int main()
{
ImageLoader loader;
auto f = loader.LoadImage("../Resource/Fig0310(a)(Moon Phobos).jpg");
auto low_high(HW::strechlim(f));
//auto hist(HW::imhist(f,255));
auto g = HW::imadjust(f, low_high, 0,1);
ImageWriter writer;
writer.WritePNGImage(g, "imadjustTest.png");
return 0;
}
int EntropyEncoder::writeTables(ImageWriter &writer) {
int bits = 0;
if (!_using_basic) {
writer.writeBit(1);
bits += _az.writeTable(writer);
bits += _bz.writeTable(writer);
} else {
writer.writeBit(0);
bits += _basic.writeTable(writer);
}
return bits;
}
/*
* Demonstrates the minimum amount of metadata
* necessary to write out an image plane.
*/
bool minWrite(int argc, const char *argv[]) {
if (argc < 2) {
cout << "Please specify an output file name." << endl;
return -1;
}
string id = argv[1];
// create blank 512x512 image
cout << "Creating random image..." << endl;
int w = 512, h = 512;
int pixelType = FormatTools::UINT16();
//byte[] img = new byte[w * h * FormatTools.getBytesPerPixel(pixelType)];
int planeSize = w * h * FormatTools::getBytesPerPixel(pixelType);
ByteArray img(planeSize); // pre-allocate buffer
// fill with random data
for (int i=0; i<planeSize; i++) img[i] = rand();
// create metadata object with minimum required metadata fields
cout << "Populating metadata..." << endl;
IMetadata meta = MetadataTools::createOMEXMLMetadata();
meta.createRoot();
meta.setImageID("Image:0", 0);
meta.setPixelsID("Pixels:0", 0);
meta.setPixelsBinDataBigEndian(Boolean(1), 0, 0);
meta.setPixelsDimensionOrder(DimensionOrder::XYZCT(), 0);
meta.setPixelsType(
PixelType::fromString(FormatTools::getPixelTypeString(pixelType)), 0);
meta.setPixelsSizeX(PositiveInteger(Integer(w)), 0);
meta.setPixelsSizeY(PositiveInteger(Integer(h)), 0);
meta.setPixelsSizeZ(PositiveInteger(Integer(1)), 0);
meta.setPixelsSizeC(PositiveInteger(Integer(1)), 0);
meta.setPixelsSizeT(PositiveInteger(Integer(1)), 0);
meta.setChannelID("Channel:0:0", 0, 0);
meta.setChannelSamplesPerPixel(Integer(1), 0, 0);
// write image plane to disk
cout << "Writing image to '" << id << "'..." << endl;
ImageWriter writer;
writer.setMetadataRetrieve(meta);
writer.setId(id);
writer.saveBytes(img, true);
writer.close();
cout << "Done." << endl;
}
void CDPWizard::variableDone(QString theFileNameString)
{
std::cout << " ---------------- Variable " << theFileNameString << " written! " << std::endl;
QFileInfo myQFileInfo(theFileNameString);
//convert the completed variable layer to an image file
ImageWriter myImageWriter;
if (cbxPseudoColour->isChecked())
{
QString myImageFileNameString = myQFileInfo.dirPath()+"/"+myQFileInfo.baseName()+".png";
myImageWriter.writeImage(theFileNameString,myImageFileNameString);
//set the image label on the calculating variables screen to show the last
//variable calculated
QPixmap myPixmap(myImageFileNameString);
pixmapLabel2->setScaledContents(true);
pixmapLabel2->setPixmap(myPixmap);
}
if (cbxMeridianSwitch->isChecked())
{
//spit the filename up so we can rename it for the meridian shift
QString myMSFileNameString = myQFileInfo.dirPath()+"/"+myQFileInfo.baseName()+"MS."+myQFileInfo.extension();
//perform the meridian shift (hard coding for now but we should have a class member
