void JobCreateScript(JobScriptOutput& output, const DubOptions *opt, bool bIncludeEditList = true, bool bIncludeTextInfo = true) {
char *mem= NULL;
char buf[4096];
long l;
int audioSourceMode = g_project->GetAudioSourceMode();
switch(audioSourceMode) {
case kVDAudioSourceMode_External:
{
const VDStringA& encodedFileName = VDEncodeScriptString(VDStringW(g_szInputWAVFile));
const VDStringA& encodedDriverName = VDEncodeScriptString(VDTextWToU8(g_project->GetAudioSourceDriverName(), -1));
// check if we have options to write out
const InputFileOptions *opts = g_project->GetAudioSourceOptions();
if (opts) {
int l;
char buf[256];
l = opts->write(buf, (sizeof buf)/7*3);
if (l) {
membase64(buf+l, (char *)buf, l);
output.addf("VirtualDub.audio.SetSource(\"%s\", \"%s\", \"%s\");", encodedFileName.c_str(), encodedDriverName.c_str(), buf+l);
break;
}
}
// no options
output.addf("VirtualDub.audio.SetSource(\"%s\", \"%s\");", encodedFileName.c_str(), encodedDriverName.c_str());
}
break;
default:
if (audioSourceMode >= kVDAudioSourceMode_Source) {
int index = audioSourceMode - kVDAudioSourceMode_Source;
if (!index)
output.addf("VirtualDub.audio.SetSource(1);");
else
output.addf("VirtualDub.audio.SetSource(1,%d);", index);
break;
}
// fall through
case kVDAudioSourceMode_None:
output.addf("VirtualDub.audio.SetSource(0);");
break;
}
output.addf("VirtualDub.audio.SetMode(%d);", opt->audio.mode);
output.addf("VirtualDub.audio.SetInterleave(%d,%d,%d,%d,%d);",
opt->audio.enabled,
opt->audio.preload,
opt->audio.interval,
opt->audio.is_ms,
opt->audio.offset);
output.addf("VirtualDub.audio.SetClipMode(%d,%d);",
opt->audio.fStartAudio,
opt->audio.fEndAudio);
output.addf("VirtualDub.audio.SetConversion(%d,%d,%d,0,%d);",
opt->audio.new_rate,
opt->audio.newPrecision,
opt->audio.newChannels,
opt->audio.fHighQuality);
if (opt->audio.mVolume >= 0.0f)
output.addf("VirtualDub.audio.SetVolume(%d);", VDRoundToInt(256.0f * opt->audio.mVolume));
else
output.addf("VirtualDub.audio.SetVolume();");
if (g_ACompressionFormat) {
if (g_ACompressionFormat->mExtraSize) {
mem = (char *)allocmem(((g_ACompressionFormat->mExtraSize+2)/3)*4 + 1);
if (!mem) throw MyMemoryError();
membase64(mem, (char *)(g_ACompressionFormat+1), g_ACompressionFormat->mExtraSize);
output.addf("VirtualDub.audio.SetCompressionWithHint(%d,%d,%d,%d,%d,%d,%d,\"%s\",\"%s\");"
,g_ACompressionFormat->mTag
,g_ACompressionFormat->mSamplingRate
,g_ACompressionFormat->mChannels
,g_ACompressionFormat->mSampleBits
,g_ACompressionFormat->mDataRate
,g_ACompressionFormat->mBlockSize
,g_ACompressionFormat->mExtraSize
,mem
,VDEncodeScriptString(g_ACompressionFormatHint).c_str()
);
freemem(mem);
} else
output.addf("VirtualDub.audio.SetCompressionWithHint(%d,%d,%d,%d,%d,%d,\"%s\");"
,g_ACompressionFormat->mTag
,g_ACompressionFormat->mSamplingRate
,g_ACompressionFormat->mChannels
,g_ACompressionFormat->mSampleBits
,g_ACompressionFormat->mDataRate
,g_ACompressionFormat->mBlockSize
,VDEncodeScriptString(g_ACompressionFormatHint).c_str()
);
} else
output.addf("VirtualDub.audio.SetCompression();");
output.addf("VirtualDub.audio.EnableFilterGraph(%d);", opt->audio.bUseAudioFilterGraph);
output.addf("VirtualDub.video.SetInputFormat(%d);", opt->video.mInputFormat);
