void align_other_to_depth_bytes(byte* other_aligned_to_depth, GET_DEPTH get_depth, const rs2_intrinsics& depth_intrin, const rs2_extrinsics& depth_to_other, const rs2_intrinsics& other_intrin, const byte* other_pixels)
{
auto in_other = (const bytes<N> *)(other_pixels);
auto out_other = (bytes<N> *)(other_aligned_to_depth);
align_images(depth_intrin, depth_to_other, other_intrin, get_depth,
[out_other, in_other](int depth_pixel_index, int other_pixel_index) { out_other[depth_pixel_index] = in_other[other_pixel_index]; });
}
void align::align_z_to_other(byte* aligned_data, const rs2::video_frame& depth, const rs2::video_stream_profile& other_profile, float z_scale)
{
auto depth_profile = depth.get_profile().as<rs2::video_stream_profile>();
auto z_intrin = depth_profile.get_intrinsics();
auto other_intrin = other_profile.get_intrinsics();
auto z_to_other = depth_profile.get_extrinsics_to(other_profile);
auto z_pixels = reinterpret_cast<const uint16_t*>(depth.get_data());
auto out_z = (uint16_t *)(aligned_data);
align_images(z_intrin, z_to_other, other_intrin,
[z_pixels, z_scale](int z_pixel_index) { return z_scale * z_pixels[z_pixel_index]; },
[out_z, z_pixels](int z_pixel_index, int other_pixel_index)
{
out_z[other_pixel_index] = out_z[other_pixel_index] ?
std::min((int)out_z[other_pixel_index], (int)z_pixels[z_pixel_index]) :
z_pixels[z_pixel_index];
});
}
gchar * rs_enfuse(RS_BLOB *rs, GList *files, gboolean quick, gint boundingbox)
{
gint num_selected = g_list_length(files);
gint i;
gchar *name = NULL;
gchar *file = NULL;
GString *outname = g_string_new("");
GString *fullpath = NULL;
gchar *align_options = NULL;
GString *enfuse_options = g_string_new("");
gdouble extend_negative = 0.0;
gdouble extend_positive = 0.0;
gdouble extend_step = 0.0;
GTimer *timer = g_timer_new();
g_timer_start(timer);
if (!rs_conf_get_double(
(num_selected == 1) ? CONF_ENFUSE_EXTEND_NEGATIVE_SINGLE : CONF_ENFUSE_EXTEND_NEGATIVE_MULTI,
&extend_negative))
extend_negative = (num_selected == 1) ? DEFAULT_CONF_ENFUSE_EXTEND_NEGATIVE_SINGLE : DEFAULT_CONF_ENFUSE_EXTEND_NEGATIVE_MULTI;
if (!rs_conf_get_double(
(num_selected == 1) ? CONF_ENFUSE_EXTEND_POSITIVE_SINGLE : CONF_ENFUSE_EXTEND_POSITIVE_MULTI,
&extend_positive))
extend_positive = (num_selected == 1) ? DEFAULT_CONF_ENFUSE_EXTEND_POSITIVE_SINGLE : DEFAULT_CONF_ENFUSE_EXTEND_POSITIVE_MULTI;
if (!rs_conf_get_double(
(num_selected == 1) ? CONF_ENFUSE_EXTEND_STEP_SINGLE : CONF_ENFUSE_EXTEND_STEP_MULTI,
&extend_step))
extend_step = (num_selected == 1) ? DEFAULT_CONF_ENFUSE_EXTEND_STEP_SINGLE : DEFAULT_CONF_ENFUSE_EXTEND_STEP_MULTI;
gboolean align = DEFAULT_CONF_ENFUSE_ALIGN_IMAGES;
rs_conf_get_boolean_with_default(CONF_ENFUSE_ALIGN_IMAGES, &align, DEFAULT_CONF_ENFUSE_ALIGN_IMAGES);
gboolean extend = DEFAULT_CONF_ENFUSE_EXTEND;
rs_conf_get_boolean_with_default(CONF_ENFUSE_EXTEND, &extend, DEFAULT_CONF_ENFUSE_EXTEND);
gint method = 0;
if (!rs_conf_get_integer(CONF_ENFUSE_METHOD, &method))
method = DEFAULT_CONF_ENFUSE_METHOD;
if (boundingbox == -1)
{
if (!rs_conf_get_integer(CONF_ENFUSE_SIZE, &boundingbox))
boundingbox = DEFAULT_CONF_ENFUSE_SIZE;
}
gchar *method_options = NULL;
if (method == ENFUSE_METHOD_EXPOSURE_BLENDING_ID) {
method_options = g_strdup(ENFUSE_OPTIONS_EXPOSURE_BLENDING);
