // save next free thread ID + thdrec_index = i; + + recthread_data[thdrec_index].is_running = 1; + recthread_data[thdrec_index].img_raw = buf; + memcpy(&recthread_data[thdrec_index].img_header, img_header, sizeof(struct img_header_t)); + recthread_data[thdrec_index].frame_cnt = frame_cnt; + frame_cnt++; + pthread_cond_signal(&recthread_data[thdrec_index].cond); +} + + +/** + * Video thread handling images received by USB. + * + * @param ptr not used + * @return not used + */ +static void *video_main(void *ptr) { + + int ret, num_camera, i, msg_len, num_recthread = 2; // TODO TODO + char msg[2048]; + pthread_t pthread_imgproc[MAX_REC_THREAD]; + + // create bunch of image recording thread +// printf("%s: create %d threads for processing and recording\n", __func__, num_recthread); + for(i = 0; i < num_recthread; i++) { + + recthread_data[i].id = i; + + if(pthread_cond_init(&recthread_data[i].cond, NULL)) { + printf("pthread_cond_init: %s\n", strerror(errno)); + goto _abort_video_main1; + } + + if(pthread_mutex_init(&recthread_data[i].mutex, NULL)) { + printf("pthread_mutex_init: %s\n", strerror(errno)); + goto _abort_video_main1; + } + + // setup color image processing pipeline with 12 bits per channel + if(color_pipe_open(&recthread_data[i].color_pipe, MAX_FRAME_HEIGHT, MAX_FRAME_WIDTH, 12)) { + printf("%s: Initializing pipeline for thread %d failed\n", __func__, i); + goto _abort_video_main1; + } + + color_pipe_stageconf_awb(recthread_data[i].color_pipe, awb_enable, 0.3, 0.01); + color_pipe_stageconf_cam_calib(recthread_data[i].color_pipe, lense_enable, (enum o3000_lenses_t)lense_nr); + color_pipe_stageconf_color_calib(recthread_data[i].color_pipe, ccm_enable, CCM_PRESET_O3020); + color_pipe_stageconf_sharp(recthread_data[i].color_pipe, sharp_enable, 5, SHARP_ALG_LOCAL, 94.0); + color_pipe_stageconf_gamma(recthread_data[i].color_pipe, gamma_enable, gamma_fact); + + // start image recording thread + ret = generic_start_thread(&pthread_imgproc[i], rec_thread, prio_rec, (void*)&recthread_data[i].id); + if(ret) { + printf("%s: starting recording thread %d failed\n", __func__, i); + goto _abort_video_main1; + } + } + + + /* + * Setup camera session + */ + cam_session = o3000_init(O3000_VID, O3000_PID, video_cache_size, xml_handling, video_handling, log_handling, log_level); + if(cam_session < 0) { + printf("%s: Error opening new camera session (code %d)\n", __func__, cam_session); + goto _abort_video_main2; + } + + printf("%s: new session ID %d\n", __func__, cam_session); + + num_camera = o3000_device_discovery(cam_session); + if(num_camera < 0) { + printf("%s: device discovery error (code %d)\n", __func__, num_camera); + goto _abort_video_main2; + } + + if(num_camera == 0) { + printf("%s: no camera connected to the system\n", __func__); + goto _abort_video_main2; + } + + printf("%s: %d cameras connected to the system\n", __func__, num_camera); + + // prepare configuration message + sprintf(msg, "<camera>" + "<set>" + "<window>(0 %d 0 %d)</window>" + "</set>" + "</camera>" + "<camera>" + "<set>" + "<frame_rate>%f</frame_rate>" + "</set>" + "</camera>" + "<camera>" + "<stream></stream>" + "</camera>", + img_width-1, img_height-1, fps); + + msg_len = strlen(msg); + + // establish connection to first camera which is not in use + for(i = 0; i < num_camera; i++) { + printf("%s: establish connection to camera %d\n", __func__, i); + ret = o3000_connect(cam_session, i, msg, msg_len); + if(ret == O3000_ERROR_BUSY) { + printf("%s: device %d is already in use\n", __func__, i); + } + else { + printf("%s: connection failure %d\n", __func__, ret); + break; + } + } + + // cleanup + for(i = 0; i < num_recthread; i++) { + pthread_cancel(pthread_imgproc[i]); + pthread_join(pthread_imgproc[i], NULL); + printf("%s: recording thread %d joined\n", __func__, i); + } + + for(i = 0; i < num_recthread; i++) { + pthread_cond_destroy(&recthread_data[i].cond); + pthread_mutex_destroy(&recthread_data[i].mutex); + } + +_abort_video_main2: + o3000_exit(cam_session); + +_abort_video_main1: + for(i = 0; i < num_recthread; i++) { + if(recthread_data[i].color_pipe != NULL) { + color_pipe_close(recthread_data[i].color_pipe); + recthread_data[i].color_pipe = NULL; + } + } + + // TODO TODO do_exit = 1; + //kill(0, SIGTERM); + printf("video thread exits...