int YARPLogpolarSampler::Cartesian2Logpolar (const YARPGenericImage& in, YARPGenericImage& out)
{
using namespace _logpolarParams;
ACE_ASSERT (in.GetWidth() == _xsize && in.GetHeight() == _ysize);
ACE_ASSERT (out.GetWidth() == _stheta && out.GetHeight() == _srho);
Make_LP_Real (_outimage, (unsigned char *)in.GetRawBuffer(), &_img, _cart2LP_Map);
char *de = out.GetRawBuffer();
unsigned char * o = _outimage;
char *cmap = _colormap;
const int w = out.GetWidth();
const int h = out.GetHeight();
const int p = out.GetPadding();
int i, j;
for (i = 0; i < h; i++)
{
for (j = 0; j < w; j++)
{
*de++ = *(o + *cmap++);
o += 3;
}
de += p;
o += _padb;
}
return YARP_OK;
}
static int ImageWrite(YARPGenericImage& img, const char *filename)
{
///ACE_ASSERT(img.GetPadding()==0);
if (img.GetID()==YARP_PIXEL_MONO)
{
SavePGM((char*)img.GetRawBuffer(), filename, img.GetHeight(), img.GetWidth());
}
else
{
if (img.GetID()==YARP_PIXEL_RGB)
{
ACE_ASSERT(img.GetID()==YARP_PIXEL_RGB);
// Image<YarpPixelRGB> img2;
// img2.ReferOrCopy(img);
SavePPM((char*)img.GetRawBuffer(),filename,img.GetHeight(),img.GetWidth());
}
else
{
YARPImageOf<YarpPixelRGB> img2;
img2.CastCopy(img);
SavePPM((char*)img2.GetRawBuffer(),filename,img2.GetHeight(), img2.GetWidth());
}
}
return 0;
}
YARPDIBConverter::YARPDIBConverter(const YARPGenericImage &img)
{
ACE_ASSERT (img.GetIplPointer != NULL);
dimX = img.GetWidth();
dimY = img.GetHeight();
pixelType = img.GetID();
_alloc_dib();
}
void GetPlane (const YARPGenericImage& in, YARPImageOf<YarpPixelMono>& out, int shift)
{
ACE_ASSERT (in.GetIplPointer() != NULL && out.GetIplPointer() != NULL);
ACE_ASSERT (in.GetWidth() == out.GetWidth());
ACE_ASSERT (in.GetHeight() == out.GetHeight());
const int width = in.GetWidth();
const int height = in.GetHeight();
unsigned char *src = NULL;
unsigned char *dst = NULL;
for (int i = 0; i < height; i++)
{
src = (unsigned char *)in.GetArray()[i] + shift;
dst = (unsigned char *)out.GetArray()[i];
for (int j = 0; j < width; j++)
{
*dst++ = *src;
src += 3;
}
}
}
void YARPBlobFinder::_apply(const YARPGenericImage& is, YARPGenericImage& id)
{
// hsv_enhanced is already filled out.
m_last_tag = SpecialTagging (m_tagged, m_hsv_enhanced);
// I've got the tagged image now.
assert (m_last_tag <= MaxBoxesBlobFinder);
//printf ("last_tag is %d\n", m_last_tag);
const int w = is.GetWidth ();
const int h = is.GetHeight ();
for(int i = 0; i <= m_last_tag; i++)
{
m_boxes[i].cmax = m_boxes[i].rmax = 0;
m_boxes[i].cmax = m_boxes[i].rmax = 0;
m_boxes[i].cmin = w;
m_boxes[i].rmin = h;
m_boxes[i].xmax = m_boxes[i].ymax = 0;
m_boxes[i].xmin = m_boxes[i].ymin = m_lp.GetSize();
m_boxes[i].total_sal = 0;
m_boxes[i].total_pixels = 0;
m_boxes[i].xsum = m_boxes[i].ysum = 0;
m_boxes[i].valid = false;
}
// special case for the null tag (0)
m_boxes[0].rmax = m_boxes[0].rmin = h/2;
m_boxes[0].cmax = m_boxes[0].cmin = w/2;
m_boxes[0].xmax = m_boxes[0].xmin = m_lp.GetSize() / 2;
m_boxes[0].ymax = m_boxes[0].ymin = m_lp.GetSize() / 2;
m_boxes[0].valid = true;
// build all possible bounding boxes out of the tagged image.
// pixels are logpolar, averaging is done in cartesian.
unsigned char *source = (unsigned char *)m_hsv_enhanced.GetArray()[0]; // Hue.
short *tmp = m_tagged;
for(int r = 0; r < h; r++)
for(int c = 0; c < w; c++)
{
short tag_index = *tmp++;
if (tag_index != 0)
{
m_boxes[tag_index].total_pixels++;
// the saliency here is the average hue.
m_boxes[tag_index].total_sal += *source;
source += 3;
m_boxes[tag_index].valid = true;
// x,y.
double x, y;
m_lp.Lp2Cart (double(c), double(r), x, y);
if (m_boxes[tag_index].ymax < int(y)) m_boxes[tag_index].ymax = int(y);
if (m_boxes[tag_index].ymin > int(y)) m_boxes[tag_index].ymin = int(y);
if (m_boxes[tag_index].xmax < int(x)) m_boxes[tag_index].xmax = int(x);
if (m_boxes[tag_index].xmin > int(x)) m_boxes[tag_index].xmin = int(x);
if (m_boxes[tag_index].rmax < r) m_boxes[tag_index].rmax = r;
if (m_boxes[tag_index].rmin > r) m_boxes[tag_index].rmin = r;
if (m_boxes[tag_index].cmax < c) m_boxes[tag_index].cmax = c;
if (m_boxes[tag_index].cmin > c) m_boxes[tag_index].cmin = c;
m_boxes[tag_index].ysum += int(y);
m_boxes[tag_index].xsum += int(x);
}
}
RemoveNonValid ();
MergeBoxes (); //further clustering not needed.
