void testScale() {
report(0,"checking scaling...");
ImageOf<PixelRgb> img;
ImageOf<PixelMono> img2;
ImageOf<PixelRgb> img3;
img.resize(64,64);
img.zero();
for (int i=0; i<img.width()/2; i++) {
for (int j=0; j<img.height()/2; j++) {
img(i,j).r = 255;
img(i,j).g = 255;
img(i,j).b = 255;
}
}
img2.copy(img,32,32);
checkEqual(img2.width(),32,"dimension check");
checkEqual(img2(0,0),255,"logic check");
checkEqual(img2(img2.width()-2,0),0,"logic check");
checkEqual(img2(0,img2.height()-2),0,"logic check");
img3.copy(img,16,16);
checkEqual(img3.width(),16,"dimension check");
checkEqual(img3(0,0).r,255,"logic check");
checkEqual(img3(img3.width()-2,0).r,0,"logic check");
checkEqual(img3(0,img3.height()-2).r,0,"logic check");
img.copy(img3,4,4);
checkEqual(img.width(),4,"dimension check");
}
bool OpenCVGrabber::getImage(ImageOf<PixelRgb> & image) {
// Must have a capture object
if (!m_cap.isOpened()) {
image.zero();
return false;
}
// Grab and retrieve a frame
cv::Mat frame;
m_cap.read(frame);
if (frame.empty() && m_loop) {
bool ok = open(m_config);
if (!ok) return false;
m_cap.read(frame);
}
if (frame.empty()) {
image.zero();
return false;
}
if (m_transpose)
{
cv::transpose(frame, frame);
}
if (m_flip_x && m_flip_y)
{
cv::flip(frame, frame, -1);
}
else if (m_flip_x)
{
cv::flip(frame, frame, 0);
}
else if (m_flip_y)
{
cv::flip(frame, frame, 1);
}
return sendImage(frame, image);
}
virtual void run() {
printf("Fake framegrabber starting\n");
while (!isStopping()) {
ImageOf<PixelRgb> img;
img.resize(40,20);
img.zero();
printf("Fake framegrabber wrote an image...\n");
p.write(img);
Time::delay(1);
}
printf("Fake framegrabber stopping\n");
}
void testDraw() {
report(0,"checking draw tools...");
ImageOf<PixelRgb> img;
img.resize(64,64);
img.zero();
addCircle(img,PixelRgb(255,0,0),32,32,200);
// full image should be colored blue
bool ok = true;
IMGFOR(img,x,y) {
if (img.pixel(x,y).r!=255) {
ok = false;
}
}
checkTrue(ok,"image is blue");
}
void testStandard() {
report(0,"checking standard compliance of description...");
ImageOf<PixelRgb> img;
img.resize(8,4);
img.zero();
BufferedConnectionWriter writer;
img.write(writer);
ConstString s = writer.toString();
Bottle bot;
bot.fromBinary(s.c_str(),s.length());
checkEqual(bot.size(),4,"plausible bottle out");
checkEqual(bot.get(0).toString().c_str(),"mat","good tag");
YARP_DEBUG(Logger::get(),"an example image:");
YARP_DEBUG(Logger::get(),bot.toString().c_str());
}
bool OpenCVGrabber::getImage(ImageOf<PixelRgb> & image) {
//yTrace("-->getImage123");
// Must have a capture object
if (0 == m_capture) {
image.zero(); return false;
}
//yTrace("-->HERE1");
// Grab and retrieve a frame, OpenCV owns the returned image
IplImage * iplFrame = cvQueryFrame((CvCapture*)m_capture);
//yTrace("-->HERE2");
if (0 == iplFrame && m_loop) {
bool ok = open(m_config);
if (!ok) return false;
iplFrame = cvQueryFrame((CvCapture*)m_capture);
}
if (0 == iplFrame) {
image.zero(); return false;
}
if (m_transpose == false && m_flip_x == false && m_flip_y == false)
{
return sendImage(iplFrame, image);
}
IplImage * iplFrame_out;
if (m_transpose)
{
iplFrame_out = cvCreateImage(cvSize(iplFrame->height, iplFrame->width), iplFrame->depth, iplFrame->nChannels);
cvTranspose(iplFrame, iplFrame_out);
}
else
{
iplFrame_out = cvCreateImage(cvSize(iplFrame->width, iplFrame->height), iplFrame->depth, iplFrame->nChannels);
cvCopy(iplFrame, iplFrame_out);
}
if (m_flip_x && m_flip_y)
{
cvFlip(iplFrame_out, 0, -1);
}
else
{
if (m_flip_x)
{
cvFlip(iplFrame_out, 0, 0);
}
else if (m_flip_y)
{
cvFlip(iplFrame_out, 0, 1);
}
}
bool ret = sendImage(iplFrame_out, image);
cvReleaseImage(&iplFrame_out);
return ret;
}
