コード例 #1
0
ファイル: USBcamera.cpp プロジェクト: drdanz/icub-main
bool USBCameraDriverRgb::getImage(yarp::sig::ImageOf<yarp::sig::PixelRgb>& image)
{
    if( (image.width() != _width) || (image.height() != _height) )
        image.resize(_width, _height);
    deviceRgb->getRgbBuffer(image.getRawImage());
    return true;
}
コード例 #2
0
ファイル: QGLVideo.cpp プロジェクト: xufango/contrib_bk
void QGLVideo::paintImage(yarp::sig::ImageOf<yarp::sig::PixelRgb> &img){

	int wWidth = this->width();
	int wHeight = this->height();
	
	int width = img.width();
	int height = img.height();

	if(width == 0 || height == 0){
		return;
	}

	if (!(wWidth == _yrpImgCache.width() || wHeight == _yrpImgCache.height())) { 
		double ratioWindow = (double)wWidth/(double)wHeight;
		double ratioImage = (double)width/(double)height;
		_yrpImgCache.setQuantum(1);
		_yrpImgCache.setTopIsLowIndex(false);	
		if(ratioWindow > ratioImage){
			// need to stretch height
			_yrpImgCache.resize((int)(((double)width)*((double)wHeight/(double)height)), wHeight); 
		}
		else{
			// need to stretch width
			_yrpImgCache.resize(wWidth, (int)(((double)height)*((double)wWidth/(double)width)));
		}		
		_yrpImgCache.zero();
	}

    _yrpImgCache.copy(img, _yrpImgCache.width(), _yrpImgCache.height()); // scale input image (if required)

	_pixData = (unsigned char*)_yrpImgCache.getRawImage();

	this->updateGL();
}
コード例 #3
0
ファイル: ImagePort.cpp プロジェクト: robotology/yarp
void InputCallback::onRead(yarp::sig::ImageOf<yarp::sig::PixelRgba> &img)
#endif
{

    uchar *tmpBuf;
    QSize s = (QSize(img.width(),img.height()));
#if QT_VERSION >= 0x050302
    int imgSize = img.getRawImageSize();
#else
    int imgSize = s.width() * s.height() * img.getPixelSize();
#endif

    // Allocate a QVideoFrame
    QVideoFrame frame(imgSize,
              s,
#if QT_VERSION >= 0x050302
              img.getRowSize(),
#else
              s.width() * img.getPixelSize(),
#endif
              QVideoFrame::Format_RGB32);

    // Maps the buffer
    frame.map(QAbstractVideoBuffer::WriteOnly);
    // Takes the ownership of the buffer in write only mode
    tmpBuf = frame.bits();
    unsigned char *rawImg = img.getRawImage();
    //int j = 0;
    // Inverts the planes because Qt Wants an image in RGB format instead of BGR
   /* for(int i=0; i<imgSize; i++){
        tmpBuf[j+2] = rawImg[i];
        i++;
        tmpBuf[j+1] = rawImg[i];
        i++;
        tmpBuf[j] = rawImg[i];
        tmpBuf[j+3] = 0;
        j+=4;
    }*/

#if QT_VERSION >= 0x050302
    memcpy(tmpBuf,rawImg,imgSize);
#else
    for(int x =0; x < s.height(); x++) {
        memcpy(tmpBuf + x * (img.width() * img.getPixelSize()),
               rawImg + x * (img.getRowSize()),
               img.width() * img.getPixelSize());
    }
#endif

    //unmap the buffer
    frame.unmap();
    if(sigHandler){
        sigHandler->sendVideoFrame(frame);
    }