//boolean that stores whether this is needed
MeridianSwitcher mySwitcher;
mySwitcher.doSwitch(theFileNameString,myMSFileNameString);
if (cbxPseudoColour->isChecked())
{
//make an image for the shifted file too
QFileInfo myQFileInfo2(myMSFileNameString);
QString myImageFileNameString = myQFileInfo2.dirPath()+"/"+myQFileInfo2.baseName()+".png";
myImageWriter.writeImage(myMSFileNameString,myImageFileNameString);
//set the image label on the calculating variables screen to show the last
//variable calculated
QPixmap myPixmap(myImageFileNameString);
pixmapLabel2->setScaledContents(true);
pixmapLabel2->setPixmap(myPixmap);
}
}
progressTotalJob->setProgress(progressTotalJob->progress()+1);
//update the elapsed time
QString myLabelString;
myLabelString.sprintf("<p align=\"right\">Time elapsed: %d s</p>", startTime.elapsed()/1000);
lblElapsedTime->setText(myLabelString);
qApp->processEvents();
}
static PyObject *
image_save_footer(PyObject *self,PyObject *args)
{
PyObject *pyimwriter;
if(!PyArg_ParseTuple(args,"O",&pyimwriter))
{
return NULL;
}
ImageWriter *i = (ImageWriter *)PyCObject_AsVoidPtr(pyimwriter);
if(!i || !i->save_footer())
{
PyErr_SetString(PyExc_IOError, "Couldn't save image footer");
return NULL;
}
Py_INCREF(Py_None);
return Py_None;
}
void setPixel(float x, float y, GLfloat r, GLfloat g, GLfloat b) {
if (imageWriter.drawing) {
unsigned char color[3];
color[0] = min((int)floor(r*255), 255);
color[1] = min((int)floor(g*255), 255);
color[2] = min((int)floor(b*255), 255);
imageWriter.setPixel(x, y, color);
} else {
glColor3f(r, g, b);
glVertex2f(x, y);
}
}
void processArgs(int argc, char* argv[]) {
if (argc < 3) {
Usage();
}
int i=1;
string filename = argv[i++];
string p = argv[i++];
if (DEBUG) cout << "Parsing scene " << filename << endl;
if (DEBUG) cout << "Parameter: " << atof(p.c_str()) << endl;
bool adaptive = false;
string arg;
if (argc >= 4) {
for ( ; i<argc; i++) {
arg = argv[i];
if (arg.compare("-a") == 0) {
adaptive = true;
//scene->build(filename, atof(p.c_str()));
if (DEBUG) cout << "Using adaptive subdivision." << endl;
} else if (arg.compare("-pr")==0) {
imageWriter.init(viewport.w, viewport.h);
imageWriter.glOn = false;
imageWriter.fileName = argv[++i];
} else if (arg.compare("-px")==0) {
int width = atoi(argv[++i]);
int height = atoi(argv[++i]);
viewport.w = width;
viewport.h = height;
imageWriter.setSize(width, height);
}
}
}
scene = new Scene(filename, atof(p.c_str()), adaptive);
}
int EntropyEncoder::writeZeroRun(int run, ImageWriter &writer) {
if (run <= 0) {
return 0;
}
int bits;
if (run < _zrle_syms) {
bits = _bz.writeSymbol(_num_syms + run - 1, writer);
} else {
bits = _bz.writeSymbol(_bz_tail_sym, writer);
writer.write255255(run - _zrle_syms);
}
return bits;
}
//***************************************************
// Function what actually draws to screen
//***************************************************
void myDisplay() {
glClear(GL_COLOR_BUFFER_BIT|GL_DEPTH_BUFFER_BIT); // clear the color buffer (sets everything to black)
glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
vec3 t = scene->translation;
glTranslatef(t[0] ,t[1], t[2]);
vec3 r = scene->rotation;
glRotatef(r[0],1,0,0);
glRotatef(r[1],0,1,0);
