//Funcao que salva o frame em uma imagem ppm (posteriormente manipular imagem)
void save_frame(AVFrame * pFrame, int width, int height, int iFrame)
{
FILE *pFile;
char szFilename[32];
int y, k;
// Abre arquivo
sprintf(szFilename, "../images/frame%d.ppm", iFrame);
pFile=fopen(szFilename, "wb");
if(pFile==NULL)
return;
// Escreve cabeçalho
fprintf(pFile, "P6\n%d %d\n255\n", width, height);
// Escreve os pixels em um arquivo ppm
for(y = 0; y < height; y++)
{
for (k = 0; k < 3 * width; k += 3)
//Aplicando meu filtro de tons de cinza :P
gray_filter((pFrame->data[0] + y*pFrame->linesize[0]) + k);
fwrite(pFrame->data[0]+y*pFrame->linesize[0], 1, width*3, pFile);
}
// Fecha arquivo
fclose(pFile);
}
void filter_video(AVFrame * pFrame, int width, int height)
{
int y, k;
//Aplicando meu filtro de tons de cinza :P
#pragma omp parallel shared(pFrame) private(y, k)
{
// std::cout << omp_get_thread_num() << ":" << omp_get_num_threads() << std::endl;
#pragma omp for
for(y = 0; y < height; y++)
for (k = 0; k < 3 * width; k += 3)
{
gray_filter((pFrame->data[0] + y*pFrame->linesize[0] + k));
}
}
}
//tick_idx 0...3
static e_int32 one_slip(laser_sick_t* ls, e_int32 tick_idx, scan_data_t * pdata,
e_int32 data_offset, e_uint32 data_num, e_int32 type) {
point_gray_t* pgray;
point_polar_t *ppoint;
int k, cheight;
ppoint = ((point_polar_t*) ls->points_polar->mem) + tick_idx;
pgray = ((point_gray_t*) ls->points_gray->mem) + tick_idx;
cheight = ls->height / ls->interlace_v;
if (e_check(data_num != cheight && data_num+1 != cheight, "#ERROR# 点数个数与要求的不一致!\n")) {
DMSG(
(STDOUT,"#ERROR# 点数个数多一个?不可能 data_num[%u] ls->height[%u]\n", (unsigned int)data_num,(unsigned int)ls->height/ls->interlace_v));
return E_ERROR;
}
if (!type) {
for (k = data_num - 1; k >= 0; --k) {
ppoint->distance = pdata->range_measurements[data_offset + k];
ppoint->angle_v = pdata->angle_measurements[data_offset + k];
ppoint->angle_h = pdata->h_angle;
#if HACK_PNT_ANGLE_H
ppoint->angle_h += ppoint->angle_v * ls->angle_dif_per_degree;
#endif
ppoint->intensity = intensity_filter(
pdata->echo_measurements[data_offset + k]);
pgray->gray = gray_filter(
pdata->echo_measurements[data_offset + k]);
if (ppoint->distance <= 0.0000005) {
// DMSG((STDOUT,"I"));
#ifdef HACK_INVALID_DATA
(*ppoint) = *(ppoint - ls->interlace_v);
(*pgray) = *(pgray - ls->interlace_v);
#endif
}
if (ppoint->distance > 22 || ppoint->intensity > 700)
DMSG(
(STDOUT,"[%d]\t%f\t%f\t%f\t%u\n",k, ppoint->distance,ppoint->angle_h,ppoint->angle_v,(unsigned int)ppoint->intensity));
ppoint += ls->interlace_v;
pgray += ls->interlace_v;
} // end for
} else {
#define SHIFT_NUM 0
//补一行
if (ls->active_sectors.left && ls->active_sectors.right
&& cheight == data_num + 1) {
ppoint += SHIFT_NUM + 1;
pgray += SHIFT_NUM + 1;
}
for (k = 0; k < data_num - SHIFT_NUM; ++k) {
ppoint->distance = pdata->range_measurements[data_offset + k];
ppoint->angle_v = pdata->angle_measurements[data_offset + k];
ppoint->angle_h = pdata->h_angle;
#if HACK_PNT_ANGLE_H
ppoint->angle_h += ppoint->angle_v * ls->angle_dif_per_degree;
#endif
ppoint->intensity = intensity_filter(
pdata->echo_measurements[data_offset + k]);
pgray->gray = gray_filter(
pdata->echo_measurements[data_offset + k]);
if (ppoint->distance <= 0.0000005) {
// DMSG((STDOUT,"|"));
#ifdef HACK_INVALID_DATA
(*ppoint) = *(ppoint - ls->interlace_v);
(*pgray) = *(pgray - ls->interlace_v);
#endif
}
if (ppoint->distance > 20 || ppoint->intensity > 700)
DMSG(
(STDOUT,"[%d]\t%f\t%f\t%f\t%u\n",k, ppoint->distance,ppoint->angle_h,ppoint->angle_v,(unsigned int)ppoint->intensity));
ppoint += ls->interlace_v;
pgray += ls->interlace_v;
} // end for
}
return E_OK;
}
