int svlOSGImage::Process( svlProcInfo* procInfo,
svlSample* syncInput,
svlSample* &syncOutput ){
syncOutput = syncInput;
_SkipIfAlreadyProcessed( syncInput, syncOutput );
_SkipIfDisabled();
svlSampleImage* img = dynamic_cast<svlSampleImage*>(syncInput);
unsigned int videochannels = img->GetVideoChannels();
// Set the transformation
osg::ref_ptr<osg::Image> osgimg = new osg::Image;
osgimg->setImage( img->GetWidth( 0 ),
img->GetHeight( 0 ),
1,
3,
GL_BGR,
GL_UNSIGNED_BYTE,
img->GetUCharPointer( 0 ),
osg::Image::NO_DELETE );
image->SetImage( osgimg );
return SVL_OK;
}
int svlFilterImageBlobTracker::Process(svlProcInfo* procInfo, svlSample* syncInput, svlSample* &syncOutput)
{
syncOutput = syncInput;
_SkipIfAlreadyProcessed(syncInput, syncOutput);
_SkipIfDisabled();
svlSampleBlobs *in_blobs = 0;
_OnSingleThread(procInfo)
{
// Attempting to pull a sample out of the 'blobs' input
svlFilterInput *input = GetInput("blobs");
if (input) in_blobs = dynamic_cast<svlSampleBlobs*>(input->PullSample(true, 0.0));
if (in_blobs) {
// TO DO: implement tracking
}
}
_SynchronizeThreads(procInfo);
_OnSingleThread(procInfo)
{
if (in_blobs) GetOutput("blobs")->PushSample(in_blobs);
}
return SVL_OK;
}
int svlFilterImageColorSegmentation::Process(svlProcInfo* procInfo, svlSample* syncInput, svlSample* &syncOutput)
{
syncOutput = OutputImage;
_SkipIfAlreadyProcessed(syncInput, syncOutput);
_SkipIfDisabled();
svlSampleImage* img = dynamic_cast<svlSampleImage*>(syncInput);
unsigned int videochannels = img->GetVideoChannels();
unsigned int idx;
_ParallelLoop(procInfo, idx, videochannels)
{
ComputeSegmentation(img, idx);
}
int svlFilterImageExposureCorrection::Process(svlProcInfo* procInfo, svlSample* syncInput, svlSample* &syncOutput)
{
syncOutput = syncInput;
_SkipIfAlreadyProcessed(syncInput, syncOutput);
_SkipIfDisabled();
svlSampleImage* img = dynamic_cast<svlSampleImage*>(syncInput);
const unsigned int videochannels = img->GetVideoChannels();
unsigned int vch;
_ParallelLoop(procInfo, vch, videochannels)
{
svlImageProcessing::SetExposure(img, vch, Brightness, Contrast, Gamma, Exposure[vch]);
}
int svlFilterSplitter::Process(svlProcInfo* procInfo, svlSample* syncInput, svlSample* &syncOutput)
{
syncOutput = syncInput;
_SkipIfDisabled();
_OnSingleThread(procInfo) {
// Non-trunk outputs copy the input sample into their buffers
const unsigned int size = static_cast<unsigned int>(AsyncOutputs.size());
for (unsigned int i = 0; i < size; i ++) {
if (AsyncOutputs[i]) AsyncOutputs[i]->PushSample(syncInput);
}
}
return SVL_OK;
}
int svlFilterImageWindow::Process(svlProcInfo* procInfo, svlSample* syncInput, svlSample* &syncOutput)
{
syncOutput = syncInput;
_SkipIfDisabled();
svlSampleImage* img = dynamic_cast<svlSampleImage*>(syncInput);
unsigned int videochannels = img->GetVideoChannels();
unsigned int idx;
_OnSingleThread(procInfo)
{
WindowManager->LockBuffers();
}