glRotatef(r[2],0,0,1);
for (int i=0; i<scene->meshes.size(); i++) {
Mesh* mesh = scene->meshes[i];
//Mesh* mesh = scene->meshes[patch];
glColor3f(.1,.1,0);
glVertexPointer(3, GL_FLOAT, 0, mesh->verts);
glNormalPointer(GL_FLOAT, 0, mesh->norms);
if (scene->wireframe) {
glPolygonMode(GL_FRONT_AND_BACK, GL_LINE);
} else {
glPolygonMode(GL_FRONT_AND_BACK, GL_FILL);
}
if (scene->adaptiveSub) {
glDrawElements(GL_TRIANGLES, 3*mesh->n_poly, GL_UNSIGNED_INT, mesh->indices);
} else {
glDrawElements(GL_QUADS, 4*mesh->n_poly, GL_UNSIGNED_INT, mesh->indices);
}
}
glFlush();
glutSwapBuffers(); // swap buffers (we earlier set double buffer)
if (imageWriter.drawing) {
imageWriter.printScreen();
quitProgram();
}
}
//Deals with normal keydowns
void processNormalKeys(unsigned char key, int x, int y) {
//escape, q, spacebar quit
string name;
switch(key) {
case 32:
case 27:
case 'q':
quitProgram();
break;
case '0': case '1': case '2': case '3': case '4':
case '5': case '6': case '7': case '8': case '9':
name = "pic";
name += key;
name += ".png";
imageWriter.fileName = name;
imageWriter.init(viewport.w, viewport.h);
break;
case 's':
if(scene->smoothShading) {
glShadeModel(GL_FLAT);
} else {
glShadeModel(GL_SMOOTH);
}
scene->smoothShading = !scene->smoothShading;
break;
case 'w':
scene->wireframe = !scene->wireframe;
break;
case '-':
case '_':
scene->translating[2] = -TRANSPEED;
break;
case '=':
case '+':
scene->translating[2] = TRANSPEED;
break;
case 'a':
patch = (patch + 1) % scene->meshes.size();
break;
}
}
void VideoThumbnailer::generateThumbnail(const QString& videoFile, ImageWriter& imageWriter, QImage &image)
{
MovieDecoder movieDecoder(videoFile, NULL);
if (movieDecoder.getInitialized()) {
movieDecoder.decodeVideoFrame(); //before seeking, a frame has to be decoded
if ((!m_WorkAroundIssues) || (movieDecoder.getCodec() != QLatin1String("h264"))) { //workaround for bug in older ffmpeg (100% cpu usage when seeking in h264 files)
int secondToSeekTo = m_SeekTime.isEmpty() ? movieDecoder.getDuration() * m_SeekPercentage / 100 : timeToSeconds(m_SeekTime);
movieDecoder.seek(secondToSeekTo);
}
VideoFrame videoFrame;
if (m_SmartFrameSelection) {
generateSmartThumbnail(movieDecoder, videoFrame);
} else {
movieDecoder.getScaledVideoFrame(m_ThumbnailSize, m_MaintainAspectRatio, videoFrame);
}
applyFilters(videoFrame);
imageWriter.writeFrame(videoFrame, image);
}
}
int ImageRGBAWriter::writeTables(ImageWriter &writer) {
CAT_INANE("RGBA") << "Writing tables...";
CAT_DEBUG_ENFORCE(MAX_FILTERS <= 32);
CAT_DEBUG_ENFORCE(SF_COUNT <= 128);
CAT_DEBUG_ENFORCE(_tile_bits_x <= 8);
writer.writeBits(_tile_bits_x - 1, 3);
int basic_bits = 3;
DESYNC_TABLE();
CAT_DEBUG_ENFORCE(_sf_count > 0);
// Write filter choices
writer.writeBits(_sf_count - 1, 5);
int choice_bits = 5;
for (int ii = 0; ii < _sf_count; ++ii) {
u16 sf = _sf_indices[ii];
writer.writeBits(sf, 7);
choice_bits += 7;
}
DESYNC_TABLE();
int sf_table_bits = _sf_encoder.writeTables(writer);
DESYNC_TABLE();
int cf_table_bits = _cf_encoder.writeTables(writer);
DESYNC_TABLE();
int a_table_bits = _a_encoder.writeTables(writer);
DESYNC_TABLE();
#ifdef CAT_COLLECT_STATS
Stats.y_table_bits = 0;
Stats.u_table_bits = 0;
