Skip to content
This repository was archived by the owner on Aug 22, 2024. It is now read-only.

Bugfix/image buffer release #1964

Open
wants to merge 4 commits into
base: develop
Choose a base branch
from
Open

Bugfix/image buffer release #1964

Show file tree
Hide file tree
Changes from 1 commit
Commits
Show all changes
4 commits
Select commit Hold shift + click to select a range
076d31c
Add test for creating image.
icaven Dec 14, 2023
3c82561
Correct the image size initialization when the defaults are used and …
icaven Dec 15, 2023
2aeaa7f
Update version number for python bindings.
icaven Dec 15, 2023
f2fce4b
Revert the naming of the image_handle accessors.
icaven Dec 15, 2023
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
Prev Previous commit
Next Next commit
Correct the image size initialization when the defaults are used and … 
…the buffer destroy callback.

Change the release of an image so that the buffer is not released when held by a numpy array.
  • Loading branch information
@icaven
icaven committed Dec 15, 2023
commit 3c825614130a8a45914df0939e187afd92dbaeff
111 changes: 63 additions & 48 deletions src/python/k4a/src/k4a/_bindings/image.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -13,11 +13,11 @@
import numpy as _np
import copy as _copy

from .k4atypes import _ImageHandle, EStatus, EImageFormat
from .k4atypes import _ImageHandle, EStatus, EImageFormat, _memory_destroy_cb

from .k4a import k4a_image_create, k4a_image_create_from_buffer, \
k4a_image_release, k4a_image_get_buffer, \
k4a_image_reference, k4a_image_release, k4a_image_get_format, \
k4a_image_reference, k4a_image_get_format, \
k4a_image_get_size, k4a_image_get_width_pixels, \
k4a_image_get_height_pixels, k4a_image_get_stride_bytes, \
k4a_image_get_device_timestamp_usec, k4a_image_set_device_timestamp_usec, \
Expand Down Expand Up @@ -280,6 +280,19 @@ def _create_from_existing_image_handle(

return image

@staticmethod
@_memory_destroy_cb
def _buffer_destroy_callback(buffer: _ctypes.c_void_p, context: _ctypes.c_void_p):
"""
Skip decrementing the reference count on the array when the buffer is released
:param buffer: The image buffer
:param context: The array buffer object
:return: None
"""
# This function will probably not be called, but the buffer shouldn't be released
# since it is referenced by a numpy array
pass

@staticmethod
def create(
image_format:EImageFormat,
Expand Down Expand Up @@ -400,47 +413,49 @@ def create_from_ndarray(
'''
image = None

assert(isinstance(arr, _nd.ndarray)), "arr must be a numpy ndarray object."
assert(isinstance(image_format, EImageFormat)), "image_format parameter must be an EImageFormat."
assert (isinstance(arr, _np.ndarray)), "arr must be a numpy ndarray object."
assert (isinstance(image_format, EImageFormat)), "image_format parameter must be an EImageFormat."

# Get buffer pointer and sizes of the numpy ndarray.
buffer_ptr = ctypes.cast(
_ctypes.addressof(np.ctypeslib.as_ctypes(arr)),
_ctypes.POINTER(_ctypes.c_uint8))

width_pixels = _ctypes.c_int(width_pixels_custom)
height_pixels = _ctypes.c_int(height_pixels_custom)
stride_bytes = _ctypes.c_int(stride_bytes_custom)
size_bytes = _ctypes.c_size_t(size_bytes_custom)

# Use the ndarray sizes if the custom size info is not passed in.
if width_pixels == 0:
width_pixels = _ctypes.c_int(arr.shape[0])

if height_pixels == 0:
height_pixels = _ctypes.c_int(arr.shape[1])

if size_bytes == 0:
size_bytes = _ctypes.c_size_t(arr.itemsize * arr.size)

if len(arr.shape) > 2 and stride_bytes == 0:
stride_bytes = _ctypes.c_int(arr.shape[2])

# Create image from the numpy buffer.
image_handle = _ImageHandle()
status = k4a_image_create_from_buffer(
image_format,
width_pixels,
height_pixels,
stride_bytes,
buffer_ptr,
size_bytes,
None,
None,
_ctypes.byref(image_handle))

if status == EStatus.SUCCEEDED:
image = Image._create_from_existing_image_handle(image_handle)
buffer_ptr = _ctypes.cast(_np.ctypeslib.as_ctypes(arr), _ctypes.POINTER(_ctypes.c_uint8))
array_obj = _ctypes.py_object(arr)
# Hold onto the buffer memory by incrementing the reference count on the array object
_ctypes.pythonapi.Py_IncRef(array_obj)

try:
# Use the ndarray sizes if the custom size info is not passed in.
width_pixels = _ctypes.c_int(arr.shape[1]) \
if width_pixels_custom == 0 else _ctypes.c_int(width_pixels_custom)
height_pixels = _ctypes.c_int(arr.shape[0]) \
if height_pixels_custom == 0 else _ctypes.c_int(height_pixels_custom)
stride_bytes = _ctypes.c_int(arr.strides[0]) \
if stride_bytes_custom == 0 else _ctypes.c_int(stride_bytes_custom)
size_bytes = _ctypes.c_size_t(arr.itemsize * arr.size) \
if size_bytes_custom == 0 else _ctypes.c_size_t(size_bytes_custom)