} else if (method == ENFUSE_METHOD_FOCUS_STACKING_ID) {
method_options = g_strdup(ENFUSE_OPTIONS_FOCUS_STACKING);
extend = FALSE;
}
if (quick)
enfuse_options = g_string_append(enfuse_options, ENFUSE_OPTIONS_QUICK);
else
enfuse_options = g_string_append(enfuse_options, ENFUSE_OPTIONS);
enfuse_options = g_string_append(enfuse_options, " ");
enfuse_options = g_string_append(enfuse_options, method_options);
gchar *first = NULL;
gchar *parsed_filename = NULL;
gchar *temp_filename = g_strdup("/tmp/.rawstudio-temp.png");
RS_PROGRESS *progress = NULL;
if (quick == FALSE)
{
progress = gui_progress_new("Enfusing...", 5);
GUI_CATCHUP();
}
/* if only one picture is selected we have to do extending, it doesn't make sense to run enfuse on a single photo otherwise... */
if (num_selected == 1)
extend = TRUE;
if (g_list_length(files))
{
for(i=0; i<num_selected; i++)
{
name = (gchar*) g_list_nth_data(files, i);
if (first == NULL)
first = g_strdup(name);
file = g_malloc(sizeof(char)*strlen(name));
sscanf(g_path_get_basename(name), "%[^.]", file);
outname = g_string_append(outname, file);
g_free(file);
if (i+1 != num_selected)
outname = g_string_append(outname, "+");
}
fullpath = g_string_new(g_path_get_dirname(name));
fullpath = g_string_append(fullpath, "/");
fullpath = g_string_append(fullpath, outname->str);
fullpath = g_string_append(fullpath, "_%2c");
fullpath = g_string_append(fullpath, ".rse");
parsed_filename = filename_parse(fullpath->str, g_strdup(first), 0, FALSE);
g_string_free(outname, TRUE);
g_string_free(fullpath, TRUE);
}
if (quick == FALSE)
{
g_usleep(500000); /* FIXME */
gui_progress_advance_one(progress); /* 1 - initiate */
}
GList *exported_names = export_images(rs, files, extend, extend_negative, extend_step, extend_positive, extend_step, boundingbox, quick);
if (quick == FALSE)
gui_progress_advance_one(progress); /* 2 - after exported images */
GList *aligned_names = NULL;
if (has_align_image_stack() && num_selected > 1 && quick == FALSE && align == TRUE)
{
aligned_names = align_images(exported_names, align_options);
g_free(align_options);
}
else
aligned_names = exported_names;
if (quick == FALSE)
gui_progress_advance_one(progress); /* 3 - after aligned images */
enfuse_images(aligned_names, temp_filename, enfuse_options->str, has_enfuse_mp());
g_string_free(enfuse_options, TRUE);
if (quick == FALSE)
gui_progress_advance_one(progress); /* 4 - after enfusing */
/* delete all temporary files */
if (exported_names != aligned_names) {
delete_files_in_list(aligned_names);
g_list_free(aligned_names);
}
delete_files_in_list(exported_names);
g_list_free(exported_names);
/* FIXME: should use the photo in the middle as it's averaged between it... */
rs_exif_copy(first, temp_filename, "sRGB", RS_EXIF_FILE_TYPE_PNG);
if (first)
g_free(first);
GString *mv = g_string_new("mv ");
mv = g_string_append(mv, temp_filename);
mv = g_string_append(mv, " ");
mv = g_string_append(mv, parsed_filename);
printf("command: %s\n", mv->str);
if(system(mv->str));
g_string_free(mv, TRUE);
if (quick == FALSE)
{
gui_progress_advance_one(progress); /* 5 - misc file operations */
gui_progress_free(progress);
}
g_timer_stop(timer);
printf("Total execution time: %.2f\n", g_timer_elapsed(timer, NULL));
return parsed_filename;
}