output.addf("VirtualDub.video.SetOutputFormat(%d);", opt->video.mOutputFormat);
output.addf("VirtualDub.video.SetMode(%d);", opt->video.mode);
output.addf("VirtualDub.video.SetSmartRendering(%d);", opt->video.mbUseSmartRendering);
output.addf("VirtualDub.video.SetPreserveEmptyFrames(%d);", opt->video.mbPreserveEmptyFrames);
output.addf("VirtualDub.video.SetFrameRate2(%u,%u,%d);",
opt->video.mFrameRateAdjustHi,
opt->video.mFrameRateAdjustLo,
opt->video.frameRateDecimation);
if (opt->video.frameRateTargetLo) {
output.addf("VirtualDub.video.SetTargetFrameRate(%u,%u);",
opt->video.frameRateTargetHi,
opt->video.frameRateTargetLo);
}
output.addf("VirtualDub.video.SetIVTC(0, 0, 0, 0);");
if ((g_Vcompression.dwFlags & ICMF_COMPVARS_VALID) && g_Vcompression.fccHandler) {
output.addf("VirtualDub.video.SetCompression(0x%08lx,%d,%d,%d);",
g_Vcompression.fccHandler,
g_Vcompression.lKey,
g_Vcompression.lQ,
g_Vcompression.lDataRate);
l = ICGetStateSize(g_Vcompression.hic);
if (l>0) {
mem = (char *)allocmem(l + ((l+2)/3)*4 + 1);
if (!mem) throw MyMemoryError();
if (ICGetState(g_Vcompression.hic, mem, l)<0) {
freemem(mem);
// throw MyError("Bad state data returned from compressor");
// Fine then, be that way. Stupid Pinnacle DV200 driver.
mem = NULL;
}
if (mem) {
membase64(mem+l, mem, l);
// urk... Windows Media 9 VCM uses a very large configuration struct (~7K pre-BASE64).
sprintf(buf, "VirtualDub.video.SetCompData(%d,\"", l);
VDStringA line(buf);
line += (mem+l);
line += "\");";
output.adds(line.c_str());
freemem(mem);
}
}
} else
output.addf("VirtualDub.video.SetCompression();");
output.addf("VirtualDub.video.filters.Clear();");
// Add video filters
FilterInstance *fa = (FilterInstance *)g_listFA.tail.next, *fa_next;
int iFilter = 0;
while(fa_next = (FilterInstance *)fa->next) {
output.addf("VirtualDub.video.filters.Add(\"%s\");", strCify(fa->GetName()));
if (fa->IsCroppingEnabled()) {
const vdrect32& cropInsets = fa->GetCropInsets();
output.addf("VirtualDub.video.filters.instance[%d].SetClipping(%d,%d,%d,%d%s);"
, iFilter
, cropInsets.left
, cropInsets.top
, cropInsets.right
, cropInsets.bottom
, fa->IsPreciseCroppingEnabled() ? "" : ",0"
);
}
VDStringA scriptStr;
if (fa->GetScriptString(scriptStr))
output.addf("VirtualDub.video.filters.instance[%d].%s;", iFilter, scriptStr.c_str());
if (!fa->IsEnabled())
output.addf("VirtualDub.video.filters.instance[%d].SetEnabled(false);", iFilter);
VDParameterCurve *pc = fa->GetAlphaParameterCurve();
if (pc) {
output.addf("declare curve = VirtualDub.video.filters.instance[%d].AddOpacityCurve();", iFilter);
const VDParameterCurve::PointList& pts = pc->Points();
for(VDParameterCurve::PointList::const_iterator it(pts.begin()), itEnd(pts.end()); it!=itEnd; ++it) {
const VDParameterCurvePoint& pt = *it;
output.addf("curve.AddPoint(%g, %g, %d);", pt.mX, pt.mY, pt.mbLinear);
}
}
++iFilter;
fa = fa_next;
}
// Add audio filters
{
VDAudioFilterGraph::FilterList::const_iterator it(g_audioFilterGraph.mFilters.begin()), itEnd(g_audioFilterGraph.mFilters.end());
int connidx = 0;
int srcfilt = 0;
output.addf("VirtualDub.audio.filters.Clear();");
for(; it!=itEnd; ++it, ++srcfilt) {
const VDAudioFilterGraph::FilterEntry& fe = *it;
