void OsmAnd::ImageMapLayerProvider::AsyncImage::submit(const bool requestSucceeded, const QByteArray& image) const
{
std::shared_ptr<IMapDataProvider::Data> data;
if (requestSucceeded && !image.isNull())
{
// Decode image data
std::shared_ptr<SkBitmap> bitmap(new SkBitmap());
SkMemoryStream imageStream(image.constData(), image.length(), false);
if (SkImageDecoder::DecodeStream(&imageStream, bitmap.get(), SkColorType::kUnknown_SkColorType, SkImageDecoder::kDecodePixels_Mode))
{
data.reset(new IRasterMapLayerProvider::Data(
request->tileId,
request->zoom,
provider->getAlphaChannelPresence(),
provider->getTileDensityFactor(),
bitmap));
}
else
{
callback(provider, false, data, nullptr);
delete this;
return;
}
}
callback(provider, requestSucceeded, data, nullptr);
delete this;
}
bool OsmAnd::ImageMapLayerProvider::obtainData(
const IMapDataProvider::Request& request_,
std::shared_ptr<IMapDataProvider::Data>& outData,
std::shared_ptr<Metric>* const pOutMetric /*= nullptr*/)
{
const auto& request = MapDataProviderHelpers::castRequest<Request>(request_);
if (pOutMetric)
pOutMetric->reset();
if (!supportsNaturalObtainData())
return MapDataProviderHelpers::nonNaturalObtainData(this, request, outData, pOutMetric);
// Obtain image data
const auto image = obtainImage(request);
if (image.isNull())
{
outData.reset();
return true;
}
// Decode image data
std::shared_ptr<SkBitmap> bitmap(new SkBitmap());
SkMemoryStream imageStream(image.constData(), image.length(), false);
if (!SkImageDecoder::DecodeStream(&imageStream, bitmap.get(), SkColorType::kUnknown_SkColorType, SkImageDecoder::kDecodePixels_Mode))
return false;
// Return tile
outData.reset(new IRasterMapLayerProvider::Data(
request.tileId,
request.zoom,
getAlphaChannelPresence(),
getTileDensityFactor(),
bitmap));
return true;
}
/* Protected functions */
osg::Image* OculusHealthAndSafetyWarning::buildImageFromByteStream() {
std::string imageString((char*)healthAndSafety_tga, sizeof(healthAndSafety_tga));
std::stringstream imageStream(imageString);
osgDB::ReaderWriter *rw = osgDB::Registry::instance()->getReaderWriterForExtension("tga");
if (!rw) {
std::cerr << "Error: could not find a suitable reader to load the specified data" << std::endl;
return 0;
}
osgDB::ReaderWriter::ReadResult rr = rw->readImage(imageStream);
if (!rr.validImage()) {
std::cerr << "Error: Cannot build a valid image from data" << std::endl;
return 0;
}
return rr.takeImage();
}
void windowManager::openProject() {
//const QString fileString = "test.out";
const QString fileString =
QFileDialog::getOpenFileName(activeWindow(), tr("Open project"), ".",
"Cstitch files (*.xst)\nAll files (*.*)");
if (fileString.isEmpty()) {
return;
}
QFile inFile(fileString);
inFile.open(QIODevice::ReadOnly);
// the save file starts with xml text, so read that first
QTextStream textInStream(&inFile);
QString inString;
inString = textInStream.readLine() + "\n";
// (A day after the initial release I changed the program name from
// stitch to cstitch, so check for either...)
QRegExp rx("^<(cstitch|stitch) version=");
rx.indexIn(inString);
const QString programName = rx.cap(1);
if (programName != "cstitch" && programName != "stitch") { // uh oh
QMessageBox::critical(NULL, tr("Bad project file"),
tr("Sorry, ") + fileString +
tr(" is not a valid project file ") +
tr("(diagnostic: wrong first line)"));
return;
}
int lineCount = 0;
const int maxLineCount = 100000;
const QString endTag = "</" + programName + ">";
QString thisString = "";
do {
thisString = textInStream.readLine();
inString += thisString + "\n";
++lineCount;
if (lineCount > maxLineCount) {
QMessageBox::critical(NULL, tr("Bad project file"),
tr("Sorry, ") + fileString +
tr(" appears to be corrupted ") +
tr("(diagnostic: bad separator)"));
return;
}
} while (thisString != endTag);
QDomDocument doc;
const bool xmlLoadSuccess = doc.setContent(inString);
if (!xmlLoadSuccess) {
QMessageBox::critical(NULL, tr("Bad project file"),
tr("Sorry, ") + fileString +
tr(" appears to be corrupted ") +
tr("(diagnostic: parse failed)"));
return;
}
// a blank line between the xml and the image
inString += textInStream.readLine() + "\n";
// hide everything except progress meters while we regenerate this project
hideWindows_ = true;
hideWindows();
// how many total images are we restoring?
