void testExternalRepeat() {
report(0,"checking that setExternal can be called multiple times...");
unsigned char buf[EXT_HEIGHT*EXT_WIDTH*3];
unsigned char buf2[EXT_HEIGHT*2*EXT_WIDTH*2*3];
ImageOf<PixelRgb> img;
img.setExternal(&buf[0],EXT_WIDTH,EXT_HEIGHT);
checkEqual(img.width(),EXT_WIDTH,"width check");
checkEqual(img.height(),EXT_HEIGHT,"height check");
img.setExternal(&buf2[0],EXT_WIDTH*2,EXT_HEIGHT*2);
checkEqual(img.width(),EXT_WIDTH*2,"width check");
checkEqual(img.height(),EXT_HEIGHT*2,"height check");
}
bool BayerCarrier::processDirect(const yarp::os::Bytes& bytes) {
if (have_result) {
memcpy(bytes.get(),out.getRawImage(),bytes.length());
return true;
}
//printf("Copyless conversion\n");
ImageOf<PixelRgb> wrap;
wrap.setQuantum(out.getQuantum());
wrap.setExternal(bytes.get(),out.width(),out.height());
if (half) {
debayerHalf(in,wrap);
} else {
debayerFull(in,wrap);
}
return true;
}
void ArmarxFrameGrabber::process()
{
if(!waitForImages())
{
ARMARX_WARNING << "Timeout or error in wait for images" << armarx::flush;
}
else
{
// poll images
int nNumberImages = getImages(m_ppImages);
for(int i = 0 ; i < nNumberImages ; i++)
{
//m_ImageFormat.dimension.width, m_ImageFormat.dimension.height;
ImageOf<PixelRgb>& out = m_imagePorts[i].prepare();
ImageOf<PixelRgb> ext;
CByteImage& img = *m_ppImages[i];
ext.setExternal(img.pixels,
img.width,
img.height);
out.copy(ext); // this could be avoided with a little more work
m_imagePorts[i].write();
}
}
}
bool OdeSdlSimulation::getImage(ImageOf<PixelRgb>& target) {
int w = cameraSizeWidth;
int h = cameraSizeHeight;
int p = 3;
char *buf=new char[w * h * p];
glReadPixels( 0, 0, w, h, GL_RGB, GL_UNSIGNED_BYTE, buf);
ImageOf<PixelRgb> img;
img.setQuantum(1);
img.setExternal(buf,w,h);
// inefficient flip!
target.resize(img);
int ww = img.width();
int hh = img.height();
for (int x=0; x<ww; x++) {
for (int y=0; y<hh; y++) {
target(x,y) = img(x,hh-1-y);
}
}
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
delete[] buf;
return true;
}
void RGBDSensorWrapper::shallowCopyImages(const ImageOf<PixelFloat>& src, ImageOf<PixelFloat>& dest)
{
dest.setQuantum(src.getQuantum());
dest.setExternal(src.getRawImage(), src.width(), src.height());
}
