Script execution

script/Devices/ImageStats.py

@@ -125,6 +125,16 @@ class ImageStats(DeviceBase):
         set_device_alias(self.com_y_stdev, name + " com y stdev")
         self.bg_en = False
         self.num_images = 5
+
+        class BackgroundSubtractor(Filter):
+            def __init__(self, obj):
+                self.obj=obj                
+            def process(self, image, data):
+                if self.obj.background is None:
+                    raise Exception("No background captured")                
+                return sub(image, self.obj.background, True)        
+        self.backgroundFilter = BackgroundSubtractor(self) 
+        
         self.initialize()      
 
         #class SourceListener (ImageListener):
@@ -167,17 +177,20 @@ class ImageStats(DeviceBase):
 
     def enableBackground(self, value):
         self.bg_en = value
-        class BackgroundSubtractor(Filter):
-            def __init__(self, obj):
-                self.obj=obj                
-            def process(self, image, data):
-                if self.obj.background is None:
-                    return image                
-                return sub(image, self.obj.background, True)        
-        self.source.filter = BackgroundSubtractor(self) if (value==True) else None
+        self.source.filter = self.backgroundFilter if self.bg_en else None
         
     def captureBackground(self, images):               
-        self.doInitialize()
+        try:
+            self.source.filter = None
+            imgs = []
+            for i in range(images):
+                self.source.waitNext(5000)                
+                imgs.append(cam3.output)
+                #TODO: 
+                self.background = cam3.output            
+        finally:
+            self.enableBackground(self.bg_en)
+            
     
     def doClose(self):  
         print "close"      
@@ -217,6 +230,8 @@ if __name__ == "__builtin__":
     image_stats.setNumberOfImages(3)
     sensors = [image_stats.com_x_mean, image_stats.com_y_mean, image_stats.com_x_stdev, image_stats.com_y_stdev] 
 
+    image_stats.captureBackground(5)
+
     def before_sample():    
         image_stats.update()    
     tscan(sensors, 10, 0.1, before_read = before_sample)