atom::Message Actuator::getParameter(atom::Message pParam) const
{
atom::Message message;
if (pParam.size() < 1)
return message;
std::string param;
try
{
param = atom::toString(pParam[0]);
}
catch (...)
{
return message;
}
message.push_back(pParam[0]);
if (param == "name")
message.push_back(atom::StringValue::create(mClassName.c_str()));
else if (param == "osc path")
message.push_back(atom::StringValue::create(mOscPath.c_str()));
return message;
}
atom::Message Source_2D_Shmdata::getParameter(atom::Message pParam) const
{
atom::Message msg;
if (pParam.size() < 1)
return msg;
string paramName;
try
{
paramName = atom::toString(pParam[0]);
}
catch (atom::BadTypeTagError exception)
{
return msg;
}
msg.push_back(pParam[0]);
if (paramName == "width")
msg.push_back(atom::IntValue::create(mWidth));
else if (paramName == "height")
msg.push_back(atom::IntValue::create(mWidth));
else if (paramName == "framerate")
msg.push_back(atom::IntValue::create(mFramerate));
else if (paramName == "subsourcenbr")
msg.push_back(atom::IntValue::create(mSubsourceNbr));
else
msg = getBaseParameter(pParam);
return msg;
}
atom::Message Source_2D::getBaseParameter(atom::Message pParam) const
{
atom::Message msg;
if (pParam.size() < 1)
return msg;
std::string paramName;
try
{
paramName = atom::toString(pParam[0]);
}
catch (atom::BadTypeTagError exception)
{
return msg;
}
msg.push_back(pParam[0]);
if (paramName == "id")
msg.push_back(atom::FloatValue::create(mId));
return msg;
}
void Detector_ObjOnAPlane::setParameter(atom::Message pMessage)
{
std::string cmd;
try
{
cmd = toString(pMessage[0]);
}
catch (atom::BadTypeTagError error)
{
return;
}
// Add a new space to the vector
if (cmd == "addSpace")
{
int size = 0;
if (mSpaces.size() != 0)
size = mSpaces[0].size();
if (pMessage.size() == size + 1 || size == 0)
{
std::vector<cv::Vec2f> space;
for (int i = 1; i < pMessage.size(); i+=2)
{
cv::Vec2f point;
try
{
point[0] = toFloat(pMessage[i]);
point[1] = toFloat(pMessage[i+1]);
}
catch (atom::BadTypeTagError error)
{
return;
}
space.push_back(point);
}
mSpaces.push_back(space);
mMapsUpdated = false;
}
}
// Replace all the current spaces at once
else if (cmd == "spaces")
{
int number;
if (!readParam(pMessage, number))
return;
int size = (pMessage.size()-2) / number;
// If all spaces specified have not the same size
// or size is an odd number (we need 2D points)
// or not enough points are given for each space (3 minimum)
if (size*number < pMessage.size()-2 || size % 2 != 0 || size < 6)
return;
std::vector<std::vector<cv::Vec2f>> tempSpaces;
for (int i = 0; i < number; ++i)
{
std::vector<cv::Vec2f> space;
for (int j = 0; j < size; j+=2)
{
cv::Vec2f point;
try
{
point[0] = toFloat(pMessage[i*size+2+j]);
point[1] = toFloat(pMessage[i*size+2+j+1]);
}
catch (atom::BadTypeTagError error)
{
return;
}
space.push_back(point);
}
tempSpaces.push_back(space);
}
// Everything went fine, we can replace the old spaces
mSpaces.clear();
for (int i = 0; i < tempSpaces.size(); ++i)
mSpaces.push_back(tempSpaces[i]);
mMapsUpdated = false;
}
else if (cmd == "clearSpaces")
{
mSpaces.clear();
mMapsUpdated = false;
}
else if (cmd == "detectionLevel")
{
float value;
if (readParam(pMessage, value))
mDetectionLevel = std::max(0.f, value);
}
else if (cmd == "processNoiseCov")
{
float value;
if (readParam(pMessage, value))
mProcessNoiseCov = std::max(0.f, value);
}
else if (cmd == "measurementNoiseCov")
{
float value;
if (readParam(pMessage, value))
mMeasurementNoiseCov = std::max(0.f, value);
}
else if (cmd == "filterSize")
{
float value;
if (readParam(pMessage, value))
mFilterSize = std::max(0.f, value);
}
else if (cmd == "minBlobArea")
{
float value;
if (readParam(pMessage, value))
mMinArea = std::max(0.f, value);
}
else if (cmd == "maxTrackedBlobs")
{
float value;
if (readParam(pMessage, value))
mMaxTrackedBlobs = std::max(0.f, value);
}
else
setBaseParameter(pMessage);
}
void Source_2D::setBaseParameter(atom::Message pParam)
{
std::string paramName;
try
{
paramName = atom::toString(pParam[0]);
}
catch (atom::BadTypeTagError error)
{
return;
}
if (paramName == "mask")
{
string filename;
if (!readParam(pParam, filename))
return;
mMask = cv::imread(filename, CV_LOAD_IMAGE_GRAYSCALE);
}
else if (paramName == "vignetting")
{
if (pParam.size() == 4)