Stats.v_table_bits = 0;
#endif // CAT_COLLECT_STATS
writer.writeBits(_encoders->chaos.getBinCount() - 1, 4);
basic_bits += 4;
for (int jj = 0; jj < _encoders->chaos.getBinCount(); ++jj) {
int y_table_bits = _encoders->y[jj].writeTables(writer);
DESYNC_TABLE();
int u_table_bits = _encoders->u[jj].writeTables(writer);
DESYNC_TABLE();
int v_table_bits = _encoders->v[jj].writeTables(writer);
DESYNC_TABLE();
#ifdef CAT_COLLECT_STATS
Stats.y_table_bits += y_table_bits;
Stats.u_table_bits += u_table_bits;
Stats.v_table_bits += v_table_bits;
#endif // CAT_COLLECT_STATS
}
int lz_table_bits = _lz.writeTables(writer);
DESYNC_TABLE();
#ifdef CAT_COLLECT_STATS
Stats.basic_overhead_bits = basic_bits;
Stats.sf_choice_bits = choice_bits;
Stats.sf_table_bits = sf_table_bits;
Stats.cf_table_bits = cf_table_bits;
Stats.a_table_bits = a_table_bits;
Stats.lz_table_bits = lz_table_bits;
#endif // CAT_COLLECT_STATS
return GCIF_WE_OK;
}
void lrfExample(ImageWriter& iw)
{
iw.setLabel("lrf-example");
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
WorldModel2D wm;
// wm.addEntity(createBox(geo::Vec2(), geo::Vec2()));
wm.addEntity(createBox(7.63, 4.09, true), fromXYADegrees(0.085, 0.065, 0));
wm.addEntity(createBox(0.691667, 1.45833), fromXYADegrees(-0.529166, 0.404165, 0));
wm.addEntity(createBox(0.45833, 0.6), fromXYADegrees(-1.69583, 0.375, 0));
wm.addEntity(createBox(0.95833, 0.516667), fromXYADegrees(-1.72917, -0.616667, 0));
wm.addEntity(createBox(0.96666, 0.50833), fromXYADegrees(-1.75, 1.37084, 0));
wm.addEntity(createBox(1.6, 0.30834), fromXYADegrees(-0.45, -1.8375, 0));
wm.addEntity(createBox(0.65, 0.95), fromXYADegrees(1.6, 0.4, 0));
wm.addEntity(createBox(0.55, 1.28333), fromXYADegrees(3.54167, 0.558333, 0));
wm.addEntity(createCircle(0.1), fromXYA(0.358333, 1.81667, 0));
wm.addEntity(createCircle(0.1), fromXYA(-1.73333, -1.78333, 0));
wm.addEntity(createCircle(0.1), fromXYA(3.18333, 1.68333, 0));
Model2D model;
Contour2D& c = model.addContour();
c.addPoint(-3.73333 + 3.3, -1 + 1.6);
c.addPoint(-3.15 + 3.3, -1 + 1.6);
c.addPoint(-3.15 + 3.3, -1.46 + 1.6);
c.addPoint(-2.36 + 3.3, -1.46 + 1.6);
c.addPoint(-2.36 + 3.3, -1.97 + 1.6);
c.addPoint(-3.73333 + 3.3, -1.97 + 1.6);
wm.addEntity(model, fromXYADegrees(-3.3, -1.6, 0));
// wm.addEntity(createBox(geo::Vec2(0, -4), geo::Vec2(8, 0), true), fromXYA(-4, 2, 0)); // 0
// wm.addEntity(createBox(1.6, 0.8), fromXYA(2, -1, 0)); // 1 table
// wm.addEntity(createCircle(0.1), fromXYA(2.6, -0.8, 0)); // 2 small object
// wm.addEntity(createCircle(0.5), fromXYA(-3.2, -1.2, 0)); // 3
// wm.addEntity(createCircle(0.3), fromXYA(-2.2, -1.4, 0)); // 4
// wm.addEntity(createCircle(0.3), fromXYA(3.3, 1.0, 0)); // 5
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
geo::LaserRangeFinder lrf;
lrf.setNumBeams(50);
lrf.setAngleLimits(-1.0, 1.0);
lrf.setRangeLimits(0, 10);
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
// Draw world model without extra object
Canvas canvas = iw.nextCanvas();
drawImage(canvas, iw.image_path() + "/livingroom.jpg", 0.9);
iw.setLabel("livingroom");
iw.process(canvas);
iw.setLabel("lrf-example");
iw.process(canvas);
// canvas = iw.nextCanvas();
// drawWorld(canvas, wm);