}
コード例 #4
0
ファイル: BayerCarrier.cpp プロジェクト: jgvictores/yarp
bool BayerCarrier::debayerHalf(yarp::sig::ImageOf<PixelMono>& src,
                               yarp::sig::ImageOf<PixelRgb>& dest) {
    // dc1394 doesn't seem safe for arbitrary data widths
    if (src.width()%8==0) {
        dc1394video_frame_t dc_src;
        dc1394video_frame_t dc_dest;
        setDcImage(src,&dc_src,dcformat);
        setDcImage(dest,&dc_dest,dcformat);
        dc1394_debayer_frames(&dc_src,&dc_dest,DC1394_BAYER_METHOD_DOWNSAMPLE);
        return true;
    }

    if (bayer_method_set && !warned) {
        fprintf(stderr, "Not using dc1394 debayer methods (image width not a multiple of 8)\n");
        warned = true;
    }

    // a safer implementation that doesn't use dc1394
    int w = src.width();
    int h = src.height();
    int wo = dest.width();
    int ho = dest.height();
    int goff1 = 1-goff;
    int roffx = roff?goff:goff1;
    int boff = 1-roff;
    int boffx = boff?goff:goff1;
    for (int yo=0; yo<ho; yo++) {
        for (int xo=0; xo<wo; xo++) {
            PixelRgb& po = dest.pixel(xo,yo);
            int x = xo*2;
            int y = yo*2;
            if (x+1>=w-1 || y+1>=h-1) {
                po = PixelRgb(0,0,0);
                continue;
            }
            po.r = src.pixel(x+roffx,y+roff);
            po.b = src.pixel(x+boffx,y+boff);
            po.g = (PixelMono)(0.5*(src.pixel(x+goff,y)+src.pixel(x+goff1,y+1)));
        }
    }
    return true;
}
コード例 #5
0
ファイル: MapGrid2D.cpp プロジェクト: jgvictores/yarp
bool MapGrid2D::setOccupancyGrid(yarp::sig::ImageOf<yarp::sig::PixelMono>& image)
{
    if (image.width() != m_width ||
        image.height() != m_height)
    {
        yError() << "The size of given occupancy grid does not correspond to the current map. Use method setSize() first.";
        return false;
    }
    m_map_occupancy = image;
    return true;
}
コード例 #6
0
ファイル: main.cpp プロジェクト: robotology/yarp
void copyImage(yarp::sig::ImageOf<yarp::sig::PixelRgb>& src,
               Magick::Image& dest) {
    int h = src.height();
    int w = src.width();
    dest.size(Magick::Geometry(w,h));
    dest.depth(8);
    for (int i=0; i<h; i++) {
        // must transfer row by row, since YARP may use padding in representation
        Magick::PixelPacket *packet = dest.setPixels(0,i,w,1);
        dest.readPixels(Magick::RGBQuantum,(unsigned char *)(&src.pixel(0,i)));
    }
    dest.syncPixels();
}
コード例 #7
0
ファイル: MapGrid2D.cpp プロジェクト: jgvictores/yarp
bool MapGrid2D::setMapImage(yarp::sig::ImageOf<PixelRgb>& image)
{
    if (image.width() != (int)(m_width) ||
        image.height() != (int)(m_height))
    {
        yError() << "The size of given iamge does not correspond to the current map. Use method setSize() first.";
        return false;
    }
    for (size_t y = 0; y < m_height; y++)
    {
        for (size_t x = 0; x < m_width; x++)
        {
            m_map_flags.safePixel(x, y) = PixelToCellData(image.safePixel(x, y));
        }
    }
    return true;
}
コード例 #8
0
ファイル: realsense2Driver.cpp プロジェクト: robotology/yarp
bool realsense2Driver::getImage(yarp::sig::ImageOf<yarp::sig::PixelMono>& image)
{
    if (!m_stereoMode)
    {
        yError()<<"realsense2Driver: infrared stereo stream not enabled";
        return false;
    }

    image.resize(width(), height());
    std::lock_guard<std::mutex> guard(m_mutex);
    rs2::frameset data = m_pipeline.wait_for_frames();

    rs2::video_frame frm1 = data.get_infrared_frame(1);
    rs2::video_frame frm2 = data.get_infrared_frame(2);