int imageCount = 1; // one colorChooser image
imageCount += doc.elementsByTagName("color_compare_image").size();
imageCount += doc.elementsByTagName("square_window_image").size();
imageCount += doc.elementsByTagName("pattern_window_image").size();
groupProgressDialog progressMeter(imageCount);
progressMeter.setMinimumDuration(2000);
progressMeter.setWindowModality(Qt::WindowModal);
progressMeter.show();
progressMeter.bumpCount();
altMeter::setGroupMeter(&progressMeter);
// read the image file name
const QString fileName = ::getElementText(doc, "image_name");
// read the project version number
setProjectVersion(::getElementAttribute(doc, "cstitch", "version"));
// now read the binary data image
inFile.seek(inString.length());
QDataStream imageStream(&inFile);
QImage newImage;
imageStream >> newImage;
inFile.seek(inString.length());
QDataStream imageData(&inFile);
QByteArray imageByteArray;
imageData >> imageByteArray;
reset(newImage, imageByteArray, fileName);
//// colorChooser
colorChooser_.window()->setNewImage(newImage);
progressMeter.bumpCount();
//// colorCompare
QDomElement colorCompareElement =
doc.elementsByTagName("color_compare").item(0).toElement();
if (!colorCompareElement.isNull()) {
colorChooser* colorChooserObject = colorChooser_.window();
QDomNodeList compareImagesList(colorCompareElement.
elementsByTagName("color_compare_image"));
for (int i = 0, size = compareImagesList.size(); i < size; ++i) {
QDomElement thisCompareElement(compareImagesList.item(i).toElement());
const int hiddenColorCompareIndex = colorChooserObject->
recreateImage(colorCompareSaver(thisCompareElement));
progressMeter.bumpCount();
//// squareWindow
colorCompare* colorCompareObject = colorCompareWindow_.window();
QDomNodeList squareImagesList(thisCompareElement.
elementsByTagName("square_window_image"));
if (!squareImagesList.isEmpty()) {
for (int ii = 0, iiSize = squareImagesList.size(); ii < iiSize; ++ii) {
QDomElement thisSquareElement(squareImagesList.item(ii).toElement());
const int hiddenSquareImageIndex = colorCompareObject->
recreateImage(squareWindowSaver(thisSquareElement));
progressMeter.bumpCount();
squareWindow* squareWindowObject = squareWindow_.window();
//// patternWindow
// restore this square image's children before restoring its history
// (the children may have their own different histories)
QDomNodeList
patternImageList(thisSquareElement.
elementsByTagName("pattern_window_image"));
if (!patternImageList.isEmpty()) {
for (int iii = 0, iiiSize = patternImageList.size();
iii < iiiSize; ++iii) {
QDomElement thisPatternElement(patternImageList.item(iii).
toElement());
squareWindowObject->
recreatePatternImage(patternWindowSaver(thisPatternElement));
patternWindow_.window()->updateHistory(thisPatternElement);
progressMeter.bumpCount();
}
}
squareWindowObject->updateImageHistory(thisSquareElement);
// if this image was only created so that one of its children could be
// recreated, remove it (its data has already been stored away)
if (hiddenSquareImageIndex != -1) {
squareWindowObject->removeImage(hiddenSquareImageIndex);
}
}
}
// if this image was only created so that one of its children could be
// recreated, remove it (its data has already been stored away)
if (hiddenColorCompareIndex != -1) {
colorCompareObject->removeImage(hiddenColorCompareIndex);
}
}
}
//// restore window wide settings that are independent of a particular image
QDomElement windowGlobals(doc.elementsByTagName("global_settings").