\n"); + pthread_exit(NULL); +} + +static PyObject* video_images_get(PyObject* self, PyObject* args) { + + npy_intp dims[3]; + + struct color_pipe_t *cp = recthread_data_recent->color_pipe; + + + if (!is_color) { + fprintf(stderr, "%s: not implemented for gray images\n", __func__); + return NULL; + } + + dims[0] = cp->height; + dims[1] = cp->width; + dims[2] = 3; + + + PyObject *raw = PyArray_SimpleNewFromData(2, dims, NPY_UINT8, recthread_data_recent->img_raw); + PyObject *rgb = PyArray_SimpleNewFromData(3, dims, NPY_UINT8, cp->debayer_data.img_rgb); + PyObject *dist = PyArray_SimpleNewFromData(3, dims, NPY_UINT8, cp->img_out); + + PyObject *list = PyList_New(3); + PyList_SetItem(list, 0, raw); + PyList_SetItem(list, 1, rgb); + PyList_SetItem(list, 2, dist); + + return list; + + //return PyArray_SimpleNewFromData(3, dims, NPY_UINT8, cp->img_out); +} + +/** + * Main function + * + * @param argc number of argument + * @param argv argument vector data + * @return exit code + */ +static PyObject* video_init(PyObject* self, PyObject* args) { + int ret; + // create video handling thread + ret = generic_start_thread(&pthread_video, video_main, prio_video, NULL); + if(ret) { + printf("%s: starting video handling thread failed\n", __func__); + sync(); + return NULL; + } + Py_RETURN_NONE; +} + +static PyObject* video_deinit(PyObject* self, PyObject* args) { + o3000_disconnect(cam_session); + pthread_join(pthread_video, NULL); + o3000_exit(cam_session); + cam_session = -1; + + sync(); + Py_RETURN_NONE; +} + +static PyObject* video_xml_send(PyObject* self, PyObject* args) { + Py_ssize_t count; + const uint8_t* str; + if (!PyArg_ParseTuple(args, "s#", &str, &count)) { + return NULL; + } + printf("video send xml: %s\n", str); + o3000_send_xml(cam_session, str, count); + Py_RETURN_NONE; +} + +/** module's function definition struct */ +static PyMethodDef myMethods[] = { + { "video_init", video_init, METH_NOARGS, "Initialize and start the O-3000 pipeline" }, + { "video_deinit", video_deinit, METH_NOARGS, "Deinitialize the O-3000 pipeline" }, + { "video_images_get", video_images_get, METH_NOARGS, "Get the most recent captured images: raw, color (debayered), distorted (lense)" }, + { "video_xml_send", video_xml_send, METH_VARARGS, "Send an XML message to the camera, e.g. for some configurations" }, + { NULL, NULL, 0, NULL } // to signal the end of our method list +}; + + +/** module definition struct */ +static struct PyModuleDef o3000 = { + PyModuleDef_HEAD_INIT, + "o3000", + "O-3000 Python API", + -1, + myMethods +}; + +/* module initialization */ +PyMODINIT_FUNC PyInit_o3000(void) { + _import_array(); + return PyModule_Create(&o3000); +} diff --git a/helpers.c b/helpers.c new file mode 100644 index 0000000..533769d --- /dev/null +++ b/helpers.c @@ -0,0 +1,407 @@ +/* +Copyright 2019 - Stettbacher Signal Processing AG + +Author: Patrick Roth + +Redistribution and use in source and binary forms, with or without modification, +are permitted provided that the following conditions are met: + +1. Redistributions of source code must retain the above copyright notice, this +list of conditions and the following disclaimer. + +2. 