void ColorCalibrate::canvasClicked(int x, int y, int brushSize, bool leftClick)
{
std::cout << "Clicked " << x << " " << y << " " << std::endl;
messages::YUVImage image;
if(currentCamera == Camera::TOP) image = topImageIn.message();
else image = bottomImageIn.message();
byte yi = image.yImage().getPixel(x, y);
byte u = image.uImage().getPixel(x/2, y);
byte v = image.vImage().getPixel(x/2, y);
std::cout << "YUV " << (int)yi << " " << (int)u << " " <<
(int)v << std::endl;
image::Color color;
color.setYuv(yi, u, v);
std::cout << "HSZ " << color.getH() << " " << color.getS() <<
" " << color.getZ() << std::endl;
currentColorSpace->verboseContains(color);
if (!leftClick) {
std::cout << "Right click " << std::endl;
bool changed = currentColorSpace->expandToFit(color);
if (changed) {
colorSpaceWidget.setColorSpace(currentColorSpace);
}
}
updateThresholdedImage();
std::cout << std::endl;
}
void ColorCalibrate::selectColorSpace(int index) {
currentColorSpace = &colorSpace[index];
colorWheel.setColorSpace(currentColorSpace);
colorSpaceWidget.setColorSpace(currentColorSpace);
if (!displayAllColors) {
updateThresholdedImage();
}
}
void ColorTableCreator::paintMeLikeOneOfYourFrenchGirls(const BrushStroke& brushStroke) {
// Check the click was on the image
for (int i = -brushStroke.brushSize/2; i <= brushStroke.brushSize/2; i++) {
for (int j = -brushStroke.brushSize/2; j <= brushStroke.brushSize/2; j++) {
int brush_x = i + brushStroke.x;
int brush_y = j + brushStroke.y;
BMPYUVImage* image;
if (currentCamera == Camera::TOP) {
image = topImage;
} else {
image = bottomImage;
}
// Get the color from the image and emit it
if(0 < brush_x && brush_x < image->getWidth() && 0 < brush_y && brush_y < image->getHeight()) {
byte y = image->getYUVImage()->getY(brush_x, brush_y);
byte u = image->getYUVImage()->getU(brush_x, brush_y);
byte v = image->getYUVImage()->getV(brush_x, brush_y);
//TODO: hack? there must be a better way to do this - Octavian
// these values reflect the downscaled Y, U, V values from the image acquisition
int scaled_brush_x = brush_x/2;
int scaled_brush_y = brush_y/2;
// y image stores the sum of 4 neighboring pixels, so average it
int y1 = sensors->getYImage(Camera::BOTTOM)[scaled_brush_y*AVERAGED_IMAGE_WIDTH + scaled_brush_x]/2;
// u,v image stores the sum of 2 neighboring pixels so average it
// also since they're stored together we need to compute special offsets for each
int u1 = sensors->getUVImage(Camera::BOTTOM)[scaled_brush_y*AVERAGED_IMAGE_WIDTH*2 + scaled_brush_x*2];
int v1 = sensors->getUVImage(Camera::BOTTOM)[scaled_brush_y*AVERAGED_IMAGE_WIDTH*2 + scaled_brush_x*2 + 1];
std::cout << (int) y << " " << (int) u << " " << (int) v << std::endl;
std::cout << (int) y1 << " " << (int) u1 << " " << (int) v1 << std::endl;
if (brushStroke.define) {
colorTable.setColor(y, u, v, image::Color_bits[brushStroke.color]);
colorTable.setColor(y1, u1, v1, image::Color_bits[brushStroke.color]);
} else {
colorTable.unSetColor(y, u, v, image::Color_bits[brushStroke.color]);
colorTable.unSetColor(y1, u1, v1, image::Color_bits[brushStroke.color]);
}
}
}
}
updateThresholdedImage();
}
// This gets called every time the logs are advanced, ie every time the
// "forward" button is pressed in the main tool
void ColorTableCreator::run_()
{
bottomImageIn.latch();
topImageIn.latch();
bottomImage.setMessage(portals::Message<messages::YUVImage>(
&bottomImageIn.message()));
topImage.setMessage(portals::Message<messages::YUVImage>(
&topImageIn.message()));
updateThresholdedImage();
}
void ColorTableCreator::loadColorTable(){
QString base_directory = QString(NBITES_DIR) + "/data/tables";
QString filename = QFileDialog::getOpenFileName(this,
tr("Load Color Table from File"),
base_directory,
tr("Color Table files (*.mtb)"));
colorTable.read(filename.toStdString());
colorTableName->setText(filename);
serializeTableName(filename);
updateThresholdedImage();
}
void ColorCalibrate::run_()
{
topImageIn.latch();
bottomImageIn.latch();
topImage.setMessage(portals::Message<messages::YUVImage>(
&topImageIn.message()));
bottomImage.setMessage(portals::Message<messages::YUVImage>(
&bottomImageIn.message()));
subdiagram.run();
updateThresholdedImage();
}
void ColorTableCreator::imageTabSwitched(int)
{
// Rewire the thresholded display's inPortal to get the right thing
if (imageTabs->currentWidget() == &topDisplay) {
currentCamera = Camera::TOP;
thrDisplay.imageIn.wireTo(&topConverter.thrImage);
} else {
currentCamera = Camera::BOTTOM;
thrDisplay.imageIn.wireTo(&bottomConverter.thrImage);
}
loadLatestTable();
updateThresholdedImage();
}
void ColorTableCreator::paintStroke(const BrushStroke& brushStroke)
{
// Check the click was on the image
for (int i = -brushStroke.brushSize/2; i <= brushStroke.brushSize/2; i++)
{
for (int j = -brushStroke.brushSize/2; j <= brushStroke.brushSize/2; j++)
{
int brush_x = i + brushStroke.x;
int brush_y = j + brushStroke.y;
messages::YUVImage image;
if (currentCamera == Camera::TOP)
{
image = topImageIn.message();
}
else
{
image = bottomImageIn.message();
}
// Get the color from the image and emit it
if(0 < brush_x && brush_x < image.width()/2 &&
0 < brush_y && brush_y < image.height())
{
byte y = image.yImage().getPixel(brush_x, brush_y);
byte u = image.uImage().getPixel(brush_x/2, brush_y);
byte v = image.vImage().getPixel(brush_x/2, brush_y);
//std::cout << (int) y << " " << (int) u << " " << (int) v
// << std::endl;
if (brushStroke.define)
{
colorTable.setColor(y, u, v,
image::Color_bits[brushStroke.color]);
}
else
{
colorTable.unSetColor(y, u, v,
image::Color_bits[brushStroke.color]);
}
}
}
}
updateThresholdedImage();
}
