bool yarp::dev::GazeboYarpMultiCameraDriver::getImage(yarp::sig::ImageOf<yarp::sig::PixelRgb>& _image)
{
for (unsigned int i = 0; i < m_camera_count; ++i) {
m_dataMutex[i]->wait();
}
if (m_vertical) {
_image.resize(m_max_width, m_max_height * m_camera_count);
} else {
_image.resize(m_max_width * m_camera_count, m_max_height);
}
unsigned char *pBuffer = _image.getRawImage();
memset(pBuffer, 0, _image.getRawImageSize());
for (unsigned int i = 0; i < m_camera_count; ++i) {
int rowsize = 3 * m_width[i];
int rowoffset = i * 3 * m_max_width;
if (m_vertical) {
if (m_max_width == m_width[i] && m_max_height == m_height[i]) {
memcpy(pBuffer + (3 * m_max_width * m_max_height * i), m_imageBuffer[i], m_bufferSize[i]);
} else {
for (int r = 0; r < m_height[i]; r++) {
memcpy(pBuffer + (3 * m_max_width) * (m_max_height * i + r), m_imageBuffer[i] + rowsize * r, rowsize);
}
}
} else {
for (int r = 0; r < m_height[i]; r++) {
memcpy(pBuffer + (3 * m_max_width * m_camera_count * r) + rowoffset, m_imageBuffer[i] + rowsize * r, rowsize);
}
}
}
if (m_display_time_box) {
m_counter = (++m_counter % 10);
for (int c = m_counter*30; c < 30 + m_counter*30; c++) {
for (int r=0; r<30; r++) {
for (unsigned int i = 0; i < m_camera_count; ++i) {
unsigned char *pixel;
if (m_vertical) {
pixel = _image.getPixelAddress(m_width[i]-c-1, m_max_height * i + m_height[i]-r-1);
} else {
pixel = _image.getPixelAddress(m_max_width * i + m_width[i]-c-1, m_height[i]-r-1);
}
pixel[0] = (m_counter % 2 == 0) ? 255 : 0;
pixel[1] = (m_counter % 2 == 0) ? 0 : 255;
pixel[2] = 0;
}
}
}
}
for (unsigned int i = 0; i < m_camera_count; ++i) {
m_dataMutex[i]->post();
}
return true;
}
virtual bool threadInit() override
{
p.open("/readWriteTest_writer");
image.resize(100, 100);
image.zero();
return true;
}
bool USBCameraDriverRgb::getImage(yarp::sig::ImageOf<yarp::sig::PixelRgb>& image)
{
if( (image.width() != _width) || (image.height() != _height) )
image.resize(_width, _height);
deviceRgb->getRgbBuffer(image.getRawImage());
return true;
}
bool MapGrid2D::getMapImage(yarp::sig::ImageOf<PixelRgb>& image) const
{
image.setQuantum(1);
image.resize(m_width, m_height);
image.zero();
for (size_t y = 0; y < m_height; y++)
{
for (size_t x = 0; x < m_width; x++)
{
image.safePixel(x, y) = CellDataToPixel(m_map_flags.safePixel(x, y));
}
}
return true;
}
void copyImage(Magick::Image& src,
yarp::sig::ImageOf<yarp::sig::PixelRgb>& dest) {
Magick::Geometry g = src.size();
int h = g.height();
int w = g.width();
src.depth(8);
dest.resize(w,h);
for (int i=0; i<h; i++) {
// must transfer row by row, since YARP may use padding in representation
Magick::PixelPacket *packet = src.getPixels(0,i,w,1);
src.writePixels(Magick::RGBQuantum,(unsigned char *)(&dest.pixel(0,i)));
}
src.syncPixels();
}
bool realsense2Driver::getImage(yarp::sig::ImageOf<yarp::sig::PixelMono>& image)
{
if (!m_stereoMode)
{
yError()<<"realsense2Driver: infrared stereo stream not enabled";
return false;
}
image.resize(width(), height());
std::lock_guard<std::mutex> guard(m_mutex);
rs2::frameset data = m_pipeline.wait_for_frames();
rs2::video_frame frm1 = data.get_infrared_frame(1);
rs2::video_frame frm2 = data.get_infrared_frame(2);
int pixCode = pixFormatToCode(frm1.get_profile().format());
if (pixCode != VOCAB_PIXEL_MONO && pixCode != VOCAB_PIXEL_MONO16)
{
yError() << "realsense2Driver: expecting Pixel Format MONO or MONO16";
return false;
}
size_t singleImage_rowSizeByte = image.getRowSize()/2;
unsigned char * pixelLeft = (unsigned char*) (frm1.get_data());
unsigned char * pixelRight = (unsigned char*) (frm2.get_data());
unsigned char * pixelOutLeft = image.getRawImage();
unsigned char * pixelOutRight = image.getRawImage() + singleImage_rowSizeByte;
for (size_t h=0; h< image.height(); h++)
{
memcpy(pixelOutLeft, pixelLeft, singleImage_rowSizeByte);
memcpy(pixelOutRight, pixelRight, singleImage_rowSizeByte);
pixelOutLeft += 2*singleImage_rowSizeByte;
pixelOutRight += 2*singleImage_rowSizeByte;
pixelLeft += singleImage_rowSizeByte;
pixelRight += singleImage_rowSizeByte;
}
return true;
}
bool FfmpegGrabber::getAudioVisual(yarp::sig::ImageOf<yarp::sig::PixelRgb>& image,
yarp::sig::Sound& sound) {
FfmpegHelper& helper = HELPER(system_resource);
DecoderState& videoDecoder = helper.videoDecoder;
DecoderState& audioDecoder = helper.audioDecoder;
bool tryAgain = false;
bool triedAgain = false;
do {
bool gotAudio = false;
bool gotVideo = false;
if (startTime<0.5) {
startTime = Time::now();
}
double time_target = 0;
while(av_read_frame(pFormatCtx, &packet)>=0) {
// Is this a packet from the video stream?