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. + +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 HOLDER 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. +*/ + +#include <string.h> +#include <pthread.h> +#include <signal.h> +#include <stdio.h> +#include <errno.h> +#include <tiffio.h> +#include <stdlib.h> + +#include "helpers.h" + + + +/** + * Save image as JPEG format + * + * @param filename filename as string + * @param format save image with this format + * @param color_pipe piped out image data + * @param compress 0 if no compression is used + * @return 0 on success, -1 on error + */ +static int save_jpeg(char *filename, enum frame_format_t format, struct color_pipe_t *__restrict__ color_pipe, int compress_img) { + printf("%s: saving JPEG image failed --> not implemented yet!!\n", __func__); + return -1; +} + + +/** + * Save image with TIFF format + * + * @param filename filename as string + * @param format save image with this format + * @param color_pipe piped out image data + * @param compress 0 if no compression is used + * @return 0 on success, -1 on error + */ +static int save_tiff(char *filename, enum frame_format_t format, struct color_pipe_t *__restrict__ color_pipe, int compress_img) { + + TIFF *tif; + int samples_per_pixel; + int i, u, height, width; + uint8_t *in_img8 = color_pipe->img_out; + uint16_t *in_img16 = color_pipe->img_out; + uint16_t *linebuf16; + int bitpersample; + + + if(color_pipe->is_color) { + samples_per_pixel = 3; + } + else { + samples_per_pixel = 1; + } + height = color_pipe->height; + width = color_pipe->width; + + if(color_pipe->bit_channel == 8) { + bitpersample = 8; + } + else if(color_pipe->bit_channel == 12) { + bitpersample = 16; + } + else { + printf("%s: %d bits per channel is not supported yet\n", __func__, color_pipe->bit_channel); + return -1; + } + + tif = TIFFOpen(filename,"w"); + TIFFSetField(tif, TIFFTAG_IMAGEWIDTH, width); + TIFFSetField(tif, TIFFTAG_IMAGELENGTH, height); + TIFFSetField(tif, TIFFTAG_SAMPLESPERPIXEL, samples_per_pixel); + TIFFSetField(tif, TIFFTAG_BITSPERSAMPLE, bitpersample); + TIFFSetField(tif, TIFFTAG_ORIENTATION, ORIENTATION_TOPLEFT); + TIFFSetField(tif, TIFFTAG_ROWSPERSTRIP, width*samples_per_pixel); + TIFFSetField(tif, TIFFTAG_XRESOLUTION, (float)width); + TIFFSetField(tif, TIFFTAG_YRESOLUTION, (float)height); + TIFFSetField(tif, TIFFTAG_RESOLUTIONUNIT, RESUNIT_NONE); + TIFFSetField(tif, TIFFTAG_PHOTOMETRIC, 0); + TIFFSetField(tif, TIFFTAG_PLANARCONFIG, PLANARCONFIG_CONTIG); + if(compress_img) { + TIFFSetField(tif, TIFFTAG_COMPRESSION, COMPRESSION_LZW); + } + else { + TIFFSetField(tif, TIFFTAG_COMPRESSION, COMPRESSION_NONE); + } + TIFFSetField(tif, TIFFTAG_FILLORDER, FILLORDER_MSB2LSB); + + if(color_pipe->is_color) { + TIFFSetField(tif, TIFFTAG_PHOTOMETRIC, PHOTOMETRIC_RGB); + } + else { + TIFFSetField(tif, TIFFTAG_PHOTOMETRIC, PHOTOMETRIC_MINISBLACK); + } + + if(bitpersample == 8) { + // 8 bit per channel RGB image + for(i = 0; i < height; i++) { + TIFFWriteScanline(tif, (void*)&(in_img8[i*width*samples_per_pixel]), i, 0); + } + } + else if(bitpersample == 16) { + // 12 bit per channel RGB image (upscaling from 12 to 16 bit needed) + linebuf16 = malloc(width*samples_per_pixel*2); + if(linebuf16 == NULL) { + printf("%s: allocating memory failed: %s\n", __func__, strerror(errno)); + goto _end_savetiff; + } + + for(i = 0; i < height; i++) { + // upscale 12 to 16 bit + for(u = 0; u < width*samples_per_pixel; u++) { + linebuf16[u] = in_img16[i*width*samples_per_pixel+u] << 4; + } + TIFFWriteScanline(tif, (void*)linebuf16, i, 0); + } + free(linebuf16); + } + +_end_savetiff: + TIFFClose(tif); + return 0; +} + + +/** + * Save image frame with given file format. + * + * @param filename filename as string + * @param format save image with this format + * @param color_pipe piped