// iw.process(canvas);
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
// Render world model (LRF) without extra object (virtual data)
geo::Transform2 lrf_pose = fromXYADegrees(0.533333, -1.24167, 145);
drawLRFPose(canvas, lrf_pose, Color(0, 150, 0, 2));
iw.process(canvas);
std::vector<double> ranges_virtual = renderLRF(lrf, lrf_pose, wm);
drawRanges(canvas, lrf, lrf_pose, ranges_virtual, Color(255, 0, 0, 3), Color(50, 50, 50));
drawLRFPose(canvas, lrf_pose, Color(0, 150, 0, 2));
iw.process(canvas);
drawWorld(canvas, wm);
drawRanges(canvas, lrf, lrf_pose, ranges_virtual, Color(255, 0, 0, 3), Color(50, 50, 50));
drawLRFPose(canvas, lrf_pose, Color(0, 150, 0, 2));
iw.process(canvas);
canvas = iw.nextCanvas();
drawWorld(canvas, wm);
drawRanges(canvas, lrf, lrf_pose, ranges_virtual, Color(255, 0, 0, 3), Color(50, 50, 50));
drawLRFPose(canvas, lrf_pose, Color(0, 150, 0, 2));
iw.process(canvas);
}
int
main()
{
IFractalSite doNothingSite;
ListColorMap *cmap = new ListColorMap();
cmap->init(256);
for(int i = 0; i < 256; ++i)
{
int x = (i % 2) ? 179 : 49;
cmap->set(i,i/256.0, 255, x, x, 255);
}
pf_obj *pfo = pf_new();
s_param *pfoParams = new s_param[7];
pfoParams[0].gradient = cmap; //gradient
pfoParams[1].doubleval = 4.0; //bailout
pfoParams[2].doubleval = 1.0; //cf0 density
pfoParams[3].doubleval = 1.0; //cf0 offset
pfoParams[4].doubleval = 4.0; //cf0 bailout
pfoParams[5].doubleval = 1.0; //cf1 density
pfoParams[6].doubleval = 1.0; // offset
double params[] = {
0.0, 0.0, 0.0, 0.0,
4.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0};
pfo->vtbl->init(
pfo,2.0e-9,
params,
pfoParams,
7);
image *im = new image();
im->set_resolution(1024,1024,-1,-1);
calc(
params,
AA_FAST,
32767,
1,
pfo,
cmap,
true,
false,
true,
true,
DEBUG_QUICK_TRACE | DEBUG_DRAWING_STATS,
RENDER_TWO_D,
-1,
im,
&doNothingSite);
FILE *outfile = fopen("prof.tga", "wb");
ImageWriter *iw = ImageWriter::create(FILE_TYPE_TGA, outfile, im);
iw->save_header();
iw->save_tile();
iw->save_footer();
fclose(outfile);
}
void relativeSection(ImageWriter& iw)
{
iw.setLabel("relative");
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
WorldModel2D wm;
// wm.addEntity(createBox(geo::Vec2(), geo::Vec2()));
// wm.addEntity(createBox(7.63, 4.09, true), fromXYADegrees(0.085, 0.065, 0));
wm.addEntity(createBox(geo::Vec2(0, -4.09), geo::Vec2(7.63, 0), true), fromXYADegrees(-3.75, 2.1, 0));
int idx_couch = wm.entities.size();
wm.addEntity(createBox(0.691667, 1.45833), fromXYADegrees(-0.529166, 0.404165, 0));
wm.addEntity(createBox(0.45833, 0.6), fromXYADegrees(-1.69583, 0.375, 0));
wm.addEntity(createBox(0.95833, 0.516667), fromXYADegrees(-1.72917, -0.616667, 0));
wm.addEntity(createBox(0.96666, 0.50833), fromXYADegrees(-1.75, 1.37084, 0));
wm.addEntity(createBox(1.6, 0.30834), fromXYADegrees(-0.45, -1.8375, 0));
int idx_table = wm.entities.size();
wm.addEntity(createBox(0.65, 0.95), fromXYADegrees(1.6, 0.4, 0));
int idx_cabinet = wm.entities.size();
wm.addEntity(createBox(0.55, 1.28333), fromXYADegrees(3.54167, 0.558333, 0));
wm.addEntity(createCircle(0.1), fromXYA(0.358333, 1.81667, 0));
wm.addEntity(createCircle(0.1), fromXYA(-1.73333, -1.78333, 0));
int idx_plant = wm.entities.size();