DBG printf("frame ");
bool done = false;
if (packet.stream_index==videoDecoder.getIndex()) {
DBG printf("video ");
done = videoDecoder.getVideo(packet);
image.resize(1,1);
if (done) {
//printf("got a video frame\n");
gotVideo = true;
}
} if (packet.stream_index==audioDecoder.getIndex()) {
DBG printf("audio ");
done = audioDecoder.getAudio(packet,sound);
if (done) {
//printf("got an audio frame\n");
gotAudio = true;
}
} else {
DBG printf("other ");
}
AVRational& time_base = pFormatCtx->streams[packet.stream_index]->time_base;
double rbase = av_q2d(time_base);
DBG printf(" time=%g ", packet.pts*rbase);
time_target = packet.pts*rbase;
av_free_packet(&packet);
DBG printf(" %d\n", done);
if (((imageSync?gotVideo:videoDecoder.haveFrame())||!_hasVideo)&&
((imageSync?1:gotAudio)||!_hasAudio)) {
if (_hasVideo) {
videoDecoder.getVideo(image);
} else {
image.resize(0,0);
}
if (needRateControl) {
double now = (Time::now()-startTime)*pace;
double delay = time_target-now;
if (delay>0) {
DBG printf("DELAY %g ", delay);
Time::delay(delay);
} else {
DBG printf("NODELAY %g ", delay);
}
}
DBG printf("IMAGE size %dx%d ", image.width(), image.height());
DBG printf("SOUND size %d\n", sound.getSamples());
if (!_hasAudio) {
sound.resize(0,0);
}
return true;
}
}
tryAgain = !triedAgain;
if (tryAgain) {
if (!shouldLoop) {
return false;
}
av_seek_frame(pFormatCtx,-1,0,AVSEEK_FLAG_BACKWARD);
startTime = Time::now();
}
} while (tryAgain);
return false;
}
void TestFrameGrabber::createTestImage(yarp::sig::ImageOf<yarp::sig::PixelRgb>&
image) {
// to test IPreciselyTimed, make timestamps be mysteriously NNN.NNN42
double t = Time::now();
t -= ((t*1000)-(int)t)/1000;
t+= 0.00042;
stamp.update(t);
if (background.width()>0) {
image.copy(background);
} else {
image.zero();
image.resize(w,h);
}
switch (mode) {
case VOCAB_BALL:
{
addCircle(image,PixelRgb(0,255,0),bx,by,15);
addCircle(image,PixelRgb(0,255,255),bx,by,8);
if (ct%5!=0) {
rnd *= 65537;
rnd += 17;
bx += (rnd%5)-2;
rnd *= 65537;
rnd += 17;
by += (rnd%5)-2;
} else {
int dx = w/2 - bx;
int dy = h/2 - by;
if (dx>0) { bx++; }
if (dx<0) { bx--; }
if (dy>0) { by++; }
if (dy<0) { by--; }
}
}
break;
case VOCAB_GRID:
{
int ww = image.width();
int hh = image.height();
if (ww>1&&hh>1) {
for (int x=0; x<ww; x++) {
for (int y=0; y<hh; y++) {
double xx = ((double)x)/(ww-1);
double yy = ((double)y)/(hh-1);
int r = int(0.5+255*xx);
int g = int(0.5+255*yy);
bool act = (y==ct);
image.pixel(x,y) = PixelRgb(r,g,act*255);
}
}
}
}
break;
case VOCAB_LINE:
default:
{
for (int i=0; i<image.width(); i++) {
image.pixel(i,ct).r = 255;
}
}
break;
case VOCAB_RAND:
{
// from Alessandro Scalzo
static unsigned char r=128,g=128,b=128;
int ww = image.width();
int hh = image.height();
if (ww>1&&hh>1) {
for (int x=0; x<ww; x++) {
for (int y=0; y<hh; y++) {
//r+=(rand()%3)-1;
//g+=(rand()%3)-1;
//b+=(rand()%3)-1;
r += Random::uniform(-1,1);
g += Random::uniform(-1,1);
b += Random::uniform(-1,1);
image.pixel(x,y) = PixelRgb(r,g,b);
}
}
}
}
break;
case VOCAB_NONE:
break;
}
ct++;
if (ct>=image.height()) {
ct = 0;
}
if (by>=image.height()) {
by = image.height()-1;
}
if (bx>=image.width()) {
bx = image.width()-1;
}
if (bx<0) bx = 0;
if (by<0) by = 0;
}