/*
OutputImageFormat ConvertImage(address to input image)
converts an Mat image to an pixel-bgr image
*/
ImageOf<PixelBgr> ConvertImage(Mat& input)
{
IplImage ipback = static_cast<IplImage>(input); // At first we casting the Mat to an IPL image
ImageOf<PixelBgr> back;
back.wrapIplImage(&ipback); // then we are wrapping the ipl image into our Output format
return back;
}
//Loads a vector of JPG images into a bottle based on our 'database' file
void ANTData::loadDatabase()
{
string file;
string databaseFolder;
if (databaseContext == "")
databaseFolder = databaseName;
else
databaseFolder = databaseContext + "/" + databaseName;
cout << "ANTData::loadDatabase: trying to read from " << (databaseFolder + "/" + databaseName).c_str() << endl;
ifstream datafile((databaseFolder + "/" + databaseName).c_str());
if (datafile.is_open()) {
while (!datafile.eof()) { //open the file and read in each line
getline(datafile,file);
if (file.size() <= 3) break;
file = databaseFolder + "/" + file;
IplImage *thisImg = cvLoadImage(file.c_str()); //load image
ImageOf <PixelRgb> yarpImg;
yarpImg.wrapIplImage(thisImg);
imgs.push_back(yarpImg);
}
}
else {
cout << "ANTData::loadDatabase: unable to open " << (databaseFolder + "/" + databaseName).c_str() << endl;
}
}
int main(int argc, char *argv[]) {
printf("Show a circle for 3 seconds...\n");
ImageOf<PixelRgb> yarpImage;
printf("Creating a YARP image of a nice circle\n");
yarpImage.resize(300,200);
addCircle(yarpImage,PixelRgb(255,0,0),
yarpImage.width()/2,yarpImage.height()/2,
yarpImage.height()/4);
addCircle(yarpImage,PixelRgb(255,50,50),
yarpImage.width()/2,yarpImage.height()/2,
yarpImage.height()/5);
printf("Copying YARP image to an OpenCV/IPL image\n");
IplImage *cvImage = cvCreateImage(cvSize(yarpImage.width(),
yarpImage.height()),
IPL_DEPTH_8U, 3 );
cvCvtColor((IplImage*)yarpImage.getIplImage(), cvImage, CV_RGB2BGR);
printf("Showing OpenCV/IPL image\n");
cvNamedWindow("test",1);
cvShowImage("test",cvImage);
printf("Taking image back into YARP...\n");
ImageOf<PixelBgr> yarpReturnImage;
yarpReturnImage.wrapIplImage(cvImage);
yarp::sig::file::write(yarpReturnImage,"test.ppm");
printf("Saving YARP image to test.ppm\n");
cvWaitKey(3000);
cvDestroyWindow("test");
cvReleaseImage(&cvImage);
printf("...done\n");
return 0;
}
void readAndShow(ImageOf<PixelRgb> &reconstructYarp, bool refreshGui)
{
if (reconstructWidth == -1 || reconstructHeight == -1)
{
//Sample the subdivision sizes
std::cout << "Waiting for input..." << std::endl;
ImageOf<PixelRgb>* testImg = ports[0][0]->read(true);
reconstructWidth = testImg->width() * ports.size();
reconstructHeight = testImg->height() * ports[0].size();
std::cout << "Input detected with size : " << testImg->width() << "x" << testImg->height() << std::endl;
std::cout << "Reconstruct size will: " << reconstructWidth << "x" << reconstructHeight << std::endl;
reconstruct = cvCreateImage(cvSize(reconstructWidth, reconstructHeight), 8, 3);
}
for (unsigned int x = 0; x < ports.size(); x++)
{
for (unsigned int y = 0; y < ports[x].size(); y++)
{
ImageOf<PixelRgb>* imgYarp = ports[x][y]->read(true);
if (imgYarp)
{
IplImage* partImg = (IplImage*) imgYarp->getIplImage();
cvCvtColor(partImg, partImg, CV_BGR2RGB);
int rectW = reconstructWidth / ports.size();
int rectH = reconstructHeight / ports[0].size();
cvSetImageROI(reconstruct, cvRect(x*rectW, y*rectH, rectW, rectH));
cvCopy(partImg,reconstruct);
cvResetImageROI(reconstruct);
}
}
}
if (refreshGui)
cvShowImage((name + "/Reconstruct").c_str(), reconstruct);
reconstructYarp.wrapIplImage(reconstruct);
cvWaitKey(1);
}
bool KinectDriverOpenNI::readDepth(ImageOf<PixelMono16> &depth, double ×tamp)
{
const XnDepthPixel* pDepthMap = depthGenerator.GetDepthMap();
int ts=(int)depthGenerator.GetTimestamp();
timestamp=(double)ts/1000.0;
SceneMetaData smd;
userGenerator.GetUserPixels(0,smd);
for (int y=0; y<this->def_depth_height; y++)
{
for(int x=0;x<this->def_depth_width;x++)
{
int player=(smd[y * this->def_depth_width + x]);
int depth=(pDepthMap[y * this->def_depth_width + x]);
int finalValue=0;
finalValue|=((depth<<3)&0XFFF8);
finalValue|=(player&0X0007);
//if (x==320 && y==240)
// fprintf(stdout, "%d %d\n", ((finalValue&0XFFF8)>>3), finalValue&0X0007);
//We associate the depth to the first 13 bits, using the last 3 for the player identification
depthMat->data.s[y * this->def_depth_width + x ]=finalValue;
}
}
if (device==KINECT_TAGS_DEVICE_KINECT)
{
cvGetImage(depthMat,depthTmp);
resizeImage(depthTmp,depthImage);
}
else
cvGetImage(depthMat,depthImage);
depth.wrapIplImage(depthImage);
return true;
}
/*!
* Sends a picture in the OpenCV native format IplImage
*/
void SamgarModule::SendPictureOCVNative( IplImage* Image ) {
ImageOf<PixelBgr> yarpReturnImage;
yarpReturnImage.wrapIplImage( Image );
SendPictureYarpNative( yarpReturnImage );
}
