SANE_Status
sane_read (SANE_Handle handle, SANE_Byte * buf, SANE_Int max_len,
SANE_Int * len)
{
Mustek_Usb_Scanner *s = handle;
SANE_Word lines_to_read, lines_read;
SANE_Status status;
DBG (5, "sane_read: start\n");
if (!s)
{
DBG (1, "sane_read: handle is null!\n");
return SANE_STATUS_INVAL;
}
if (!buf)
{
DBG (1, "sane_read: buf is null!\n");
return SANE_STATUS_INVAL;
}
if (!len)
{
DBG (1, "sane_read: len is null!\n");
return SANE_STATUS_INVAL;
}
*len = 0;
if (!s->scanning)
{
DBG (3, "sane_read: scan was cancelled, is over or has not been "
"initiated yet\n");
return SANE_STATUS_CANCELLED;
}
if (s->hw->scan_buffer_len == 0)
{
if (s->read_rows > 0)
{
lines_to_read = SCAN_BUFFER_SIZE / (s->hw->width * s->hw->bpp / 8);
if (lines_to_read > s->read_rows)
lines_to_read = s->read_rows;
s->hw->temp_buffer_start = s->hw->temp_buffer;
s->hw->temp_buffer_len = (s->hw->width * s->hw->bpp / 8)
* lines_to_read;
DBG (4, "sane_read: reading %d source lines\n", lines_to_read);
RIE (usb_high_scan_get_rows (s->hw, s->hw->temp_buffer,
lines_to_read, SANE_FALSE));
RIE (fit_lines (s, s->hw->temp_buffer, s->hw->scan_buffer,
lines_to_read, &lines_read));
s->read_rows -= lines_to_read;
if ((s->total_lines + lines_read) > s->height_dots)
lines_read = s->height_dots - s->total_lines;
s->total_lines += lines_read;
DBG (4, "sane_read: %d destination lines, %d total\n",
lines_read, s->total_lines);
s->hw->scan_buffer_start = s->hw->scan_buffer;
s->hw->scan_buffer_len = (s->width_dots * s->bpp / 8) * lines_read;
}
else
{
DBG (4, "sane_read: scan finished -- exit\n");
return SANE_STATUS_EOF;
}
}
if (s->hw->scan_buffer_len == 0)
{
DBG (4, "sane_read: scan finished -- exit\n");
return SANE_STATUS_EOF;
}
*len = MIN (max_len, (SANE_Int) s->hw->scan_buffer_len);
memcpy (buf, s->hw->scan_buffer_start, *len);
DBG (4, "sane_read: exit, read %d bytes from scan_buffer; "
"%ld bytes remaining\n", *len,
(long int) (s->hw->scan_buffer_len - *len));
s->hw->scan_buffer_len -= (*len);
s->hw->scan_buffer_start += (*len);
s->total_bytes += (*len);
return SANE_STATUS_GOOD;
}
// returns the 35 points associated to the test chart in [x1,y1,x2,y2]
// format if there are more than 35 points will return NULL
matd_t* build_homography(image_u32_t* im, vx_buffer_t* buf, metrics_t met)
{
frame_t frame = {{0,0}, {im->width-1, im->height-1},
{0,0}, {1,1}};
int good_size = 0;
zarray_t* blobs = zarray_create(sizeof(node_t));
hsv_find_balls_blob_detector(im, frame, met, blobs, buf);
// remove unqualified blobs
if(met.qualify) {
for(int i = 0; i < zarray_size(blobs); i++) {
node_t n;
zarray_get(blobs, i, &n);
if(!blob_qualifies(im, &n, met, buf))
zarray_remove_index(blobs, i, 0);
}
}
if(zarray_size(blobs) == NUM_TARGETS ||zarray_size(blobs) == NUM_CHART_BLOBS) good_size = 1;
zarray_sort(blobs, compare);
int pix_array[zarray_size(blobs)*2];
// iterate through
int idx = 0;
double size = 2.0;
for(int i = 0; i < zarray_size(blobs); i++) {
node_t n;
zarray_get(blobs, i, &n);
loc_t center = { .x = n.ave_loc.x/n.num_children,
.y = n.ave_loc.y/n.num_children};
loc_t parent = { .x = n.id % im->stride,
.y = n.id / im->stride};
if(buf != NULL) {
add_circle_to_buffer(buf, size, center, vx_maroon);
// add_circle_to_buffer(buf, size, parent, vx_olive);
// add_sides_to_buffer(im, buf, 1.0, &n, vx_orange, met);
loc_t* lp = fit_lines(im, &n, buf, met, NULL);
if(lp != NULL) {
// printf("(%d, %d) (%d, %d) (%d, %d) (%d, %d) \n",
