void ClipObject::loadImage(QString imgFile, int imgFrame) { if (m_imageName == imgFile && m_imageFrame == imgFrame) return; m_imageName = imgFile; m_imageFrame = imgFrame; if (m_imageName.isEmpty()) { m_imageFrame = 0; m_imagePresent = false; return; } //---------------- // file is assumed to be relative to .pvl.nc file // get the absolute path VolumeInformation pvlInfo = VolumeInformation::volumeInformation(); QFileInfo fileInfo(pvlInfo.pvlFile); QString absoluteImageFile = QFileInfo(fileInfo.absolutePath(), m_imageName).absoluteFilePath(); //---------------- QFileInfo f(absoluteImageFile); if (f.exists() == false) { m_textureHeight = m_textureWidth = 10; m_imagePresent = true; clearCaption(); return; } QMovie movie(absoluteImageFile); movie.setCacheMode(QMovie::CacheAll); movie.start(); movie.setPaused(true); movie.jumpToFrame(0); if (movie.jumpToFrame(m_imageFrame) == false) movie.jumpToFrame(0); QImage mapImage(movie.currentImage()); m_textureHeight = mapImage.height(); m_textureWidth = mapImage.width(); int nbytes = mapImage.byteCount(); int rgb = nbytes/(m_textureWidth*m_textureHeight); unsigned char *image = new unsigned char[rgb*m_textureWidth*m_textureHeight]; memcpy(image, mapImage.bits(), rgb*m_textureWidth*m_textureHeight); GLuint fmt; if (rgb == 1) fmt = GL_LUMINANCE; else if (rgb == 2) fmt = GL_LUMINANCE_ALPHA; else if (rgb == 3) fmt = GL_RGB; else if (rgb == 4) fmt = GL_BGRA; glActiveTexture(GL_TEXTURE0); glBindTexture(GL_TEXTURE_RECTANGLE_ARB, m_imageTex); glTexParameterf(GL_TEXTURE_RECTANGLE_ARB, GL_TEXTURE_WRAP_S, GL_CLAMP_TO_EDGE); glTexParameterf(GL_TEXTURE_RECTANGLE_ARB, GL_TEXTURE_WRAP_T, GL_CLAMP_TO_EDGE); glTexParameteri(GL_TEXTURE_RECTANGLE_ARB, GL_TEXTURE_MIN_FILTER, GL_LINEAR); glTexParameteri(GL_TEXTURE_RECTANGLE_ARB, GL_TEXTURE_MAG_FILTER, GL_LINEAR); glTexImage2D(GL_TEXTURE_RECTANGLE_ARB, 0, rgb, m_textureWidth, m_textureHeight, 0, fmt, GL_UNSIGNED_BYTE, image); glDisable(GL_TEXTURE_RECTANGLE_ARB); delete [] image; clearCaption(); m_imagePresent = true; }
/** * Runs the tracking. */ void Tracker::executeTracker() { #define PI (3.1415926535897932384626433832795028841) // Kinect fow: 43° vertical, 57° horizontal double verticalScalingFactor = tan(43 * PI / 180) / 240; double horizontalScalingFactor = tan(57 * PI / 180) / 320; ROS_DEBUG("Scaling factors: %lf/%lf", horizontalScalingFactor, verticalScalingFactor); bool quadcopterTracked = false; // Images cv::Mat cameraImage(cv::Size(640, 480), CV_8UC3); // Only for showCameraImage == true. cv::Mat maskedImage(cv::Size(640, 480), CV_8UC3); // Only for showMaskedImage == true. cv::Mat image(cv::Size(640, 480), CV_8UC3); // The raw image from the camera. cv::Mat mapImage(cv::Size(640, 480), CV_8UC1); // The color mapped image. cv::Mat hsvImage(cv::Size(640, 480), CV_8UC3); // The raw image in hsv format. // CvBlob cvb::CvBlobs blobs; IplImage *labelImg = cvCreateImage(image.size(), IPL_DEPTH_LABEL, 1); cv::Mat morphKernel = cv::getStructuringElement(CV_SHAPE_RECT, cv::Size(5, 5)); cvb::CvTracks tracks; IplImage iplMapImage; while (!stopFlag) { if (imageDirty == 0) { usleep(100); continue; } else if (imageDirty > 1) { ROS_WARN("Skipped %d