out image data + * @param compress 0 if no compression is used + * @return 0 on success, -1 on error + */ +int save_imgframe(char *filename, enum frame_format_t format, struct color_pipe_t *color_pipe, int compress) { + + char filename_ext[256]; + + switch(format) { + case IMGFRAME_FORMAT_TIF: + sprintf(filename_ext, "%s.tif", filename); + save_tiff(filename_ext, format, color_pipe, compress); + break; + + case IMGFRAME_FORMAT_JPEG: + sprintf(filename_ext, "%s.jpeg", filename); + save_jpeg(filename_ext, format, color_pipe, compress); + break; + + default: + printf("%s: saving image with format %d not implemeted yet\n", __func__, format); + return -1; + } + return 0; +} + + +/** + * Tokenise (split) string + * + * This function uses strtok_r and therefore it's thread safe. + * + * @param s input string + * @param argv On return: array of string pointers containing the substrings + * @param argv_len string array length + * @param delim string delimiter used to tokenize input string ('\0' terminated) + * @return number of substrings splitted or -1 on error + */ + +int tokenise(char *s, char **argv, int argv_len, char *delim) { + + char *str; + int argc=0, i; + char *save_ptr; + + for(i = 0; i < argv_len; i++) { + argv[i] = NULL; + } + + str = strtok_r(s, delim, &save_ptr); + + while((str != NULL) && (argc < argv_len)) { + argv[argc++] = str; + str = strtok_r(NULL,delim,&save_ptr); + } + + if(argc > argv_len) { + return -1; + } + return argc; +} + + + +/** + * generic function to start thread + * This function is used to start a new thread. Normally all threads are scheduled with real time policy. If the + * priority is defined as @ref PRIO_TIME_SLICED a normal scheduling policy is used (no real time). + * + * @param thr On return: The ID of the new thread. + * @param func The start function. + * @param prio The thread priority. + * @param param The thread parameters. + * @return 0 on success otherwis -1. + */ +int generic_start_thread(pthread_t *thr, void*(*func)(void*), int prio, void *param) { + int r; + pthread_attr_t attr; + sigset_t bmask, oldmask; + struct sched_param sp; + + r = pthread_attr_init(&attr); // create attribute object + if(r) { + printf("%s: pthread_attr_init failed: %s\n", __func__, strerror(r)); + return -1; + } + + if(prio == PRIO_TIME_SLICED) { + r = pthread_attr_setschedpolicy(&attr, SCHED_OTHER); + sp.sched_priority = 0; + } + else { + r = pthread_attr_setschedpolicy(&attr, SCHED_FIFO); // set realtime scheduling policy + sp.sched_priority = sched_get_priority_max(SCHED_FIFO) - prio; + } + if(r) { + printf("%s: pthread_attr_setschedpolicy failed: %s\n", __func__, strerror(r)); + goto _generic_start_thread_abort; + } + r = pthread_attr_setschedparam(&attr, &sp); + if(r) { + printf("%s: pthread_attr_setschedparam failed: %s\n", __func__, strerror(r)); + goto _generic_start_thread_abort; + } + r = pthread_attr_setinheritsched(&attr, PTHREAD_EXPLICIT_SCHED); + if(r) { + printf("%s: pthread_attr_setinheritsched failed: %s\n", __func__, strerror(r)); + goto _generic_start_thread_abort; + } + + //temporarely block some signals and inherit the signal mask to the new thread + if(sigemptyset(&bmask)) { + printf("%s: sigemptyset failed\n", __func__); + goto _generic_start_thread_abort; + } + if(sigaddset(&bmask, SIGTERM)) { + printf("%s: sigaddset (SIGTERM) failed\n", __func__); + goto _generic_start_thread_abort; + } + if(sigaddset(&bmask, SIGINT)) { + printf("%s: sigaddset (SIGINT) failed\n", __func__); + goto _generic_start_thread_abort; + } + if(sigaddset(&bmask, SIGALRM)) { + printf("%s: sigaddset (SIGALRM) \n", __func__); + goto _generic_start_thread_abort; + } + if(sigaddset(&bmask, SIGCHLD)) { + printf("%s: sigaddset (SIGCHLD) failed\n", __func__); + goto _generic_start_thread_abort; + } + if(sigaddset(&bmask, SIGUSR1)) { + printf("%s: sigaddset (SIGUSR1) failed\n", __func__); + goto _generic_start_thread_abort; + } + if(sigaddset(&bmask, SIGUSR2)) { + printf("%s: sigaddset (SIGUSR2) failed\n", __func__); + goto _generic_start_thread_abort; + } + if(sigprocmask(SIG_BLOCK, &bmask, &oldmask)) { + printf("%s: sigprocmask failed: %s\n", __func__, strerror(errno)); + goto _generic_start_thread_abort; + } + + //create thread + r = pthread_create(thr, &attr, func, param); + if(r) { + printf("%s: pthread_create failed: %s\n", __func__, strerror(r)); + goto _generic_start_thread_abort; + } + + //restore old signalmask + if(sigprocmask (SIG_SETMASK, &oldmask, NULL)) { + printf("%s: sigprocmask failed: %s\n", __func__, strerror(errno)); + goto _generic_start_thread_abort; + } + + pthread_attr_destroy(&attr); //release attribute object + return 0; + +_generic_start_thread_abort: + pthread_attr_destroy(&attr); // release attribute object + return -1; +} + + +/** + * Execute a shell command. + * This function is thread safe. + * + * @param cmd shell command to be executed + * @param retstr On return: The return string from shell command execution. If NULL is defined nothing is returned. + * @param len maximum length of return string + * @return -1 if an error is detected + */ +int exec_shell_command(char *cmd, char *retstr, int len) { + FILE *substream; + char buf[512]; + int ret, len_tmp; + + if(retstr == NULL) { + ret = system(cmd); + } + else { + substream = popen(cmd, "r"); // start subprocess with streampipe connection + if (substream == NULL) { + printf("%s: popen failed: %s\n", __func__, strerror(errno)); + return -1; + } + + if(setvbuf(substream, NULL, _IOLBF, 0)) { // set line buffering for the stream + printf("%s: setvbuf failed: %s\n", __func__, strerror(errno)); + return -1; + } + + if (len > 0) { + retstr[0] = '\0'; + } + while(fgets(buf, sizeof(buf), substream) != NULL) { + len_tmp = strlen(buf); + if(len > 0) { + strncpy(retstr, buf, len); + retstr[len-1] = '\0'; + retstr += len_tmp; + len -= len_tmp; + } + } + ret = pclose(substream); + } + return ret; +} + + +/** + * Set the given process name to realtime scheduling with the definded priority. + * 0 means highest priority. + * + * NOTE + * Time critical scheduling policy SCHED_RR (real-time round-robin) is used! + * + * @param p_name process name (name given command 'ps') + * @param prio priority + * @return 0 on success, -1 on error + */ +int setRealtimeScheduling(char *p_name, int prio) { + + char shell_cmd[256]; + int pid; + char str[256]; + struct sched_param sp; + + // check string length of given process name + if(strlen(p_name) > (sizeof(shell_cmd)-30)) { + printf("%s: process name is too long\n", __func__); + return -1; + } + + sprintf(shell_cmd, "pidof %s", p_name); + if(exec_shell_command(shell_cmd, str, sizeof(str))) { + printf("%s: Setting realtime scheduling for '%s' failed: '%s'\n", __func__, p_name, str); + return -1; + } + + pid = atoi(str); + sp.sched_priority = sched_get_priority_max(SCHED_RR) - prio; + if(sched_setscheduler(pid, SCHED_RR, &sp)) { + printf("%s: sched_setscheduler failed: %s\n", __func__, strerror(errno)); + return -1; + } + return 0; +} diff --git a/helpers.h b/helpers.h new file mode 100644 index 0000000..5ade442 --- /dev/null +++ b/helpers.h @@ -0,0 +1,60 @@ +/* +Copyright 2019 - Stettbacher Signal Processing AG + +Author: Patrick Roth + +Redistribution and use in source and binary forms, with or without modification, +are permitted provided that the following conditions are met: + +1. Redistributions of source code must retain the above copyright notice, this +list of conditions and the following disclaimer. + +2. 