item(0).toElement());
if (colorChooserAction_->isEnabled() && colorChooser_.window()) {
colorChooser_.window()->updateCurrentSettings(windowGlobals);
}
if (colorCompareAction_->isEnabled() && colorCompareWindow_.window()) {
colorCompareWindow_.window()->updateCurrentSettings(windowGlobals);
}
if (squareWindowAction_->isEnabled() && squareWindow_.window()) {
squareWindow_.window()->updateCurrentSettings(windowGlobals);
squareWindow_.window()->checkAllColorLists();
}
if (patternWindowAction_->isEnabled() && patternWindow_.window()) {
patternWindow_.window()->updateCurrentSettings(windowGlobals);
}
// read the image number of colors (before the reset)
const int colorCount = ::getElementText(doc, "color_count").toInt();
originalImageColorCount_ = colorCount;
// call while hideWindows_ (if colorCount wasn't 0 it won't be recalculated)
startOriginalImageColorCount();
hideWindows_ = false;
altMeter::setGroupMeter(NULL);
projectFilename_ = fileString;
setWindowTitles(QFileInfo(projectFilename_).fileName());
setNewWidgetGeometryAndRaise(colorChooser_.window());
}
int main(int argc, char** argv)
{
/*Polynomial2 poly2;
poly2.kuu = -1;
poly2.kuv = 1;
poly2.kvv= -1;
poly2.ku = 0.25;
poly2.kv = 0.25;
poly2.k1 = 5;
CurveRasterizer<Polynomial2> raster(1, 1, -100, 100, poly2);
CurveRasterizer2<Polynomial2> raster2(1, 1, -100, 100, poly2);
auto tr0 = clock();
int x1 = 0;
int x2 = 0;
for (int i = 0; i < 10000000; i++)
{
raster.step();
x1 += raster.x;
}
auto tr1 = clock();
for (int i = 0; i < 10000000; i++)
{
raster2.step();
x2 += raster2.x;
}
auto tr2 = clock();
cout << "optimized " << double(tr1 - tr0) / CLOCKS_PER_SEC << endl;
cout << "simple " << double(tr2 - tr1) / CLOCKS_PER_SEC << endl;
cout << x1 << " " << x2 << endl;
return 0;*/
ifstream paramFile(argv[1]);
if (not paramFile.is_open())
{
cout << argv[1] << " : ERROR, file is not found" << endl;
return 0;
}
array<double, 6> params;
cout << "EU Camera model parameters :" << endl;
for (auto & p: params)
{
paramFile >> p;
cout << setw(10) << p;
}
cout << endl;
paramFile.ignore();
array<double, 6> cameraPose;
cout << "Camera pose wrt the robot :" << endl;
for (auto & e: cameraPose)
{
paramFile >> e;
cout << setw(10) << e;
}
cout << endl;
paramFile.ignore();
Transformation<double> TbaseCamera(cameraPose.data());
array<double, 6> robotPose1, robotPose2;
SGMParameters stereoParams;
stereoParams.verbosity = 3;
stereoParams.salientPoints = false;
paramFile >> stereoParams.u0;
paramFile >> stereoParams.v0;
paramFile >> stereoParams.dispMax;
paramFile >> stereoParams.scale;
paramFile.ignore();
string imageDir;
getline(paramFile, imageDir);
string imageInfo, imageName;
getline(paramFile, imageInfo);
istringstream imageStream(imageInfo);
imageStream >> imageName;
for (auto & x : robotPose1) imageStream >> x;
Mat8u img1 = imread(imageDir + imageName, 0);
stereoParams.uMax = img1.cols;
stereoParams.vMax = img1.rows;
stereoParams.setEqualMargin();
int counter = 2;
EnhancedCamera camera(params.data());
while (getline(paramFile, imageInfo))
{
istringstream imageStream(imageInfo);
imageStream >> imageName;
for (auto & x : robotPose2) imageStream >> x;
Transformation<double> T01(robotPose1.data()), T02(robotPose2.data());
Transformation<double> TleftRight = T01.compose(TbaseCamera).inverseCompose(T02.compose(TbaseCamera));
Mat8u img2 = imread(imageDir + imageName, 0);
EnhancedSGM stereo(TleftRight, &camera, &camera, stereoParams);
DepthMap depth;
auto t2 = clock();
stereo.computeStereo(img1, img2, depth);
auto t3 = clock();
cout << double(t3 - t2) / CLOCKS_PER_SEC << endl;
Mat32f dMat;
depth.toInverseMat(dMat);
// imwrite(imageDir + "res" + to_string(counter++) + ".png", depth*200);
imwrite(imageDir + "res" + to_string(counter++) + ".png", dMat*30);
}
return 0;
}
int main(int argc, char** argv)
{
/*Polynomial2 poly2;
poly2.kuu = -1;
poly2.kuv = 1;
poly2.kvv= -1;
poly2.ku = 0.25;
poly2.kv = 0.25;
poly2.k1 = 5;
CurveRasterizer<Polynomial2> raster(1, 1, -100, 100, poly2);
CurveRasterizer2<Polynomial2> raster2(1, 1, -100, 100, poly2);
auto tr0 = clock();
int x1 = 0;
int x2 = 0;
for (int i = 0; i < 10000000; i++)
