void onRead(T &obj) override
{
if (++cnt==dwnsample)
{
if (firstIncomingData)
{
yInfo() << "Incoming data detected";
firstIncomingData=false;
}
DumpItem item;
Stamp info;
BufferedPort<T>::getEnvelope(info);
item.seqNumber=info.getCount();
if (txTime || (info.isValid() && !rxTime))
item.timeStamp.setTxStamp(info.getTime());
if (rxTime || !info.isValid())
item.timeStamp.setRxStamp(Time::now());
item.obj=factory(obj);
buf.lock();
buf.push_back(item);
buf.unlock();
cnt=0;
}
}
int main(int argc, char *argv[]) {
//Declair yarp
Network yarp;
if (!yarp.checkNetwork())
{
printf("YARP server not available!\n");
return -1;
}
//Creating a Resiving yarp port
BufferedPort<Sound> bufferPort;
bufferPort.open("/receiver");
if (!Network::exists("/receiver")) {
printf("receiver not exists \n");
return -1;
}
//Connecting the resiving audio port with the sender on the pc104
Network::connect("/sender", "/receiver");
if (!Network::isConnected("/sender", "/receiver")) {
printf("no connection \n");
return -1;
}
double empty[samplingBuffer *4] = {0}; //plus 2 for time and sample stamps
//Setup for memory mapping
FILE *fid;
fid = fopen("/tmp/AudioMemMap.tmp", "w");
fwrite(empty, sizeof(double), samplingBuffer * 4, fid);
fclose(fid);
int mappedFileID;
mappedFileID = open("/tmp/AudioMemMap.tmp", O_RDWR);
double *mappedAudioData;
mappedAudioData = (double *)mmap(0, memoryMapSize_bytes, PROT_WRITE, MAP_SHARED , mappedFileID, 0);
//Main loop that maps the sound to the memory mapped region delaired above
Sound* s;
Stamp ts;
while (true) {
//This is a blocking read
s = bufferPort.read(true);
bufferPort.getEnvelope(ts);
printf("count:%d time:%f \n", ts.getCount(), ts.getTime());
int e0 = ts.getCount();
double e1 = ts.getTime();
int row = 0;
for (int col = 0 ; col < samplingBuffer; col++) {
NetInt16 temp_c = (NetInt16) s->get(col, 0);
NetInt16 temp_d = (NetInt16) s->get(col, 1);
mappedAudioData[row] = (double) temp_c / normDivid ;
mappedAudioData[row + 1] = (double) temp_d / normDivid;
mappedAudioData[row + 2] = (double) (e0 * samplingBuffer) + col;
mappedAudioData[row + 3] = (double) (e1 + col * samplePeriod);
row += 4;
}
}
return 0;
}
bool GBSegmModule::updateModule()
{
ImageOf<PixelRgb> *yrpImgIn;
static int cycles = 0;
yrpImgIn = _imgPort.read();
if (yrpImgIn == NULL) // this is the case if module is requested to quit while waiting for image
return true;
bool use_private_stamp;
Stamp s;
if(!_imgPort.getEnvelope(s))
{
cout << "No stamp found in input image. Will use private stamp" << endl;
use_private_stamp = true;
}
else
{
cout << "Received image #" << s.getCount() << " generated at time " << s.getTime() << endl;
use_private_stamp = false;
}
if(cycles == 0)
_timestart = yarp::os::Time::now();
cycles++;
//IplImage *iplimg = (IplImage*)yrpImgIn->getIplImage();
cout << "converting image of size " << yrpImgIn->width() << yrpImgIn->height() <<" to size" << input->width() << input->height() << endl;
YarpImageToRGBImage(input, yrpImgIn);
cout << "converted" << endl;
segMutex.wait();
if(seg)
delete seg;
seg=segment_image(input, sigma, k, min_size, &num_components);
segMutex.post();
cout << "processed" << endl;
//prepare timestamps
if(use_private_stamp)
{
_stamp.update();
_viewPort.setEnvelope(_stamp);
}
else
{
_viewPort.setEnvelope(s);
}
ImageOf<PixelRgb> &yrpImgView = _viewPort.prepare();
//Rescale image if required
yrpImgView.resize(seg->width(), seg->height());
RGBImageToYarpImage(seg, &yrpImgView);
_viewPort.write();
//report the frame rate
if(cycles % 100 == 0)
{
double cps = ((double)cycles)/(yarp::os::Time::now() - _timestart);
printf("fps: %02.2f\n", cps);
}
return true;
}
bool EdisonSegmModule::updateModule()