wm.addEntity(createCircle(0.1), fromXYA(3.18333, 1.68333, 0));
Model2D model;
Contour2D& c = model.addContour();
c.addPoint(-3.73333 + 3.3, -1 + 1.6);
c.addPoint(-3.15 + 3.3, -1 + 1.6);
c.addPoint(-3.15 + 3.3, -1.46 + 1.6);
c.addPoint(-2.36 + 3.3, -1.46 + 1.6);
c.addPoint(-2.36 + 3.3, -1.97 + 1.6);
c.addPoint(-3.73333 + 3.3, -1.97 + 1.6);
wm.addEntity(model, fromXYADegrees(-3.3, -1.6, 0));
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
Canvas canvas = iw.nextCanvas();
drawImage(canvas, iw.image_path() + "/livingroom.jpg", 0.9);
iw.process(canvas);
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
drawWorld(canvas, wm);
iw.process(canvas);
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
int idx_lrf = wm.entities.size();
wm.addEntity(createLRFPose(), fromXYADegrees(0.533333, -1.24167, 145), Color(0, 150, 0, 2));
drawWorld(canvas, wm);
iw.process(canvas);
int idx_target = wm.entities.size();
wm.addEntity(createTarget(), fromXYADegrees(-0.533333, -0.725, 0), Color(255, 0, 0, 2));
drawWorld(canvas, wm);
iw.process(canvas);
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
// Moved couch
canvas = iw.nextCanvas();
drawImage(canvas, iw.image_path() + "/livingroom2.jpg", 0.9);
drawWorld(canvas, wm);
iw.process(canvas);
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
// canvas = iw.nextCanvas();
drawWorldModelAbsolute(canvas, wm, wm.entities[0].pose.t);
iw.process(canvas);
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
canvas = iw.nextCanvas();
drawImage(canvas, iw.image_path() + "/livingroom2.jpg", 0.9);
drawWorld(canvas, wm);
iw.process(canvas);
std::vector<Link> links;
links.push_back(Link(0, idx_target));
links.push_back(Link(0, idx_lrf));
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
drawWorldModelSceneGraph(canvas, wm, links);
iw.process(canvas);
canvas = iw.nextCanvas();
drawImage(canvas, iw.image_path() + "/livingroom2.jpg", 0.9);
drawWorld(canvas, wm);
iw.process(canvas);
links.clear();
links.push_back(Link(idx_couch, idx_target));
drawWorldModelSceneGraph(canvas, wm, links);
iw.process(canvas);
links.push_back(Link(idx_lrf, idx_couch));
drawWorldModelSceneGraph(canvas, wm, links);
iw.process(canvas);
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
WorldModel2D wm2;
wm2.entities.push_back(wm.entities[idx_lrf]);
wm2.entities.push_back(wm.entities[idx_couch]);
wm2.entities.push_back(wm.entities[idx_target]);
links.clear();
links.push_back(Link(0, 1));
links.push_back(Link(1, 2));
canvas = iw.nextCanvas();
drawWorldModelSceneGraph(canvas, wm2, links);
iw.process(canvas);
canvas = iw.nextCanvas();
drawImage(canvas, iw.image_path() + "/livingroom2.jpg", 0.9);
wm.entities[idx_target].pose.t.y += 0.7;
wm.entities[idx_couch].pose.t.y += 0.7;
links.clear();
links.push_back(Link(idx_couch, idx_target));
links.push_back(Link(idx_lrf, idx_couch));
drawWorldModelSceneGraph(canvas, wm, links);
iw.process(canvas);
links.push_back(Link(idx_couch, 2));
links.push_back(Link(2, 3));
links.push_back(Link(2, 4));
links.push_back(Link(idx_lrf, idx_table));
links.push_back(Link(idx_table, idx_cabinet));
links.push_back(Link(idx_cabinet, idx_plant));
drawWorldModelSceneGraph(canvas, wm, links);
iw.process(canvas);