{
raster.step();
x1 += raster.x;
}
auto tr1 = clock();
for (int i = 0; i < 10000000; i++)
{
raster2.step();
x2 += raster2.x;
}
auto tr2 = clock();
cout << "optimized " << double(tr1 - tr0) / CLOCKS_PER_SEC << endl;
cout << "simple " << double(tr2 - tr1) / CLOCKS_PER_SEC << endl;
cout << x1 << " " << x2 << endl;
return 0;*/
ifstream paramFile(argv[1]);
if (not paramFile.is_open())
{
cout << argv[1] << " : ERROR, file is not found" << endl;
return 0;
}
array<double, 6> params;
cout << "EU Camera model parameters :" << endl;
for (auto & p: params)
{
paramFile >> p;
cout << setw(10) << p;
}
cout << endl;
paramFile.ignore();
array<double, 6> cameraPose;
cout << "Camera pose wrt the robot :" << endl;
for (auto & e: cameraPose)
{
paramFile >> e;
cout << setw(10) << e;
}
cout << endl;
paramFile.ignore();
Transformation<double> TbaseCamera(cameraPose.data());
array<double, 6> robotPose1, robotPose2;
SGMParameters stereoParams2;
stereoParams2.salientPoints = false;
stereoParams2.verbosity = 3;
stereoParams2.hypMax = 1;
// stereoParams.salientPoints = false;
paramFile >> stereoParams2.u0;
paramFile >> stereoParams2.v0;
paramFile >> stereoParams2.dispMax;
paramFile >> stereoParams2.scale;
paramFile.ignore();
string imageDir;
getline(paramFile, imageDir);
string imageInfo, imageName;
getline(paramFile, imageInfo);
istringstream imageStream(imageInfo);
imageStream >> imageName;
for (auto & x : robotPose1) imageStream >> x;
Mat8u img1 = imread(imageDir + imageName, 0);
cout << "Image name: "<< imageDir + imageName << endl;
cout << "Image size: "<<img1.size()<<endl;;
stereoParams2.u0 = 50;
stereoParams2.v0 = 50;
stereoParams2.uMax = img1.cols;
stereoParams2.vMax = img1.rows;
stereoParams2.setEqualMargin();
// stereoParams2.salientPoints = true;
int counter = 2;
EnhancedCamera camera(params.data());
DepthMap depth;
depth.setDefault();
// stereoParams2.dispMax = 40;
// stereoParams2.descRespThresh = 2;
// stereoParams2.scaleVec = vector<int>{1};
MotionStereoParameters stereoParams(stereoParams2);
stereoParams.verbosity = 1;
stereoParams.descLength = 5;
// stereoParams.descRespThresh = 2;
// stereoParams.scaleVec = vector<int>{1};
MotionStereo stereo(&camera, &camera, stereoParams);
stereo.setBaseImage(img1);
//do SGM to init the depth
getline(paramFile, imageInfo);
getline(paramFile, imageInfo);
getline(paramFile, imageInfo);
imageStream.str(imageInfo);
imageStream.clear();
imageStream >> imageName;
for (auto & x : robotPose2) imageStream >> x;
Mat8u img2 = imread(imageDir + imageName, 0);
Transformation<double> T01(robotPose1.data()), T02(robotPose2.data());
Transformation<double> TleftRight = T01.compose(TbaseCamera).inverseCompose(T02.compose(TbaseCamera));
EnhancedSGM stereoSG(TleftRight, &camera, &camera, stereoParams2);
Timer timer;
stereoSG.computeStereo(img1, img2, depth);
depth.filterNoise();
cout << timer.elapsed() << endl;
Mat32f res, sigmaRes;
Mat32f res2, sigmaRes2;
depth.toInverseMat(res2);
depth.sigmaToMat(sigmaRes2);
imshow("res" + to_string(counter), res2 *0.12);
imshow("sigma " + to_string(counter), sigmaRes2*20);
cv::waitKey(0);
counter++;
while (getline(paramFile, imageInfo))
{
istringstream imageStream(imageInfo);
imageStream >> imageName;
for (auto & x : robotPose2) imageStream >> x;
Transformation<double> T01(robotPose1.data()), T02(robotPose2.data());
Transformation<double> TleftRight = T01.compose(TbaseCamera).inverseCompose(T02.compose(TbaseCamera));
Mat8u img2 = imread(imageDir + imageName, 0);
// depth.setDefault();
timer.reset();
cout << TleftRight << endl;
DepthMap depth2 = stereo.compute(TleftRight, img2, depth, counter - 3);
depth = depth2;
depth.filterNoise();
cout << timer.elapsed() << endl;
depth.toInverseMat(res);
depth.sigmaToMat(sigmaRes);
// imwrite(imageDir + "res" + to_string(counter++) + ".png", depth*200);
imshow("sigma " + to_string(counter), sigmaRes*20);
imshow("d sigma " + to_string(counter), (sigmaRes - sigmaRes2)*20 + 0.5);
// cout << (sigmaRes - sigmaRes2)(Rect(150, 150, 15, 15)) << endl;
imshow("res " + to_string(counter), res *0.12);
counter++;
waitKey();
}
waitKey();
return 0;
}