frames!", imageDirty - 1); } START_CLOCK(trackerClock) imageMutex.lock(); ((cv::Mat*) this->image)->copyTo(image); long int time = this->imageTime; imageDirty = 0; imageMutex.unlock(); if (showCameraImage) image.copyTo(cameraImage); createColorMapImage(image, mapImage, hsvImage); if (showMaskedImage) { // Convert to 3 channel image. int target = 0; for (int i = 0; i < mapImage.total(); ++i) { maskedImage.data[target++] = mapImage.data[i]; maskedImage.data[target++] = mapImage.data[i]; maskedImage.data[target++] = mapImage.data[i]; } } cv::morphologyEx(mapImage, mapImage, cv::MORPH_OPEN, morphKernel); // Finding blobs // Only copies headers. iplMapImage = mapImage; unsigned int result = cvLabel(&iplMapImage, labelImg, blobs); // ROS_DEBUG("Blob result: %d", result); // Filter blobs cvFilterByArea(blobs, 10, 1000000); if (showCameraImage || showMaskedImage) cvUpdateTracks(blobs, tracks, 200., 5); if (showMaskedImage) { // Only copies headers. IplImage iplImage = maskedImage; cvRenderBlobs(labelImg, blobs, &iplImage, &iplImage, CV_BLOB_RENDER_BOUNDING_BOX); cvRenderTracks(tracks, &iplImage, &iplImage, CV_TRACK_RENDER_ID | CV_TRACK_RENDER_BOUNDING_BOX); ROS_DEBUG("Exiting visual masked block"); // TODO Tracking down // issue #7 } if (showCameraImage) { // Only copies headers. IplImage iplImage = cameraImage; cvRenderBlobs(labelImg, blobs, &iplImage, &iplImage, CV_BLOB_RENDER_BOUNDING_BOX); cvRenderTracks(tracks, &iplImage, &iplImage, CV_TRACK_RENDER_ID | CV_TRACK_RENDER_BOUNDING_BOX); ROS_DEBUG("Exiting visual masked block"); // TODO Tracking down // issue #7 } if (showCameraImage || showMaskedImage) cvReleaseTracks(tracks); if (blobs.size() != 0) { // Find biggest blob cvb::CvLabel largestBlob = cvLargestBlob(blobs); CvPoint2D64f center = blobs.find(largestBlob)->second->centroid; double x = center.x; double y = center.y; // Set (0, 0) to center. x -= 320; y -= 240; // ROS_DEBUG("Center: %lf/%lf", x, y); // Apply scaling x *= horizontalScalingFactor; y *= verticalScalingFactor; dataReceiver->receiveTrackingData(cv::Scalar(x, y, 1.0), ((QuadcopterColor*) qc)->getId(), time); if (showMaskedImage) drawCross(maskedImage, center.x, center.y); if (showCameraImage) drawCross(cameraImage, center.x, center.y); if (!quadcopterTracked) { quadcopterTracked = true; ROS_DEBUG("Quadcopter %d tracked", ((QuadcopterColor*) this->qc)->getId()); } } else if (quadcopterTracked) { quadcopterTracked = false; ROS_DEBUG("Quadcopter %d NOT tracked", ((QuadcopterColor*) this->qc)->getId()); } // Free cvb stuff. cvReleaseBlobs(blobs); // ROS_DEBUG("cvb stuff freed"); // TODO Tracking down issue #7 if (showMaskedImage) { cv::imshow(maskedWindowName, maskedImage); ROS_DEBUG("showed masked image"); // TODO Tracking down issue #7 } if (showCameraImage) { cv::imshow(cameraWindowName, cameraImage); ROS_DEBUG("showed camera image"); // TODO Tracking down issue #7 } STOP_CLOCK(trackerClock, "Calculation of quadcopter position took: ") } cvReleaseImage(&labelImg); if (showMaskedImage) cv::destroyWindow(maskedWindowName); if (showCameraImage) cv::destroyWindow(cameraWindowName); ROS_INFO("Tracker with id %d terminated", ((QuadcopterColor*) this->qc)->getId()); }