std_msgs::ColorRGBA VisualizeDetectedObjects::ParseColor(const std::vector<double> &in_color)
{
std_msgs::ColorRGBA color;
float r,g,b,a;
if (in_color.size() == 4) //r,g,b,a
{
color.r = CheckColor(in_color[0]);
color.g = CheckColor(in_color[1]);
color.b = CheckColor(in_color[2]);
color.a = CheckAlpha(in_color[3]);
}
return color;
}
int main(int argc, string argv[]){
/* Check if a proper keyword is provided */
if (argc != 2 ) {
printf("Please indicate a proper keyword\n");
return 1;
}else if (CheckAlpha(argv[1]) == 1) {
printf("Keyword can only contain letters\n");
return 1;
}
string keyword = argv[1];
// convert the keyword to a numeric array
int len = strlen(keyword);
int numberkey[len];
for (int i=0; i<len; i++){
if (isupper(keyword[i])){
numberkey[i] = (int) keyword[i] - 65;
}else if(islower(keyword[i])){
numberkey[i] = (int) keyword[i] - 97;
}
}
// start interate the text
string text = GetString();
int textlen = strlen(text);
int l=-1; // l is used to track where we are in the plaintext excluding the non-characters
for (int i=0; i < textlen; i++){
//check if letter is non-alphabet, if it is non-character, printout
if (!isalpha(text[i])){
printf("%c", text[i]);
}else{
l++;
int local_k = numberkey[l%len];
printf("%c", (char) shiftLetter(text[i], local_k));
}
}
printf("\n");
return 0;
}
bool ImageJngFile::Load (uint8 *iBuffer, size_t iSize)
{
mng_retcode retcode;
const int magicSize = 8;
const char magicMNG[] = "\x8aMNG\x0d\x0a\x1a\x0a";
const char magicJNG[] = "\x8bJNG\x0d\x0a\x1a\x0a";
// check for magic JNG/MNG bytes. If not correct, we can skip
// messing around w/ libmng entirely.
if ((iSize < 8) ||
((memcmp ((void*)iBuffer, (void*)&magicMNG, magicSize)) &&
(memcmp ((void*)iBuffer, (void*)&magicJNG, magicSize))))
{
return false;
}
handle = mng_initialize (mng_ptr(this), cb_alloc,
cb_free, MNG_NULL);
if (!handle)
{
Report (object_reg, CS_REPORTER_SEVERITY_WARNING,
"failed to initialize libmng");
return false;
}
buffer = iBuffer;
bufptr = buffer;
bufferSize = iSize;
if ((mng_setcb_openstream (handle, cb_openstream) != MNG_NOERROR) ||
(mng_setcb_closestream (handle, cb_closestream) != MNG_NOERROR) ||
(mng_setcb_readdata (handle, cb_readdata) != MNG_NOERROR) ||
(mng_setcb_processheader(handle, cb_processheader) != MNG_NOERROR) ||
(mng_setcb_getcanvasline(handle, cb_getcanvasline) != MNG_NOERROR) ||
(mng_setcb_refresh(handle, cb_imagerefresh) != MNG_NOERROR) ||
(mng_setcb_gettickcount(handle, cb_gettickcount) != MNG_NOERROR) ||
(mng_setcb_settimer(handle, cb_settimer) != MNG_NOERROR))
{
ReportLibmngError (object_reg, handle, "failed to set libmng callbacks");
mng_cleanup (&handle);
return false;
}
retcode = mng_read (handle);
if (retcode != MNG_NOERROR)
{
if (retcode != MNG_INVALIDSIG) // maybe its just not an jng/mng...
ReportLibmngError (object_reg, handle, "failed to read data");
mng_cleanup (&handle);
return false;
}
// Don't read PNGs
if (mng_get_sigtype (handle) == mng_it_png)
{
delete[] NewImage;
mng_cleanup (&handle);
return false;
}
// Even on still images, libmng issues timer requests.