    int pixCode = pixFormatToCode(frm1.get_profile().format());

    if (pixCode != VOCAB_PIXEL_MONO && pixCode != VOCAB_PIXEL_MONO16)
    {
        yError() << "realsense2Driver: expecting Pixel Format MONO or MONO16";
        return false;
    }

    size_t singleImage_rowSizeByte   =  image.getRowSize()/2;
    unsigned char * pixelLeft     =  (unsigned char*) (frm1.get_data());
    unsigned char * pixelRight    =  (unsigned char*) (frm2.get_data());
    unsigned char * pixelOutLeft  =  image.getRawImage();
    unsigned char * pixelOutRight =  image.getRawImage() + singleImage_rowSizeByte;

    for (size_t h=0; h< image.height(); h++)
    {
        memcpy(pixelOutLeft, pixelLeft, singleImage_rowSizeByte);
        memcpy(pixelOutRight, pixelRight, singleImage_rowSizeByte);
        pixelOutLeft  += 2*singleImage_rowSizeByte;
        pixelOutRight += 2*singleImage_rowSizeByte;
        pixelLeft     += singleImage_rowSizeByte;
        pixelRight    += singleImage_rowSizeByte;
    }
    return true;

}
コード例 #9
0
ファイル: BayerCarrier.cpp プロジェクト: jgvictores/yarp
bool BayerCarrier::debayerFull(yarp::sig::ImageOf<PixelMono>& src,
                               yarp::sig::ImageOf<PixelRgb>& dest) {
    // dc1394 doesn't seem safe for arbitrary data widths
    if (src.width()%8==0) {
        dc1394video_frame_t dc_src;
        dc1394video_frame_t dc_dest;
        setDcImage(src,&dc_src,dcformat);
        setDcImage(dest,&dc_dest,dcformat);
        dc1394_debayer_frames(&dc_src,&dc_dest,
                              (dc1394bayer_method_t)bayer_method);
        return true;
    }

    if (bayer_method_set && !warned) {
        fprintf(stderr, "Not using dc1394 debayer methods (image width not a multiple of 8)\n");
        warned = true;
    }
    int w = dest.width();
    int h = dest.height();
    int goff1 = 1-goff;
    int roffx = roff?goff:goff1;
    int boff = 1-roff;
    int boffx = boff?goff:goff1;
    for (int y=0; y<h; y++) {
        for (int x=0; x<w; x++) {
            PixelRgb& po = dest.pixel(x,y);

            // G
            if ((x+y)%2==goff) {
                po.g = src.pixel(x,y);
            } else {
                float g = 0;
                int ct = 0;
                if (x>0) { g += src.pixel(x-1,y); ct++; }
                if (x<w-1) { g += src.pixel(x+1,y); ct++; }
                if (y>0) { g += src.pixel(x,y-1); ct++; }
                if (y<h-1) { g += src.pixel(x,y+1); ct++; }
                if (ct>0) g /= ct;
                po.g = (int)g;
            }

            // B
            if (y%2==boff && x%2==boffx) {
                po.b = src.pixel(x,y);
            } else if (y%2==boff) {
                float b = 0;
                int ct = 0;
                if (x>0) { b += src.pixel(x-1,y); ct++; }
                if (x<w-1) { b += src.pixel(x+1,y); ct++; }
                if (ct>0) b /= ct;
                po.b = (int)b;
            } else if (x%2==boffx) {
                float b = 0;
                int ct = 0;
                if (y>0) { b += src.pixel(x,y-1); ct++; }
                if (y<h-1) { b += src.pixel(x,y+1); ct++; }
                if (ct>0) b /= ct;
                po.b = (int)b;
            } else {
                float b = 0;
                int ct = 0;
                if (x>0&&y>0) { b += src.pixel(x-1,y-1); ct++; }
                if (x>0&&y<h-1) { b += src.pixel(x-1,y+1); ct++; }
                if (x<w-1&&y>0) { b += src.pixel(x+1,y-1); ct++; }
                if (x<w-1&&y<h-1) { b += src.pixel(x+1,y+1); ct++; }
                if (ct>0) b /= ct;
                po.b = (int)b;
            }