output.addf("VirtualDub.audio.filters.Add(\"%s\");", strCify(VDTextWToU8(fe.mFilterName).c_str()));
for(unsigned i=0; i<fe.mInputPins; ++i) {
const VDAudioFilterGraph::FilterConnection& conn = g_audioFilterGraph.mConnections[connidx++];
output.addf("VirtualDub.audio.filters.Connect(%d, %d, %d, %d);", conn.filt, conn.pin, srcfilt, i);
}
VDPluginConfig::const_iterator itc(fe.mConfig.begin()), itcEnd(fe.mConfig.end());
for(; itc!=itcEnd; ++itc) {
const unsigned idx = (*itc).first;
const VDPluginConfigVariant& var = (*itc).second;
switch(var.GetType()) {
case VDPluginConfigVariant::kTypeU32:
output.addf("VirtualDub.audio.filters.instance[%d].SetInt(%d, %d);", srcfilt, idx, var.GetU32());
break;
case VDPluginConfigVariant::kTypeS32:
output.addf("VirtualDub.audio.filters.instance[%d].SetInt(%d, %d);", srcfilt, idx, var.GetS32());
break;
case VDPluginConfigVariant::kTypeU64:
output.addf("VirtualDub.audio.filters.instance[%d].SetLong(%d, %I64d);", srcfilt, idx, var.GetU64());
break;
case VDPluginConfigVariant::kTypeS64:
output.addf("VirtualDub.audio.filters.instance[%d].SetLong(%d, %I64d);", srcfilt, idx, var.GetS64());
break;
case VDPluginConfigVariant::kTypeDouble:
output.addf("VirtualDub.audio.filters.instance[%d].SetDouble(%d, %g);", srcfilt, idx, var.GetDouble());
break;
case VDPluginConfigVariant::kTypeAStr:
output.addf("VirtualDub.audio.filters.instance[%d].SetString(%d, \"%s\");", srcfilt, idx, strCify(VDTextWToU8(VDTextAToW(var.GetAStr())).c_str()));
break;
case VDPluginConfigVariant::kTypeWStr:
output.addf("VirtualDub.audio.filters.instance[%d].SetString(%d, \"%s\");", srcfilt, idx, strCify(VDTextWToU8(var.GetWStr(), -1).c_str()));
break;
case VDPluginConfigVariant::kTypeBlock:
output.addf("VirtualDub.audio.filters.instance[%d].SetBlock(%d, %d, \"%s\");", srcfilt, idx, var.GetBlockLen(), VDEncodeBase64A(var.GetBlockPtr(), var.GetBlockLen()).c_str());
break;
}
}
}
}
// Add subset information
if (bIncludeEditList) {
const FrameSubset& fs = g_project->GetTimeline().GetSubset();
output.addf("VirtualDub.subset.Clear();");
for(FrameSubset::const_iterator it(fs.begin()), itEnd(fs.end()); it!=itEnd; ++it)
output.addf("VirtualDub.subset.Add%sRange(%I64d,%I64d);", it->bMask ? "Masked" : "", it->start, it->len);
// Note that this must be AFTER the subset (we used to place it before, which was a bug).
if (g_project->IsSelectionPresent()) {
output.addf("VirtualDub.video.SetRangeFrames(%I64d,%I64d);",
g_project->GetSelectionStartFrame(),
g_project->GetSelectionEndFrame());
} else {
output.addf("VirtualDub.video.SetRange();");
}
}
// Add text information
if (bIncludeTextInfo) {
typedef std::list<std::pair<uint32, VDStringA> > tTextInfo;
const tTextInfo& textInfo = g_project->GetTextInfo();
output.addf("VirtualDub.project.ClearTextInfo();");
for(tTextInfo::const_iterator it(textInfo.begin()), itEnd(textInfo.end()); it!=itEnd; ++it) {
char buf[5]={0};
memcpy(buf, &(*it).first, 4);
output.addf("VirtualDub.project.AddTextInfo(\"%s\", \"%s\");", buf, VDEncodeScriptString((*it).second).c_str());
}
}
}
/**
* Filtering function implementation
*/
void srs_env_model::COcFilterRaycast::filterInternal( tButServerOcTree & tree )
{
assert( m_cloudPtr != 0 );
// Is camera model initialized?