_SynchronizeThreads(procInfo);
_ParallelLoop(procInfo, idx, videochannels)
{
WindowManager->SetImageBuffer(img->GetUCharPointer(idx), img->GetDataSize(idx), idx);
}
int svlFilterVideoFileWriter::Process(svlProcInfo* procInfo, svlSample* syncInput, svlSample* &syncOutput)
{
syncOutput = syncInput;
_SkipIfDisabled();
_OnSingleThread(procInfo) {
ErrorInProcess = false;
if (Action) {
CaptureLength = TargetCaptureLength;
ActionTime = TargetActionTime;
Action = false;
}
CS.Enter();
}
_SynchronizeThreads(procInfo);
if (CaptureLength == 0) {
if (ActionTime < syncInput->GetTimestamp()) {
IsRecording = false;
_OnSingleThread(procInfo) CS.Leave();
return SVL_OK;
}
// Process remaining samples in the buffer when paused
}
else {
// Drop frames when restarted
if (ActionTime > syncInput->GetTimestamp()) {
_OnSingleThread(procInfo) CS.Leave();
return SVL_OK;
}
}
IsRecording = true;
svlSampleImage* img = dynamic_cast<svlSampleImage*>(syncOutput);
const unsigned int videochannels = img->GetVideoChannels();
unsigned int idx;
if (CodecsMultithreaded) {
// Codecs are multithreaded, so it's worth
// splitting work between all threads
for (idx = 0; idx < videochannels; idx ++) {
// Codec is responsible for thread synchronzation
if (Codec[idx] && Codec[idx]->Write(procInfo, *img, idx) != SVL_OK) {
CMN_LOG_CLASS_INIT_ERROR << "Process: failed to write video frame on channel: " << idx
<< ", in thread: " << procInfo->ID << std::endl;
ErrorOnChannel[idx] = true;
ErrorInProcess = true;
}
}
}
else {
// Codecs are not multithreaded, so assigning
// each video channel to a single thread
_ParallelLoop(procInfo, idx, videochannels)
{
if (Codec[idx] && Codec[idx]->Write(0, *img, idx) != SVL_OK) {
CMN_LOG_CLASS_INIT_ERROR << "Process: failed to write video frame on channel: " << idx << std::endl;
ErrorOnChannel[idx] = true;
ErrorInProcess = true;
}
}
}
_SynchronizeThreads(procInfo);
_OnSingleThread(procInfo)
{
for (idx = 0; idx < videochannels; idx ++) {
if (Codec[idx]) {
FramesWritten[idx] ++;
if (TimestampsFile[idx]) {
double time = syncInput->GetTimestamp();
if (FramesWritten[idx] > 1) {
time -= FirstTimestamp[idx];
}
else {
FirstTimestamp[idx] = time;
}
std::stringstream ts;
ts << (FramesWritten[idx] - 1) << " " << std::fixed << std::setprecision(4) << time << "\r\n";
long long int len = ts.str().length();
if (TimestampsFile[idx]->Write(ts.str().c_str(), len) < len) {
CMN_LOG_CLASS_INIT_WARNING << "Process: failed to write timestamp on channel: " << idx << std::endl;
}
}
}
}
CS.Leave();
if (ErrorInProcess) {
for (idx = 0; idx < videochannels; idx ++) {
if (ErrorOnChannel[idx]) {
CMN_LOG_CLASS_INIT_ERROR << "Process: attempting to close video file on channel: " << idx << std::endl;
CloseFile(idx);
}
}
IsRecording = false;
}
if (CaptureLength > 0) {
IsRecording = true;
CaptureLength --;
}
}
return SVL_OK;
}
int svlFilterImageCenterFinder::Process(svlProcInfo* procInfo, svlSample* syncInput, svlSample* &syncOutput)