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. + +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 HOLDER 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. +*/ + +#ifndef _HELPERS_H +#define _HELPERS_H + +#include <pthread.h> +#include <o3000/color_pipe.h> + + +/** + * Use this priority to define a time sliced scheduling policy (no real time) + */ +#define PRIO_TIME_SLICED 1000 + +enum frame_format_t { + IMGFRAME_FORMAT_TIF = 0, + IMGFRAME_FORMAT_JPEG, +}; + + +#if defined(__cplusplus) || defined(c_plusplus) +extern "C" { +#endif + +int tokenise(char *s, char **argv, int argv_len, char *delim); +int save_imgframe(char *filename, enum frame_format_t format, struct color_pipe_t *color_pipe, int compress); +int generic_start_thread(pthread_t *thr, void*(*func)(void*), int prio, void *param); +int exec_shell_command(char *cmd, char *retstr, int len); +int setRealtimeScheduling(char *p_name, int prio); + +#if defined(__cplusplus) || defined(c_plusplus) +} // extern "C" +#endif + +#endif // _HELPERS_H diff --git a/image-record-annotate.py b/image-record-annotate.py new file mode 100644 index 0000000..d206bca --- /dev/null +++ b/image-record-annotate.py @@ -0,0 +1,332 @@ +#!/usr/bin/env python3 +# -*- coding: utf-8 -*- + +import sys +#from tkinter import * +import tkinter as tk +from tkinter import ttk +from PIL import ImageTk, Image +import numpy as np +import o3000 +import cv2 +from datetime import datetime + + +import code # entering the interactive mode at a certain point: code.interact(local=dict(globals(), **locals())), Ctrl+D and the script goes on + + +IMAGE_WIDTH = 1280 +IMAGE_HEIGHT = 960 + + +class ImageLabel(tk.Label): + def __init__(self, *args, **kwargs): + super(ImageLabel,self).__init__(*args, **kwargs) + self.image_update(255*np.ones([IMAGE_HEIGHT,IMAGE_WIDTH,3], dtype=np.uint8)) + + def image_update(self, image): + ''' + :param image: A numpy array or a PIL image object, refere to https://pillow.readthedocs.io/en/stable/reference/Image.html + ''' + if isinstance(image, Image.Image): + pass + elif isinstance(image, np.ndarray): + #code.interact(local=dict(globals(), **locals())) + image = Image.fromarray(image) + else: + raise Exception("illegal image format, must be eighter a numpy array or a PIL image object") + self._image = ImageTk.PhotoImage(image) + self.configure(image=self._image) + + +class StringEntry(tk.Entry): + def __init__(self, master, *args, **kwargs): + self._variable = tk.StringVar() + self.name = '' + super(StringEntry,self).__init__(master=master,text=self._variable, *args, **kwargs) + + @property + def name(self): + return self._variable.get() + + @name.setter + def name(self, name): + self._variable.set(name) + +class FloatEntry(tk.Entry): + def __init__(self, master, scaling = 1.0, *args, **kwargs): + self._scaling = scaling + self._variable = tk.StringVar() + self.value = '' + vcmd = (master.register(self.validate_digit)) + super(FloatEntry,self).__init__(master=master,text=self._variable, *args, **kwargs, + validate='all', validatecommand=(vcmd, '%P')) + @property + def scaling(self): + return self._scaling + @property + def value(self): + try: + return float(self._variable.get())/self.scaling + except ValueError: + return None + @value.setter + def value(self, value): + if self.validate_digit(value): + try: self._variable.set(float(value)*self.scaling) + except ValueError as e: print('FloatEntry ignore value {}, it is not a float'.format(value)) + else: + print('FloatEntry ignore value {}'.format(value)) + def validate_digit(self, P): + if P == '': return True + try: + _val = float(P) + if _val < 0.0: return False + else: return True + except ValueError: return False + + +class ImageControlPanel(tk.Frame): + def __init__(self, save_fcn, *args, **kwargs): + super(ImageControlPanel,self).