if (!m_bCamModelInitialized)
{
ROS_ERROR("ERROR: camera model not initialized.");
return;
}
// compute bbx from sensor cone
octomap::point3d min;
octomap::point3d max;
computeBBX(m_sensor_header, min, max);
m_lockData.lock();
m_numLeafsRemoved = 0;
m_numLeafsOutOfCone = 0;
// Get sensor origin
m_sensor_origin = getSensorOrigin(m_sensor_header);
float resolution(tree.getResolution());
m_vgfilter.setLeafSize(resolution, resolution, resolution);
m_vgfilter.setInputCloud(m_cloudPtr);
// std::cerr << "Voxelgrid filter. Resolution: " << resolution << " Input cloud size: " << m_cloudPtr->size() << std::endl;
// std::cerr << "Output cloud: " << m_filtered_cloud << ", size: " << m_filtered_cloud->size() << std::endl;
m_vgfilter.filter(*m_filtered_cloud);
// std::cerr << "Raytracing. Grid size: " << m_filtered_cloud->size() << std::endl;
#ifdef PUBLISH_GRID
tPointCloud::Ptr ends_cloud(new tPointCloud );
#endif
float probMiss(tree.getProbMissLog());
// For all points in cloud
tPointCloud::VectorType::const_iterator it, itEnd( m_filtered_cloud->points.end());
for( it = m_filtered_cloud->points.begin(); it != itEnd; ++it)
{
// Cast ray through octomap
octomap::point3d direction(octomap::point3d(it->x, it->y, it->z) - m_sensor_origin);
// std::cerr << "D: " << direction.x() << ", " << direction.y() << ", " << direction.z() << std::endl;
octomap::point3d obstacle;
double range = direction.norm() - resolution;
octomap::point3d ray_end( m_sensor_origin + direction.normalized() * range);
//*
#ifdef PUBLISH_GRID
tPclPoint point;
point.x = ray_end.x(); point.y = ray_end.y(); point.z = ray_end.z();
point.r = point.g = point.b = 255;
ends_cloud->points.push_back(point);
#endif
//*/
octomap::KeyRay keyray;
if(tree.computeRayKeys(m_sensor_origin, ray_end, keyray))
{
// For all found cells
octomap::KeyRay::const_iterator itc, itcEnd( keyray.end());
for ( itc = keyray.begin(); itc != itcEnd; ++itc)
{
tButServerOcTree::NodeType * node(0);
node = tree.search(*itc);
if( node != 0 && tree.isNodeOccupied(node) && (!node->hasChildren()))
{
octomap::point3d point;
tree.genCoords(*itc, tree.getTreeDepth(), point);
/*
#ifdef PUBLISH_GRID
tPclPoint pclpoint;
pclpoint.x = point.x(); pclpoint.y = point.y(); pclpoint.z = point.z();
pclpoint.r = pclpoint.g = pclpoint.b = 255;
ends_cloud->points.push_back(pclpoint);
#endif
*/
node->setValue(probMiss);
/*
float node_range( (point-m_sensor_origin).norm() );
if( node_range > range)
node->setColor(255, 0, 0 );
else
node->setColor(0, 255.0*float(node_range/(0.1 + range)), 0 );
min = -(node_range-range) < min ? range : min;
max = -(node_range-range) > max ? range : max;
*/
++m_numLeafsRemoved;
}
}
}
//*/
}
#ifdef PUBLISH_GRID
sensor_msgs::PointCloud2 cloud;
// pcl::toROSMsg< tPclPoint >(*m_filtered_cloud, cloud);
pcl::toROSMsg< tPclPoint >(*ends_cloud, cloud);
// Set message parameters and publish
cloud.header.frame_id = m_cloudPtr->header.frame_id;
cloud.header.stamp = m_cloudPtr->header.stamp;
grid_pub_.publish(cloud);
#endif
m_lockData.unlock();
}
