int
main(int argc, char **argv)
{
const char *filename = "qatest.colormap";
if ( argc > 1 ) {
filename = argv[1];
}
printf("Creating simple one-plane colormap\n");
YuvColormap *cm = new YuvColormap();
for (unsigned int u = 100; u < 150; ++u) {
for (unsigned int v = 100; v < 150; ++v) {
cm->set(128, u, v, C_ORANGE);
}
}
unsigned char *imgb = malloc_buffer(YUV422_PLANAR, cm->width() * 2, cm->height() * 2);
cm->to_image(imgb);
ImageDisplay *imgd = new ImageDisplay(cm->width() * 2, cm->height() * 2);
imgd->show(imgb);
imgd->loop_until_quit();
delete cm;
printf("Trying to create colormap with illegal depth, should throw an exception..");
try {
cm = new YuvColormap(3);
printf(" Test failed, colormap was created\n");
delete cm;
} catch (Exception &e) {
printf(" Test succeeded, caught exception\n");
}
printf("Trying colormap with depth of %u\n", BIGDEPTH);
cm = new YuvColormap(BIGDEPTH);
for (unsigned int d = 0; d < cm->depth(); ++d) {
unsigned int y = 256 / cm->depth() * d;
printf("d=%u y=%u u=[%u,%u] v=[%u,%u]\n", d, y,
cm->depth() * d, cm->depth() * (d+1), cm->depth() * d, cm->depth() * (d+1));
for (unsigned int u = cm->deepness() / cm->depth() * d; u < cm->deepness() / cm->depth() * (d+1); ++u) {
for (unsigned int v = cm->deepness() / cm->depth() * d; v < cm->deepness() / cm->depth() * (d+1); ++v) {
cm->set(y, u, v, C_ORANGE);
}
}
cm->to_image(imgb, d);
imgd->show(imgb);
imgd->loop_until_quit();
}
printf("Saving colormap to a file\n");
ColormapFile cmf;
cmf.add_colormap(cm);
cmf.write(filename);
ColormapFile::ColormapBlockVector *blocks = cmf.colormap_blocks();
printf("Written, created %zu blocks\n", blocks->size());
delete blocks;
delete cm;
cmf.clear();
printf("Reading colormap from file\n");
cmf.read(filename);
Colormap *tcm = cmf.get_colormap();
if ( (cm = dynamic_cast<YuvColormap *>(tcm)) == 0 ) {
printf("Error, did not get valid yuv colormap\n");
} else {
printf("Showing all %u colormap levels\n", cm->depth());
for (unsigned int d = 0; d < cm->depth(); ++d) {
cm->to_image(imgb, d);
imgd->show(imgb);
imgd->loop_until_quit();
}
}
delete cm;
unsigned int depth = 4, width = 128, height = 128;
printf("Trying colormap with low resolution, choosing %dx%dx%d\n", depth, width, height);
cm = new YuvColormap(depth, width, height);
printf("YuvColormap dimensions: %dx%dx%d\n", cm->depth(), cm->width(), cm->height());
ColormapFile cmfr(depth, width, height);
delete cm;
cmfr.write(filename);
cmfr.clear();
cmfr.read(filename);
cm = dynamic_cast<YuvColormap *>(cmfr.get_colormap());
printf("Read back colormap dimensions %dx%dx%d\n",
cm->depth(), cm->width(), cm->height());
delete cm;
//delete imgd;
//free(imgb);
return 0;
}
void
FvRetrieverThread::init()
{
colorspace_t cspace = YUV422_PLANAR;
std::string cspace_str = colorspace_to_string(cspace);
try {
cspace_str = config->get_string((cfg_prefix_ + "colorspace").c_str());
cspace = colorspace_by_name(cspace_str.c_str());
} catch (Exception &e) {} // ignored, use default
if (cspace == CS_UNKNOWN) {
throw Exception("Unknown colorspace '%s' configured", cspace_str.c_str());
}
try {
logger->log_debug(name(), "Registering for camera '%s' (colorspace %s)",
camera_string_.c_str(), colorspace_to_string(cspace));
cam = vision_master->register_for_camera(camera_string_.c_str(), this, cspace);
} catch (Exception &e) {
e.append("FvRetrieverThread::init() failed");
throw;
}
try {
char *imgbufname;
if ( asprintf(&imgbufname, "retriever_%s", cfg_name_.c_str()) == -1 ) {
throw Exception("Cannot allocate buffer name");
}
shm = new SharedMemoryImageBuffer(imgbufname, cam->colorspace(),
cam->pixel_width(), cam->pixel_height());
free(imgbufname);
if ( ! shm->is_valid() ) {
throw Exception("Shared memory segment not valid");
}
} catch (Exception &e) {
delete cam;
cam = NULL;
throw;
}
try {
std::string frame_id = config->get_string((cfg_prefix_ + "frame").c_str());
shm->set_frame_id(frame_id.c_str());
} catch (Exception &e) {/* ignored, not critical */}
seq_writer = NULL;
try {
if ( config->get_bool("/firevision/retriever/save_images") ) {
logger->log_info(name(), "Writing images to disk");
Writer* writer = new JpegWriter();
seq_writer = new SeqWriter(writer);
std::string save_path;
try {
save_path = config->get_string("/firevision/retriever/save_path");
} catch (Exception &e) {
save_path = ("recorded_images");
logger->log_info(name(), "No save path specified. Using './%s'", save_path.c_str());
}
seq_writer->set_path( save_path.c_str() );
seq_writer->set_dimensions( cam->pixel_width(), cam->pixel_height() );
seq_writer->set_colorspace( cam->colorspace() );
}
} catch (Exception &e) {
// ignored, not critical
}
__tt = NULL;
try {
if ( config->get_bool("/firevision/retriever/use_time_tracker") ) {
__tt = new TimeTracker();
__ttc_capture = __tt->add_class("Capture");
__ttc_memcpy = __tt->add_class("Memcpy");
__ttc_dispose = __tt->add_class("Dispose");
__loop_count = 0;
}
} catch (Exception &e) {
// ignored, not critical
}
__cm = new ColorModelLookupTable(1, "retriever-colormap", true);
YuvColormap *ycm = __cm->get_colormap();
for (unsigned int u = 100; u < 150; ++u) {
for (unsigned int v = 100; v < 150; ++v) {
ycm->set(128, u, v, C_ORANGE);
}
}
__cam_has_timestamp_support = true;
try {
fawkes::Time *t = cam->capture_time();
if (t->is_zero()) {
throw NotImplementedException("");
}
cap_time_ = NULL;
}
catch (NotImplementedException &e)
{
__cam_has_timestamp_support = false;
cap_time_ = new Time(clock);
}
}