stdr_msgs::LadybugImages::Ptr
separateImages(const unsigned char *packet, const ros::Time * stamp)
{
stdr_msgs::LadybugImages::Ptr images( new stdr_msgs::LadybugImages );
separateImages(*images, packet, stamp);
return images;
}
stdr_msgs::LadybugImages::Ptr
separateImages(const sensor_msgs::Image & packet)
{
stdr_msgs::LadybugImages::Ptr images( new stdr_msgs::LadybugImages );
separateImages(*images, &(packet.data[0]), &packet.header.stamp);
return images;
}
int main(int argc, char* argv[]){
if(argc < 4){
printHelp();
exit(-1);
}
char *imageType = argv[2]; //-sbs:sid-by-side or -ab:above/below
// ----- Anaglyph conversion
//TODO: simplify code with only one function call
if(!strcmp(argv[3],"-e")){
printf("--- GREEN-MAGENTA ANAGLYPH CONVERSION ---\n");
IplImage *frame, *frameL, *frameR;
//load image
//images are loaded by openCV with color channels in this order: BGR
frame = cvLoadImage(argv[1], 1);
//TEST PSNR FROM OPENCV CVT COLOR TO AND FROM RGB YCBCR
/*CvSize Size = cvSize( frame->width, frame->height);
IplImage *RGBtoYCbCr = cvCreateImage(Size, frame->depth, frame->nChannels);
IplImage *YCbCrtoRGB = cvCreateImage(Size, frame->depth, frame->nChannels);
cvCvtColor(frame, RGBtoYCbCr, CV_BGR2YCrCb);
cvCvtColor(RGBtoYCbCr, YCbCrtoRGB, CV_YCrCb2BGR);
cvSaveImage("RGB-YCbCr-RGB.bmp",YCbCrtoRGB);
cvReleaseImage(&RGBtoYCbCr);
cvReleaseImage(&YCbCrtoRGB);*/
//Simple error handling
if(!frame){
printf("Error opening BMP file.");
exit(-1);
}
//some verifications regarding the image
if(frame->width % 2 != 0){
printf("Image width is not divisible by 2. Please, resize it!");
exit(-1);
}
int width = frame->width;
int height = frame->height;
//get size of the two images from the stereo pair, based on its type
CvSize size;
if(!strcmp(imageType, "-sbs")){
size = cvSize( width/2, height);
}
else if(!strcmp(imageType, "-ab")){
size = cvSize( width, height/2);
}
else{
printHelp();
exit(-1);
}
//copy image properties
frameL = cvCreateImage(size, frame->depth, frame->nChannels);
frameR = cvCreateImage(size, frame->depth, frame->nChannels);
cvZero(frameL);
cvZero(frameR);
//divide the stereo pair into two images
separateImages(frame, &frameL, &frameR, width, height, imageType);
//create anaglyph
createAnaglyph(argv[1],frameL, frameR);
cvReleaseImage(&frame);
cvReleaseImage(&frameL);
cvReleaseImage(&frameR);
printf("--- ANAGLYPH CONVERSION SUCCESSFULLY COMPLETED! ---\n");
}
// ----- Anaglyph reversion
else if(!strcmp(argv[3],"-d")){
printf("--- ANAGLYPH TO STEREO PAIR REVERSION ---\n");
reverseAnaglyph(argv[1], imageType);
printf("--- ANAGLYPH REVERSION SUCCESSFULLY COMPLETED! ---\n");
}
else{
printHelp();
exit(-1);
}
return 0;
}
void
separateImages(stdr_msgs::LadybugImages & images, const sensor_msgs::Image & packet)
{
separateImages(images, &(packet.data[0]), &packet.header.stamp);
}
int main(int argc, char* argv[]){
IplImage *frame, *frameL, *frameR, *anaglyph;
CvCapture *capture = cvCreateFileCapture(argv[1]);
int videoType = atoi(argv[2]); //0:sid-by-side or 1:above/below
//Simple error handling
if(!capture){
printf("Erro ao abrir o video.");
exit(-1);
}
//some verifications regarding the video
frame = cvQueryFrame(capture);
if(!frame){
printf("Video vazio.");
exit(-1);
}
if(frame->width % 2 != 0){
printf("Video possui largura não divisível por 2. Favor cortar!");
exit(-1);
}
//prepare anaglyph video
double fps = cvGetCaptureProperty(capture, CV_CAP_PROP_FPS);
CvSize videosize;
switch(videoType){
case 0:
videosize = cvSize(
(int)cvGetCaptureProperty(capture, CV_CAP_PROP_FRAME_WIDTH)/2,
(int)cvGetCaptureProperty(capture, CV_CAP_PROP_FRAME_HEIGHT)
);
break;
case 1:
videosize = cvSize(
(int)cvGetCaptureProperty(capture, CV_CAP_PROP_FRAME_WIDTH),
(int)cvGetCaptureProperty(capture, CV_CAP_PROP_FRAME_HEIGHT)/2
);
break;
default:
printf("Command call: SBS-UB-to-anaglyph-video <side-by-side_video> 0|1\n0:side-by-side and 1:above/below");
exit(-1);
}
CvVideoWriter *writer = cvCreateVideoWriter("anaglyph-gray.avi",CV_FOURCC('H','F','Y','U'), fps, videosize);
//start working on each frame
while((frame = cvQueryFrame(capture)) != NULL){
//get width and height from original image
int width = frame->width;
int height = frame->height;
//new images will have half width of original image
CvSize size;
switch(videoType){
case 0:
size = cvSize( width/2, height);
break;
case 1:
size = cvSize( width, height/2);
break;
default:
printf("Command call: SBS-UB-to-anaglyph-video <side-by-side_video> 0|1\n0:side-by-side and 1:above/below");
exit(-1);
}
//copy image properties
frameL = cvCreateImage(size, frame->depth, frame->nChannels);
frameR = cvCreateImage(size, frame->depth, frame->nChannels);
cvZero(frameL);
cvZero(frameR);
//divide frames in two
separateImages(frame, &frameL, &frameR, width, height, videoType);
anaglyph = cvCreateImage(size, frameL->depth, frameL->nChannels);
cvZero(anaglyph);
//create anaglyph
createAnaglyph(frameL, frameR, &anaglyph);
//if any error occurr (f.e. segmentation fault, check if you have the codec installed)
//Huffyuv codec (lossless): http://neuron2.net/www.math.berkeley.edu/benrg/huffyuv.html
cvWriteFrame(writer, anaglyph);
cvReleaseImage(&frameL);
cvReleaseImage(&frameR);
cvReleaseImage(&anaglyph);
}
//free pointers
cvReleaseCapture(&capture);
cvReleaseVideoWriter(&writer);
return 0;
}