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
// Soccer field
iw.setLabel("relative-soccer");
//Click: [ -2.0125 -0.0125 ]
//Click: [ 0.8375 -1.1 ]
//Click: [ 2.075 0.025 ]
//Click: [ 2 1.7125 ] ball
wm.entities.clear();
wm.addEntity(createSoccerFieldModel(), geo::Transform2::identity(), Color(255, 255, 255, 2));
wm.addEntity(createCircle(0.2), fromXYA(2, 1.7125, 0), Color(255, 220, 0, 2));
wm.addEntity(createTurtleModel(), fromXYADegrees(0.8375, -1.1 , 60), Color(0, 0, 0, 2));
// wm.addEntity(createTurtleModel(), fromXYADegrees(-1.1, -0.15, -90), Color(0, 0, 0, 2));
// wm.addEntity(createTurtleModel(), fromXYADegrees(2.275, 0.025, 105), Color(0, 0, 0, 2));
canvas = iw.nextCanvas();
drawSoccerField(canvas);
drawWorld(canvas, wm);
iw.process(canvas);
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
drawWorldModelAbsolute(canvas, wm, geo::Vec2(-4, 2.67));
iw.process(canvas);
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
links.clear();
links.push_back(Link(2, 1));
canvas = iw.nextCanvas();
drawSoccerField(canvas);
drawWorldModelSceneGraph(canvas, wm, links);
iw.process(canvas);
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
wm.addEntity(createTurtleModel(), fromXYADegrees(-1.5, -0.15, -10), Color(0, 0, 0, 2));
canvas = iw.nextCanvas();
drawSoccerField(canvas);
drawWorldModelSceneGraph(canvas, wm, links);
iw.process(canvas);
links.push_back(Link(3, 2));
drawWorldModelSceneGraph(canvas, wm, links);
iw.process(canvas);
drawArrow(canvas, wm.entities[3].pose.t, wm.entities[1].pose.t, Color(150, 150, 150, 2), true);
iw.process(canvas);
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
canvas = iw.nextCanvas();
drawSoccerField(canvas);
geo::Vec2 ball_pos_rel = wm.entities[2].pose.inverse() * wm.entities[1].pose.t;
geo::Transform2 offset = geo::Transform2::identity();
offset.setRotation(-0.3);
wm.entities[2].pose = wm.entities[2].pose * offset;
wm.entities[1].pose.t = wm.entities[2].pose * ball_pos_rel;
drawWorldModelSceneGraph(canvas, wm, links);
drawArrow(canvas, wm.entities[3].pose.t, wm.entities[1].pose.t, Color(150, 150, 150, 2), true);
iw.process(canvas);
// Turn back
wm.entities[2].pose = wm.entities[2].pose * offset.inverse();
wm.entities[1].pose.t = wm.entities[2].pose * ball_pos_rel;
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
canvas = iw.nextCanvas();
drawSoccerField(canvas);
drawWorld(canvas, wm);
iw.process(canvas);
// wm.addEntity(createTurtleModel(), fromXYADegrees(2.275, 0.025, 105), Color(0, 0, 0, 2));
wm.addEntity(createTurtleModel(), fromXYADegrees(0.375, 0.65, -105), Color(0, 0, 0, 2));
drawWorld(canvas, wm);
iw.process(canvas);
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
links.clear();
links.push_back(Link(2, 1));
links.push_back(Link(2, 4));
drawWorldModelSceneGraph(canvas, wm, links);
iw.process(canvas);
// links.push_back(Link(4, 1));
// drawWorldModelSceneGraph(canvas, wm, links);
// iw.process(canvas);
links.push_back(Link(3, 2));
links.push_back(Link(3, 4));
drawWorldModelSceneGraph(canvas, wm, links);
iw.process(canvas);
cv::Mat temp = canvas.image.clone();
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
canvas = iw.nextCanvas();
canvas.image = temp.clone();