{
try
{
mOpticalDesc.vignetting[0] = atom::toFloat(pParam[1]);
mOpticalDesc.vignetting[1] = atom::toFloat(pParam[2]);
mOpticalDesc.vignetting[2] = atom::toFloat(pParam[3]);
}
catch (atom::BadTypeTagError error)
{
return;
}
mCorrectVignetting = true;
mRecomputeVignettingMat = true;
}
else
return;
}
else if (paramName == "noiseFiltering")
{
if (pParam.size() == 2)
{
int value;
try
{
value = atom::toInt(pParam[1]);
}
catch (atom::BadTypeTagError error)
{
return;
}
if (value)
mFilterNoise = true;
else
mFilterNoise = false;
}
}
else if (paramName == "scale")
{
float scale;
if (readParam(pParam, scale))
mScale = max(0.1f, scale);
}
else if (paramName == "rotation")
{
readParam(pParam, mRotation);
}
else if (paramName == "distortion")
{
// Only one param, we correct only the 4th order
// coefficient
if (pParam.size() == 2)
{
float value;
try
{
value = atom::toFloat(pParam[1]);
}
catch (atom::BadTypeTagError error)
{
return;
}
mOpticalDesc.distortion[0] = 0.0;
mOpticalDesc.distortion[1] = value;
mOpticalDesc.distortion[2] = 0.0;
}
// Three params, we correct all params
else if (pParam.size() == 4)
{
try
{
mOpticalDesc.distortion[0] = atom::toFloat(pParam[1]);
mOpticalDesc.distortion[1] = atom::toFloat(pParam[2]);
mOpticalDesc.distortion[2] = atom::toFloat(pParam[3]);
}
catch (atom::BadTypeTagError error)
{
return;
}
}
else
return;
mCorrectDistortion = true;
mRecomputeDistortionMat = true;
}
else if (paramName == "fisheye")
{
if (pParam.size() >= 2)
{
try
{
mOpticalDesc.fisheye[0] = atom::toFloat(pParam[1]);
mOpticalDesc.fisheye[1] = atom::toFloat(pParam[2]);
}
catch (atom::BadTypeTagError error)
{
return;
}
}
else
return;
mCorrectFisheye = true;
mRecomputeFisheyeMat = true;
}
else if (paramName == "iccInputProfile")
{
std::string filename;
if (!readParam(pParam, filename))
return;
if (mICCTransform != NULL)
cmsDeleteTransform(mICCTransform);
mICCTransform = loadICCTransform(filename);
}
else if (paramName == "exposureLUT")
{
float nbr;
if (!readParam(pParam, nbr))
{
g_log(NULL, G_LOG_LEVEL_WARNING, "%s - Message wrongly formed for exposureLUT: cannot read number of keys", mClassName.c_str());
return;
}
float type;
if (!readParam(pParam, type, 2))
{
g_log(NULL, G_LOG_LEVEL_WARNING, "%s - Message wrongly formed for exposureLUT: cannot read interpolation type", mClassName.c_str());
return;
}
vector< vector<float> > keys;
for (int i = 0; i < nbr; ++i)
{
vector<float> key;
key.resize(2);
keys.push_back(key);
if (!readParam(pParam, keys[i][0], i * 2 + 3))
return;
if (!readParam(pParam, keys[i][1], i * 2 + 4))
return;
}
mExposureLUT.set((LookupTable::interpolation)type, keys);
}
else if (paramName == "gainLUT")
{
int nbr;
if (!readParam(pParam, nbr))
{
g_log(NULL, G_LOG_LEVEL_WARNING, "%s - Message wrongly formed for gainLUT", mClassName.c_str());
return;
}
int type;
if (!readParam(pParam, type, 2))
{
g_log(NULL, G_LOG_LEVEL_WARNING, "%s - Message wrongly formed for gainLUT", mClassName.c_str());
return;
}
vector< vector<float> > keys;
for (int i = 0; i < nbr / 2; ++i)
{
if (!readParam(pParam, keys[i][0], i * 2 + 3))
return;
if (!readParam(pParam, keys[i][1], i * 2 + 4))
return;
}
mGainLUT.set((LookupTable::interpolation)type, keys);
}
else if (paramName == "autoExposure")
{
float v[7];
for (int i = 0; i < 4; ++i)
if (!readParam(pParam, v[i], i+1))
{
g_log(NULL, G_LOG_LEVEL_WARNING, "%s - Message wrongly formed for autoExposure", mClassName.c_str());
return;
}
mAutoExposureRoi = cv::Rect(v[0], v[1], v[2], v[3]);
if (readParam(pParam, v[4], 5))
mAutoExposureTarget = v[4];
if (readParam(pParam, v[5], 6))
mAutoExposureThreshold = v[5];
if (readParam(pParam, v[6], 7))
mAutoExposureStep = v[6];
}
else if (paramName == "hdri")
{
if (pParam.size() != 4)
return;
try
{
mHdriStartExposure = atom::toFloat(pParam[1]);
mHdriStepSize = atom::toFloat(pParam[2]);
mHdriSteps = atom::toInt(pParam[3]);
}
catch (atom::BadTypeTagError error)
{
return;
}
mHdriActive = true;
}
else if (paramName == "save")
{
float active, period;
string filename;
if (!readParam(pParam, active, 1))
return;
if (!readParam(pParam, period, 2))
return;
if (!readParam(pParam, filename, 3))
return;
if (active == 1.f)
{
mSaveToFile = true;
mSavePeriod = (int)period;
mBaseFilename = filename;
}
else
{
mSaveToFile = false;
}
}
}