{
syncOutput = syncInput;
_SkipIfAlreadyProcessed(syncInput, syncOutput);
_SkipIfDisabled();
svlSampleImage* image = dynamic_cast<svlSampleImage*>(syncInput);
const unsigned int videochannels = image->GetVideoChannels();
unsigned int a, i, j, x, y, rx, ry, width, height, vch, hsum, vsum, pix, stride;
unsigned int *h, *h2, *v, *v2;
unsigned char *img;
const unsigned int thrsh = ThresholdLevel * 3;
_ParallelLoop(procInfo, vch, videochannels)
{
width = image->GetWidth(vch);
height = image->GetHeight(vch);
stride = width * 3 - 2;
img = image->GetUCharPointer(vch);
v = ProjectionV[vch].Pointer();
h = ProjectionH[vch].Pointer();
memset(v, 0, sizeof(unsigned int) * width);
// Generate projections
for (j = 0; j < height; j ++) {
v2 = v;
hsum = 0;
for (i = 0; i < width; i ++) {
pix = *img; img ++;
pix += *img; img ++;
pix += *img; img ++;
if (pix >= thrsh) {
hsum += 255;
*v2 += 255;
}
v2 ++;
}
*h = hsum / width; h ++;
}
for (i = 0; i < width; i ++) {
*v /= height; v ++;
}
// Find center of weight
v = ProjectionV[vch].Pointer();
h = ProjectionH[vch].Pointer();
x = vsum = 0;
for (i = 0; i < width; i ++) {
a = *v; v ++; vsum += a;
x += a * i;
}
if (vsum != 0) x /= vsum;
else x = CenterXInternal[vch];
y = hsum = 0;
for (j = 0; j < height; j ++) {
a = *h; h ++; hsum += a;
y += a * j;
}
if (hsum != 0) y /= hsum;
else y = CenterYInternal[vch];
// Find radii
v = v2 = ProjectionV[vch].Pointer() + x;
h = h2 = ProjectionH[vch].Pointer() + y;
// Set threshold to 60% of the whole mass
hsum = hsum * MassRatio / 100;
vsum = vsum * MassRatio / 100;
a = rx = 0;
while (a < vsum) {
a += *v + *v2;
v ++; v2 --;
rx ++;
}
a = ry = 0;
while (a < hsum) {
a += *h + *h2;
h ++; h2 --;
ry ++;
}
// Smoothing results
if (FrameCounter > 0 && Smoothing > 0.0) {
x = static_cast<int>((Smoothing * CenterXInternal[vch] + x ) / (1.0 + Smoothing));
y = static_cast<int>((Smoothing * CenterYInternal[vch] + y ) / (1.0 + Smoothing));
rx = static_cast<int>((Smoothing * RadiusXInternal[vch] + rx) / (1.0 + Smoothing));
ry = static_cast<int>((Smoothing * RadiusYInternal[vch] + ry) / (1.0 + Smoothing));
}
// Storing results
CenterXInternal[vch] = x;
CenterYInternal[vch] = y;
RadiusXInternal[vch] = rx;
RadiusYInternal[vch] = ry;
if (EllipseFittingEnabled) {
if (FindEllipse(image, vch, x, y, Ellipse[vch])) {
// Adjust with margin
Ellipse[vch].rx = std::max(0, Ellipse[vch].rx - EllipseMargin);
Ellipse[vch].ry = std::max(0, Ellipse[vch].ry - EllipseMargin);
svlRect bounding;
Ellipse[vch].GetBoundingRect(bounding);
CenterXInternal[vch] = Ellipse[vch].cx;
CenterYInternal[vch] = Ellipse[vch].cy;
RadiusXInternal[vch] = (bounding.right - bounding.left) / 2;
RadiusYInternal[vch] = (bounding.bottom - bounding.top) / 2;
if (EllipseFittingDrawEllipse) svlDraw::Ellipse(image, vch, Ellipse[vch], svlRGB(255, 255, 255));
if (EllipseMaskEnabled) UpdateMaskImage(vch, Ellipse[vch]);
}
}
}