drawTriangle(canvas, wm.entities[1].pose.t, wm.entities[2].pose.t, wm.entities[4].pose.t, Color(0, 255, 255, 2));
iw.process(canvas);
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
// Replace 3th turtle by field feature
wm.entities[4] = Entity2D(Model2D(), fromXYA(0, 0.7, 0), Color());
canvas = iw.nextCanvas();
drawSoccerField(canvas);
drawWorldModelSceneGraph(canvas, wm, links);
iw.process(canvas);
drawTriangle(canvas, wm.entities[1].pose.t, wm.entities[2].pose.t, wm.entities[4].pose.t, Color(0, 255, 255, 2));
iw.process(canvas);
}
int ForceRGBCommand::run(const char** args, unsigned int numArgs)
{
if ( numArgs < 2 ) {
fprintf(stderr, "Usage: ImageTool forcergb <input> <output> [-filequality 0-100] [-pad N,N,N]\n");
fprintf(stderr, "\te.g. ImageTool forcergb input.jpg output.jpg\n");
return IMAGECORE_INVALID_USAGE;
}
int ret = open(args[0], args[1]);
if (ret != IMAGECORE_SUCCESS) {
return ret;
}
// Defaults
unsigned int compressionQuality = 75;
// Optional args
unsigned int numOptional = numArgs - 2;
if ( numOptional > 0 ) {
unsigned int numPairs = numOptional / 2;
for ( unsigned int i = 0; i < numPairs; i++ ) {
const char* argName = args[2 + i * 2 + 0];
const char* argValue = args[2 + i * 2 + 1];
if( strcmp(argName, "-filequality") == 0 ) {
compressionQuality = clamp(0, 100, atoi(argValue));
} else if( strcmp(argName, "-pad") == 0 ) {
int ret = populateBuckets(argValue);
if (ret != IMAGECORE_SUCCESS) {
return ret;
}
}
}
}
ImageReader* reader = ImageReader::create(m_Source);
if( reader == NULL ) {
fprintf(stderr, "error: unknown or corrupt image format for '%s'\n", m_InputFilePath);
return IMAGECORE_INVALID_FORMAT;
}
EImageFormat outputFormat = ImageWriter::formatFromExtension(args[1], reader->getFormat());
unsigned int colorProfileSize = 0;
reader->getColorProfile(colorProfileSize);
if( colorProfileSize != 0 && reader->getFormat() == kImageFormat_JPEG ) {
reader->setReadOptions(ImageReader::kReadOption_ApplyColorProfile);
ImageRGBA* image = ImageRGBA::create(reader->getWidth(), reader->getHeight());
if( reader->readImage(image) ) {
ImageWriter* writer = ImageWriter::createWithFormat(kImageFormat_JPEG, m_Output);
if (writer == NULL) {
fprintf(stderr, "error: unable to create ImageWriter\n");
return IMAGECORE_OUT_OF_MEMORY;
}
writer->setWriteOptions(ImageWriter::kWriteOption_WriteDefaultColorProfile);
writer->setSourceReader(reader);
writer->setQuality(compressionQuality);
if( !writer->writeImage(image) ) {
ret = IMAGECORE_WRITE_ERROR;
}
delete writer;
} else {
fprintf(stderr, "error unable to read input image");
ret = IMAGECORE_READ_ERROR;
}
delete image;
} else {
ImageWriter* imageWriter = ImageWriter::createWithFormat(outputFormat, m_Output);
unsigned int writeOptions = 0;
writeOptions |= ImageWriter::kWriteOption_WriteExifOrientation;
writeOptions |= ImageWriter::kWriteOption_WriteDefaultColorProfile;
if( imageWriter != NULL ) {
imageWriter->setWriteOptions(writeOptions);
if( imageWriter->copyLossless(reader) ) {
ret = IMAGECORE_SUCCESS;
} else {
fprintf(stderr, "error: unable to perform lossless copy.\n");
ret = IMAGECORE_INVALID_OPERATION;
}
delete imageWriter;
}
}
delete reader;
reader = NULL;
close();
return ret;
}