// lp[0].x, lp[0].y, lp[1].x, lp[1].y, lp[2].x, lp[2].y, lp[3].x, lp[3].y);
loc_t intersect = get_line_intersection(lp[0], lp[1], lp[2], lp[3]);
if(in_range(im, intersect.x, intersect.y)) {
loc_t ext_lines[2];
extend_lines_to_edge_of_image(im, intersect, center, ext_lines);
add_line_to_buffer(im, buf, 2.0, ext_lines[0], ext_lines[1], vx_blue);
}
for(int i = 0; i < 4; i++) {
pix_array[i*2] = lp[i].x;
pix_array[i*2+1] = lp[i].y;
add_circle_to_buffer(buf, 3.0, lp[i], vx_orange);
}
}
free(n.sides);
// loc_t corners[4] = {{n.box.right, n.box.top},
// {n.box.right, n.box.bottom},
// {n.box.left, n.box.bottom},
// {n.box.left, n.box.top}};
// print extremes of box
// if(1) {
// add_circle_to_buffer(buf, size, corners[0], vx_green);
// add_circle_to_buffer(buf, size, corners[1], vx_yellow);
// add_circle_to_buffer(buf, size, corners[2], vx_red);
// add_circle_to_buffer(buf, size, corners[3], vx_blue);
// for(int j = 0; j < 4; j++) {
// // add_circle_to_buffer(buf, size, corners[j], vx_maroon);
// }
// }
}
}
matd_t* H;
H = dist_homography(pix_array, NUM_TARGETS);
// if(0) {//zarray_size(blobs) == NUM_CHART_BLOBS){
// H = dist_homography(pix_array, NUM_CHART_BLOBS);
// }
// else if(zarray_size(blobs) == NUM_TARGETS){
// H = dist_homography(pix_array, NUM_TARGETS);
// if(met.add_lines) connect_lines(blobs, buf);
// }
// else {
// if(met.dothis)
// printf("num figures: %d\n", zarray_size(blobs));
// return(NULL);
// }
// make projected points
// project_measurements_through_homography(H, buf, blobs, zarray_size(blobs));
zarray_destroy(blobs);
return(H);
}
/*
{ R00, R01, R02, TX,
R10, R11, R12, TY,
R20, R21, R22, TZ,
0, 0, 0, 1 });
*/
double get_rotation(const char* axis, matd_t* H)
{
double cosine, sine, theta;
if(strncmp(axis,"x", 1)) {
cosine = MATD_EL(H, 1, 1);
sine = MATD_EL(H, 2, 1);
}
else if(strncmp(axis,"y", 1)) {
cosine = MATD_EL(H, 0, 0);
sine = MATD_EL(H, 0, 2);
}
else if(strncmp(axis,"z", 1)) {
cosine = MATD_EL(H, 0, 0);
sine = MATD_EL(H, 1, 0);
}
else assert(0);
theta = atan2(sine, cosine);
return(theta);
}
// if buf is NULL, will not fill with points of the homography
void take_measurements(image_u32_t* im, vx_buffer_t* buf, metrics_t met)
{
// form homography
matd_t* H = build_homography(im, buf, met);
if(H == NULL) return;
// get model view from homography
matd_t* Model = homography_to_pose(H, 654, 655, 334, 224);
// printf("\n");
// matd_print(H, matrix_format);
// printf("\n\n");
// printf("model:\n");
// matd_print(Model, "%15f");
// printf("\n\n");
// matd_print(matd_op("M^-1",Model), matrix_format);
// printf("\n");
// extrapolate metrics from model view
double TX = MATD_EL(Model, 0, 3);
double TY = MATD_EL(Model, 1, 3);
double TZ = MATD_EL(Model, 2, 3);
// double rot_x = get_rotation("x", H);
// double rot_y = get_rotation("y", H);
// double rot_z = get_rotation("z", H);
double cosine = MATD_EL(Model, 0, 0);
double rot_z = acos(cosine) * 180/1.5 - 180;
cosine = MATD_EL(Model, 2, 2);
double rot_x = asin(cosine) * 90/1.3 + 90;
cosine = MATD_EL(Model, 1, 1);
double rot_y = asin(cosine);
char str[200];
sprintf(str, "<<#00ffff,serif-30>> DIST:%lf Offset:(%lf, %lf)\n rot: (%lf, %lf, %lf)\n",
TZ, TX, TY, rot_x, rot_y, rot_z);
vx_object_t *text = vxo_text_create(VXO_TEXT_ANCHOR_BOTTOM_LEFT, str);
vx_buffer_add_back(buf, vxo_pix_coords(VX_ORIGIN_BOTTOM_LEFT, text));
// printf("dist: %lf cos:%lf angle: %lf\n", TZ, cosine, theta);
}