// merge boxes which are too close.
// statically. Clearly this procedure could be more effective
// if it takes time into account.
// LATER: update also the logpolar coordinates during
// the merger of the boxes.
int max_tag, max_num;
// create now the subset of attentional boxes.
for (int box_num = 0; box_num < MaxBoxes; box_num++)
{
// find the most frequent tag, zero does not count
max_tag = max_num = 0;
for(int i = 1; i < m_last_tag; i++)
{
int area = TotalArea (m_boxes[i]);
if (area > max_num && m_boxes[i].total_pixels > 0)
//if(m_boxes[i].total_pixels > max_num)
{
max_num = area; //m_boxes[i].total_pixels;
max_tag = i;
}
}
if (max_tag != 0)
{
// compute saliency of region.
// it cannot be done here.
m_attn[box_num] = m_boxes[max_tag];
m_attn[box_num].valid = true;
m_attn[box_num].centroid_y = m_boxes[max_tag].ysum / max_num;
m_attn[box_num].centroid_x = m_boxes[max_tag].xsum / max_num;
m_boxes[max_tag].total_pixels = 0;
}
else
{
// no motion, return the center
m_attn[box_num].valid = false;
m_attn[box_num].centroid_x = m_lp.GetSize() / 2;
m_attn[box_num].centroid_y = m_lp.GetSize() / 2;
}
}
//PrintBoxes (m_attn, MaxBoxes);
// I've here MaxBoxes boxes accounting for the largest
// regions in the image.
// remember that there's a bias because of logpolar.
// destination image is not changed.
// should I store the result of the tagging process?
}
/// LATER: this is NOT tested.
static int ImageRead(YARPGenericImage& img, const char *filename)
{
int width, height, color, num, size;
FILE *fp = ACE_OS::fopen(filename, "rb");
if (!fp) //die("cannot open file for reading");
{
warn("cannot open file for reading");
return -1;
}
if (ReadHeader(fp, &height, &width, &color) < 0)
{
ACE_OS::fclose (fp);
return -1;
}
if (!color)
// img.GetID()==YARP_PIXEL_RGB || img.GetID() == YARP_PIXEL_MONO)
{
// img.SetID(color?YARP_PIXEL_RGB:YARP_PIXEL_MONO);
img.SetID(YARP_PIXEL_MONO);
img.Resize(width,height);
///ACE_ASSERT(img.GetPadding() == 0);
ACE_ASSERT(img.GetRawBuffer()!=NULL);
const int w = img.GetWidth() * img.GetPixelSize();
const int h = img.GetHeight();
const int pad = img.GetPadding() + w;
char *dst = img.GetRawBuffer ();
size = w * h;
num = 0;
for (int i = 0; i < h; i++)
{
num += ACE_OS::fread((void *) dst, 1, (size_t) w, fp);
dst += pad;
}
}
else if (img.GetID()==YARP_PIXEL_RGB)
{
img.SetID(YARP_PIXEL_RGB);
img.Resize(width,height);
///ACE_ASSERT(img.GetPadding() == 0);
ACE_ASSERT(img.GetRawBuffer()!=NULL);
const int w = img.GetWidth() * img.GetPixelSize();
const int h = img.GetHeight();
const int pad = img.GetPadding() + w;
char *dst = img.GetRawBuffer ();
size = w * h;
num = 0;
for (int i = 0; i < h; i++)
{
num += ACE_OS::fread((void *) dst, 1, (size_t) w, fp);
dst += pad;
}
}
else
{
// image is color, nothing was specified, assume BGR
img.SetID(YARP_PIXEL_BGR);
img.Resize(width,height);
///ACE_ASSERT(img.GetPadding() == 0);
ACE_ASSERT(img.GetRawBuffer()!=NULL);
const int w = img.GetWidth() * img.GetPixelSize();
const int h = img.GetHeight();
const int pad = img.GetPadding() + w;
size = w * h;
YARPImageOf<YarpPixelRGB> img2;
img2.Resize (width,height);
char *dst = img2.GetRawBuffer ();
num = 0;
for (int i = 0; i < h; i++)
{
num += ACE_OS::fread((void *) dst, 1, (size_t) w, fp);
dst += pad;
}
img.CastCopy(img2);
}
if (num != size)
{
ACE_OS::printf ( "%d versus %d\n", num, size );
//die("cannot read image data from file");
warn("cannot read image data from file");
ACE_OS::fclose (fp);
return -1;
}
ACE_OS::fclose(fp);
return 0;
}