{
ImageOf<PixelRgb> *yrpImgIn;
static int cycles = 0;
yrpImgIn = _imgPort.read();
if (yrpImgIn == NULL) // this is the case if module is requested to quit while waiting for image
return true;
bool use_private_stamp;
Stamp s;
if(!_imgPort.getEnvelope(s))
{
cout << "No stamp found in input image. Will use private stamp" << endl;
use_private_stamp = true;
}
else
{
cout << "Received image #" << s.getCount() << " generated at time " << s.getTime() << endl;
use_private_stamp = false;
}
if(cycles == 0)
_timestart = yarp::os::Time::now();
cycles++;
IplImage *iplimg = (IplImage*)yrpImgIn->getIplImage();
//computing the ROI to crop the image
/*struct _IplROI roi;
roi.coi = 0; // all channels are selected
roi.height = height_;
roi.width = width_;
roi.xOffset = ( orig_width_ - width_ ) / 2;
roi.yOffset = ( orig_height_ - height_ ) / 2;*/
//copying roi data to buffer
/*iplimg->roi = &roi;
cvCopy( iplimg, inputImage.getIplImage());*/
//Rescale image if required
if( (width_ != orig_width_) || (height_ != orig_height_ ) )
cvResize(iplimg, inputImage.getIplImage(), CV_INTER_NN);
else
cvCopy( iplimg, inputImage.getIplImage());
double edgetime = yarp::os::Time::now();
//compute gradient and confidence maps
BgEdgeDetect edgeDetector(gradWindRad);
BgImage bgImage;
bgImage.SetImage(inputImage_, width_, height_, true);
edgeDetector.ComputeEdgeInfo(&bgImage, confMap_, gradMap_);
//compute the weigth map
for(int i = 0; i < width_*height_; i++) {
if(gradMap_[i] > 0.02) {
weightMap_[i] = mixture*gradMap_[i] + (1 - mixture)*confMap_[i];
} else {
weightMap_[i] = 0;
}
}
///////////////////////////// This block can be parallelized
cout << "Edge computation Time (ms): " << (yarp::os::Time::now() - edgetime)*1000.0 << endl;
msImageProcessor iProc;
if( dim_ == 3 )
iProc.DefineImage(inputImage_, COLOR, height_, width_);
else
{
cvCvtColor(inputImage.getIplImage(), inputHsv.getIplImage(), CV_RGB2HSV);
cvSplit(inputHsv.getIplImage(), inputHue.getIplImage(), 0, 0, 0);
iProc.DefineImage(inputHue_, GRAYSCALE, height_, width_);
}
if(iProc.ErrorStatus) {
cout << "MeanShift Error" << endl;
return false;
}
iProc.SetWeightMap(weightMap_, threshold);
if(iProc.ErrorStatus) {
cout << "MeanShift Error" << endl;
return false;
}
double filtertime = yarp::os::Time::now();
iProc.Filter(sigmaS, sigmaR, speedup);
if(iProc.ErrorStatus) {
cout << "MeanShift Error" << endl;
return false;
}
cout << "Mean Shift Filter Computation Time (ms): " << (yarp::os::Time::now() - filtertime)*1000.0 << endl;
//obtain the filtered image
iProc.GetResults(filtImage_);
if(iProc.ErrorStatus) {
cout << "MeanShift Error" << endl;
return false;
}
//fuse regions
double fusetime = yarp::os::Time::now();
iProc.FuseRegions(sigmaR, minRegion);
if(iProc.ErrorStatus) {
cout << "MeanShift Error" << endl;
return false;
}
cout << "Region Fusion Computation Time (ms): " << (yarp::os::Time::now() - fusetime)*1000.0 << endl;
//obtain the segmented image
iProc.GetResults(segmImage_);
if(iProc.ErrorStatus) {
cout << "MeanShift Error" << endl;
return false;
}
//define the boundaries - do not need this
/*
RegionList *regionList = iProc.GetBoundaries();
int *regionIndeces = regionList->GetRegionIndeces(0);
int numRegions = regionList->GetNumRegions();
numBoundaries_ = 0;
for(int i = 0; i < numRegions; i++) {
numBoundaries_ += regionList->GetRegionCount(i);
}
if(boundaries_) delete [] boundaries_;
boundaries_ = new int [numBoundaries_];
for(int i = 0; i < numBoundaries_; i++) {
boundaries_[i] = regionIndeces[i];
}*/
int regionCount; // how many regions have been found
int *labels = NULL; //pointer for the labels (should this be released in the end?)