// so, as long as the requests are 'immediate' we continue
// displaying. If a delay is requested we end loading.
timer = 2;
retcode = mng_display (handle);
while ((retcode == MNG_NEEDTIMERWAIT) && (timer <= 1))
{
retcode = mng_display_resume (handle);
}
if ((retcode != MNG_NOERROR) && (retcode != MNG_NEEDTIMERWAIT))
{
ReportLibmngError (object_reg, handle, "failed to display data");
mng_cleanup (&handle);
return false;
}
doWait = (retcode == MNG_NEEDTIMERWAIT);
animated = doWait;
if (NewImage)
{
csRGBpixel *rgbImage =
csPackRGBA::CopyUnpackRGBAtoRGBpixel (NewImage, Width*Height);
ConvertFromRGBA (rgbImage);
// Subsequent images may contain alpha, so don't check
if (!doWait) CheckAlpha();
}
if (mng_get_sigtype (handle) != mng_it_mng)
{
delete[] NewImage; NewImage = 0;
mng_cleanup (&handle);
handle = 0;
}
return true;
}
SEXP do_rgb(SEXP call, SEXP op, SEXP args, SEXP env)
{
SEXP c, r, g, b, a, nam;
int OP, i, l_max, nr, ng, nb, na;
Rboolean max_1 = FALSE;
double mV = 0.0; /* -Wall */
checkArity(op, args);
OP = PRIMVAL(op);
if(OP) {/* op == 1: rgb256() :*/
PROTECT(r = coerceVector(CAR(args), INTSXP)); args = CDR(args);
PROTECT(g = coerceVector(CAR(args), INTSXP)); args = CDR(args);
PROTECT(b = coerceVector(CAR(args), INTSXP)); args = CDR(args);
PROTECT(a = coerceVector(CAR(args), INTSXP)); args = CDR(args);
}
else {
PROTECT(r = coerceVector(CAR(args), REALSXP)); args = CDR(args);
PROTECT(g = coerceVector(CAR(args), REALSXP)); args = CDR(args);
PROTECT(b = coerceVector(CAR(args), REALSXP)); args = CDR(args);
PROTECT(a = coerceVector(CAR(args), REALSXP)); args = CDR(args);
mV = asReal(CAR(args)); args = CDR(args);
max_1 = (mV == 1.);
}
nr = LENGTH(r); ng = LENGTH(g); nb = LENGTH(b); na = LENGTH(a);
if (nr <= 0 || ng <= 0 || nb <= 0 || na <= 0) {
UNPROTECT(4);
return(allocVector(STRSXP, 0));
}
l_max = nr;
if (l_max < ng) l_max = ng;
if (l_max < nb) l_max = nb;
if (l_max < na) l_max = na;
PROTECT(nam = coerceVector(CAR(args), STRSXP)); args = CDR(args);
if (length(nam) != 0 && length(nam) != l_max)
errorcall(call, _("invalid names vector"));
PROTECT(c = allocVector(STRSXP, l_max));
#define _R_set_c_RGBA(_R,_G,_B,_A) \
for (i = 0; i < l_max; i++) \
SET_STRING_ELT(c, i, mkChar(RGBA2rgb(_R,_G,_B,_A)))
if(OP) { /* OP == 1: rgb256() :*/
_R_set_c_RGBA(CheckColor(INTEGER(r)[i%nr]),
CheckColor(INTEGER(g)[i%ng]),
CheckColor(INTEGER(b)[i%nb]),
CheckAlpha(INTEGER(a)[i%na]));
}
else if(max_1) {
_R_set_c_RGBA(ScaleColor(REAL(r)[i%nr]),
ScaleColor(REAL(g)[i%ng]),
ScaleColor(REAL(b)[i%nb]),
ScaleAlpha(REAL(a)[i%na]));
}
else { /* maxColorVal not in {1, 255} */
_R_set_c_RGBA(ScaleColor(REAL(r)[i%nr] / mV),
ScaleColor(REAL(g)[i%ng] / mV),
ScaleColor(REAL(b)[i%nb] / mV),
ScaleAlpha(REAL(a)[i%na] / mV));
}
if (length(nam) != 0)
setAttrib(c, R_NamesSymbol, nam);
UNPROTECT(6);
return c;
}