__init__(*args, **kwargs) + + tk.Label(self,text='Filename: ').grid(column=0, row=0) + self.filename_entry = StringEntry(self, bg='white') + self.filename_entry.grid(column=1, row=0) + tk.Label(self,text='.tiff').grid(column=2, row=0) + + def btn_save_fcn(): + save_fcn(self.filename_entry.name) + + self.save_btn = tk.Button(self, text="save", command=btn_save_fcn) + self.save_btn.grid(column=1, row=1) + + +class CamControlPanel(tk.Frame): + def __init__(self, *args, **kwargs): + super(CamControlPanel,self).__init__(*args, **kwargs) + + tk.Label(self, text="Sensitivity:").grid(column=0, row=0) + self.sensitivity = FloatEntry(self, width=7, bg='white') + self.sensitivity.grid(column=1, row=0) + tk.Label(self, text="%").grid(column=2, row=0) + + + tk.Label(self, text="Exposure Time:").grid(column=0, row=1) + self.exposure_time = FloatEntry(self, scaling=1000.0, width=7, bg='white') + self.exposure_time.grid(column=1, row=1) + tk.Label(self, text="ms").grid(column=2, row=1) + + def configure(): + o3000.video_xml_send("<camera><set><acquisition><mode>time</mode><time>{:f}</time></acquisition></set></camera>".format(self.exposure_time.value)) + o3000.video_xml_send("<camera><set><acquisition><mode>sensitivity</mode><sensitivity>{:f}</sensitivity></acquisition></set></camera>".format(self.sensitivity.value)) + + self.btn_configure = tk.Button(self, text="send configuration", command=configure) + self.btn_configure.grid(column=0, row=3, columnspan=3) + + # TODO TODO these are hardcoded default values + self.exposure_time.value = 0.02 + self.sensitivity.value = 1.5 + configure() + + + + + +class AnnotationPanel(tk.Frame): + _PERSONS = ["nobody", "kris", "stefan", "sophia", "jonas", "juerg", "petar"] + _PERSONS = ["nobody", "kris", "stefan", "sophia", "jonas", "juerg", "petar"] + _POSES = ["no pose", "sleeping", "typing", "writting", "tinkering"] + + def __init__(self, *args, **kwargs): + super(AnnotationPanel,self).__init__(*args, **kwargs) + + + tk.Label(self,text='Date:').grid(column=0, row=0) + self.date_var = tk.StringVar() + tk.Label(self,textvariable=self.date_var).grid(column=1, row=0) + + tk.Label(self,text='Time:').grid(column=0, row=1) + self.time_var = tk.StringVar() + tk.Label(self,textvariable=self.time_var).grid(column=1, row=1) + + + tk.Label(self,text='Person:').grid(column=0, row=2, sticky='w') + self.person_list = tk.Listbox(self, exportselection=False) + self.person_list.grid(column=0, row=3) + + [self.person_list.insert(tk.END, item) for item in self._PERSONS] + + tk.Label(self,text='Pose:').grid(column=1, row=2, sticky='w') + self.pose_list = tk.Listbox(self, selectmode=tk.SINGLE, exportselection=False) + self.pose_list.grid(column=1, row=3) + [self.pose_list.insert(tk.END, item) for item in self._POSES] + + tk.Label(self,text='Comment: ').grid(column=0, row=4, columnspan=2) + self.comment_text = tk.Text(self, bg='white', width=50, height=5) + self.comment_text.grid(column=0, row=5, columnspan=2) + + + + def _list_selection_get(self, listbox): + ''' + :param: a tkinter Listbox widget + :return: text of selected line in the given Listbox widget + ''' + sel = listbox.curselection() + if len(sel) == 0: + return 'unkown' + elif len(sel) == 1: + return listbox.get(sel[0],sel[0])[0] + else: + raise Exception('only single selection allowed') + + def update_date_time(self): + ''' + Updates annotation information to the current date and time + ''' + now = datetime.now() + self.date_var.set(now.strftime("%Y-%m-%d")) + self.time_var.set(now.strftime("%H:%M:%S")) + + @property + def pose(self): + ''' + :return: the selected pose name + ''' + return self._list_selection_get(self.pose_list) + + @property + def person(self): + ''' + :return: the selected pose name + ''' + return self._list_selection_get(self.person_list) + + @property + def date(self): + return self.date_var.get() + + @property + def time(self): + return self.time_var.get() + + @property + def comment(self): + return self.comment_text.get(1.0,tk.END) + + + +def annotation_text(filenames, annotation_panel, cam_control_panel): + ''' + build the annotation text for the annotation file + ''' + + ap = annotation_panel + + _str = 'raw camera data (not debayered): {:s}\n'.format(filenames[0]) + _str += 'color image (without lense calibration): {:s}\n'.format(filenames[1]) + _str += 'calibrated color image (lense calibrated): {:s}\n'.format(filenames[2]) + + _str += '\n' + + _str += 'camera: O-3020 (color, rolling shutter, serial no.: 10030)\n' + _str += 'lense: C-Mount 6mm 1/2.7" IR MP, with IR cutoff filter\n' + _str += 'exposure time: {:f}s\n'.format(cam_control_panel.exposure_time.value) + _str += 'sensitivity: {:f}%'.format(cam_control_panel.sensitivity.value) + + _str += '\n' + + _str += 'date: {:s}\n'.format(ap.date) + _str += 'time: {:s}\n'.format(ap.time) + + _str += '\n' + + _str += 'person: {:s}\n'.format(ap.person) + _str += 'pose: {:s}\n'.format(ap.pose) + _str += 'comment:\n' + _str += ap.comment[:-1] + + return _str + + +imgs = [None, None, None] + +def main(): + o3000.video_init() + o3000.video_xml_send("<camera><get><model_id></model_id></get></camera>"); + + + root = tk.Tk() + root.title("0-3000 Image Recorder") + + # the geometry of the box which will be displayed on the screen + root.geometry("1700x1000") + + image_label = ImageLabel() + image_label.pack(side=tk.LEFT) + + + control_panel = tk.Frame(root) + control_panel.pack(side=tk.LEFT) + + tk.Label(control_panel, text='').pack(pady=20) # separater, vertical space + + + tk.Label(control_panel, text='').pack(pady=20) # separater, vertical space + + tk.Label(control_panel, text='Camera Configuration').pack(anchor='w') + cam_control_panel = CamControlPanel(master=control_panel) + cam_control_panel.pack() + + tk.Label(control_panel, text='').pack(pady=20) # separater, vertical space + + tk.Label(control_panel, text='Annotation').pack(anchor='w') + annotation_panel = AnnotationPanel(master=control_panel) + annotation_panel.pack() + + + def record_image(): + global imgs + imgs = o3000.video_images_get() + image = imgs[2] + image_label.image_update(image) + annotation_panel.update_date_time() + + + btn_record_image = tk.Button(control_panel, text="record/update image", command=record_image) + btn_record_image.pack() + + + def save_image(): + ap = annotation_panel + filenamebase = '{:s}_{:s}'.format(ap.date.strip('-'), ap.time.strip(':')) + + filenames = [ + '{:s}_raw.tiff'.format(filenamebase), + '{:s}_rgb.tiff'.format(filenamebase), + '{:s}.tiff'.format(filenamebase), + ] + annotation_filename = '{:s}.txt'.format(filenamebase) + + _annotation_text = annotation_text(filenames, annotation_panel, cam_control_panel) + + print('save images and annotation file {:s}, annotation:'.format(annotation_filename)) + print(_annotation_text) + + for filename,image, in zip(filenames,imgs): + im = Image.fromarray(image) + im.save(filename) + + with open(annotation_filename,'w') as f: + f.write(_annotation_text) + + + btn_save_image = tk.Button(control_panel, text="save image", command=save_image) + btn_save_image.pack() + + + root.mainloop() + +if __name__ == '__main__': + main() diff --git a/setup_c_extension.py b/setup_c_extension.py new file mode 100644 index 0000000..695c88c --- /dev/null +++ b/setup_c_extension.py @@ -0,0 +1,8 @@ +from distutils.core import setup, Extension +setup(name = 'o3000', version = '1.0', + ext_modules = [Extension( + 'o3000', + sources = ['c_extension.c', 'helpers.c'], + libraries = ['o3000','o3000_imgpipe','tiff'], + #extra_compile_args = ['-Wextra'] + )]) |