float *modes; //pointer for the Luv values (should this be released in the end?)
int *modePointCounts; //the area of each region (should this be released in the end?)
regionCount = iProc.GetRegions(&labels, &modes, &modePointCounts);
int *labelp = (int*)labelImage.getRawImage();
for(int i = 0; i < width_*height_; i++)
labelp[i] = labels[i];
IplImage *labelint = (IplImage*)labelImage.getIplImage();
IplImage *labelchar = (IplImage*)labelView.getIplImage();
cvConvert(labelint, labelchar);
//prepare timestamps
if(use_private_stamp)
{
_stamp.update();
_labelPort.setEnvelope(_stamp);
_labelViewPort.setEnvelope(_stamp);
_viewPort.setEnvelope(_stamp);
_filtPort.setEnvelope(_stamp);
_rawPort.setEnvelope(_stamp);
}
else
{
_labelPort.setEnvelope(s);
_labelViewPort.setEnvelope(s);
_viewPort.setEnvelope(s);
_filtPort.setEnvelope(s);
_rawPort.setEnvelope(s);
}
ImageOf<PixelInt> &yrpImgLabel = _labelPort.prepare();
//Rescale image if required
if( (width_ != orig_width_) || (height_ != orig_height_ ) )
{
yrpImgLabel.resize(orig_width_, orig_height_);
cvResize(labelImage.getIplImage(), yrpImgLabel.getIplImage(), CV_INTER_NN);
}
else
yrpImgLabel = labelImage;
_labelPort.write();
ImageOf<PixelMono> &yrpImgDebug = _labelViewPort.prepare();
//Rescale image if required
if( (width_ != orig_width_) || (height_ != orig_height_ ) )
{
yrpImgDebug.resize(orig_width_, orig_height_);
cvResize(labelView.getIplImage(), yrpImgDebug.getIplImage(), CV_INTER_NN);
}
else
yrpImgDebug = labelView;
_labelViewPort.write();
ImageOf<PixelRgb> &yrpFiltOut = _filtPort.prepare();
//Rescale image if required
if( (width_ != orig_width_) || (height_ != orig_height_ ) )
{
yrpFiltOut.resize(orig_width_, orig_height_);
cvResize(filtImage.getIplImage(), yrpFiltOut.getIplImage(), CV_INTER_NN);
}
else
yrpFiltOut = filtImage;
_filtPort.write();
ImageOf<PixelRgb> &yrpImgView = _viewPort.prepare();
//Rescale image if required
if( (width_ != orig_width_) || (height_ != orig_height_ ) )
{
yrpImgView.resize(orig_width_, orig_height_);
cvResize(segmImage.getIplImage(), yrpImgView.getIplImage(), CV_INTER_NN);
}
else
yrpImgView = segmImage;
_viewPort.write();
ImageOf<PixelRgb> &yrpImgOut = _rawPort.prepare();
yrpImgOut = *yrpImgIn;
_rawPort.write();
//report the frame rate
if(cycles % 100 == 0)
{
double cps = ((double)cycles)/(yarp::os::Time::now() - _timestart);
printf("fps: %02.2f\n", cps);
}
return true;
}