# Create image from the numpy buffer.
image_handle = _ImageHandle()
status = k4a_image_create_from_buffer(
image_format,
width_pixels,
height_pixels,
stride_bytes,
buffer_ptr,
size_bytes,
Image._buffer_destroy_callback,
_ctypes.cast(_ctypes.pointer(array_obj), _ctypes.c_void_p),
_ctypes.byref(image_handle))

if status == EStatus.SUCCEEDED:
image = Image._create_from_existing_image_handle(image_handle)
# Delete the array object created indirectly by _create_from_existing_image_handle
# without deleting the data
del image.data
# Use the given array object instead (this won't create a new reference)
image._data = arr
except _ctypes.ArgumentError as details:
_ctypes.pythonapi.Py_DecRef(array_obj)
raise _ctypes.ArgumentError(details)

return image

Expand All @@ -453,7 +468,7 @@ def _reference(self):
def __del__(self):

# Deleting the _image_handle will release the image reference.
del self._image_handle
del self.image_handle

del self.data
del self.image_format
Expand All @@ -470,7 +485,7 @@ def __del__(self):
def __copy__(self):

# Create a shallow copy.
new_image = Image(self._image_handle)
new_image = Image(self.image_handle)
new_image._data = self._data.view()
new_image._image_format = self._image_format
new_image._size_bytes = self._size_bytes
Expand Down Expand Up @@ -514,7 +529,7 @@ def __deepcopy__(self, memo):
def __enter__(self):
return self

def __exit__(self):
def __exit__(self, *exception_details):
del self

def __str__(self):
Expand Down Expand Up @@ -544,12 +559,12 @@ def __str__(self):

# Define properties and get/set functions. ###############
@property
def _image_handle(self):
def image_handle(self):
return self.__image_handle

@_image_handle.deleter
def _image_handle(self):
@image_handle.deleter
def image_handle(self):

# Release the image before deleting.
if isinstance(self._data, _np.ndarray):
if not self._data.flags.owndata:
Expand Down
31 changes: 25 additions & 6 deletions src/python/k4a/src/k4a/_bindings/k4a.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -23,9 +23,30 @@
_TransformationHandle, _Calibration, _Float2, _Float3, \
_memory_allocate_cb, _memory_destroy_cb


__all__ = []

__all__ = ['k4a_image_create', 'k4a_image_create_from_buffer', 'k4a_set_debug_message_handler',
'k4a_image_release', 'k4a_image_get_buffer',
'k4a_image_reference', 'k4a_image_get_format',
'k4a_image_get_size', 'k4a_image_get_width_pixels',
'k4a_image_get_height_pixels', 'k4a_image_get_stride_bytes',
'k4a_image_get_device_timestamp_usec', 'k4a_image_set_device_timestamp_usec',
'k4a_image_get_system_timestamp_nsec', 'k4a_image_set_system_timestamp_nsec',
'k4a_image_get_exposure_usec', 'k4a_image_set_exposure_usec',
'k4a_image_get_white_balance', 'k4a_image_set_white_balance',
'k4a_image_get_iso_speed', 'k4a_image_set_iso_speed', 'k4a_calibration_get_from_raw',
'k4a_capture_create', 'k4a_capture_release', 'k4a_capture_reference',
'k4a_capture_get_color_image', 'k4a_capture_set_color_image',
'k4a_capture_get_depth_image', 'k4a_capture_set_depth_image',
'k4a_capture_get_ir_image', 'k4a_capture_set_ir_image',
'k4a_capture_get_temperature_c', 'k4a_capture_set_temperature_c',
'k4a_device_get_installed_count', 'k4a_device_open',
'k4a_device_get_serialnum', 'k4a_device_get_version',
'k4a_device_get_color_control_capabilities', 'k4a_device_close',
'k4a_device_get_imu_sample', 'k4a_device_get_color_control',
'k4a_device_start_cameras', 'k4a_device_stop_cameras',
'k4a_device_start_imu', 'k4a_device_stop_imu',
'k4a_device_set_color_control', 'k4a_device_get_raw_calibration',
'k4a_device_get_sync_jack', 'k4a_device_get_capture', 'k4a_device_get_calibration'
]

# Load the k4a.dll.
try:
Expand Down Expand Up @@ -182,9 +203,7 @@
k4a_image_create_from_buffer.restype = EStatus
k4a_image_create_from_buffer.argtypes=(
_ctypes.c_int, _ctypes.c_int, _ctypes.c_int, _ctypes.c_int, _ctypes.POINTER(_ctypes.c_uint8),
_ctypes.c_size_t, _memory_allocate_cb, _ctypes.c_void_p, _ctypes.POINTER(_ImageHandle))


_ctypes.c_size_t, _memory_destroy_cb, _ctypes.c_void_p, _ctypes.POINTER(_ImageHandle))

#K4A_EXPORT uint8_t *k4a_image_get_buffer(k4a_image_t image_handle);
k4a_image_get_buffer = _k4a_lib.k4a_image_get_buffer
Expand Down