            // R
            if (y%2==roff && x%2==roffx) {
                po.r = src.pixel(x,y);
            } else if (y%2==roff) {
                float r = 0;
                int ct = 0;
                if (x>0) { r += src.pixel(x-1,y); ct++; }
                if (x<w-1) { r += src.pixel(x+1,y); ct++; }
                if (ct>0) r /= ct;
                po.r = (int)r;
            } else if (x%2==roffx) {
                float r = 0;
                int ct = 0;
                if (y>0) { r += src.pixel(x,y-1); ct++; }
                if (y<h-1) { r += src.pixel(x,y+1); ct++; }
                if (ct>0) r /= ct;
                po.r = (int)r;
            } else {
                float r = 0;
                int ct = 0;
                if (x>0&&y>0) { r += src.pixel(x-1,y-1); ct++; }
                if (x>0&&y<h-1) { r += src.pixel(x-1,y+1); ct++; }
                if (x<w-1&&y>0) { r += src.pixel(x+1,y-1); ct++; }
                if (x<w-1&&y<h-1) { r += src.pixel(x+1,y+1); ct++; }
                if (ct>0) r /= ct;
                po.r = (int)r;
            }
        }
    }
    return true;
}
コード例 #10
0
ファイル: FfmpegGrabber.cpp プロジェクト: BRKMYR/yarp
bool FfmpegGrabber::getAudioVisual(yarp::sig::ImageOf<yarp::sig::PixelRgb>& image,
                                   yarp::sig::Sound& sound) {

    FfmpegHelper& helper = HELPER(system_resource);
    DecoderState& videoDecoder = helper.videoDecoder;
    DecoderState& audioDecoder = helper.audioDecoder;

    bool tryAgain = false;
    bool triedAgain = false;

    do {

        bool gotAudio = false;
        bool gotVideo = false;
        if (startTime<0.5) {
            startTime = Time::now();
        }
        double time_target = 0;
        while(av_read_frame(pFormatCtx, &packet)>=0) {
            // Is this a packet from the video stream?
            DBG printf("frame ");
            bool done = false;
            if (packet.stream_index==videoDecoder.getIndex()) {
                DBG printf("video ");
                done = videoDecoder.getVideo(packet);
                image.resize(1,1);
                if (done) {
                    //printf("got a video frame\n");
                    gotVideo = true;
                }
            } if (packet.stream_index==audioDecoder.getIndex()) {
                DBG printf("audio ");
                done = audioDecoder.getAudio(packet,sound);
                if (done) {
                    //printf("got an audio frame\n");
                    gotAudio = true;
                }
            } else {
                DBG printf("other ");
            }
            AVRational& time_base = pFormatCtx->streams[packet.stream_index]->time_base;
            double rbase = av_q2d(time_base);

            DBG printf(" time=%g ", packet.pts*rbase);
            time_target = packet.pts*rbase;

            av_free_packet(&packet);
            DBG printf(" %d\n", done);
            if (((imageSync?gotVideo:videoDecoder.haveFrame())||!_hasVideo)&&
                ((imageSync?1:gotAudio)||!_hasAudio)) {
                if (_hasVideo) {
                    videoDecoder.getVideo(image);
                } else {
                    image.resize(0,0);
                }
                if (needRateControl) {
                    double now = (Time::now()-startTime)*pace;
                    double delay = time_target-now;
                    if (delay>0) {
                        DBG printf("DELAY %g ", delay);
                        Time::delay(delay);
                    } else {
                        DBG printf("NODELAY %g ", delay);
                    }
                }
                DBG printf("IMAGE size %dx%d  ", image.width(), image.height());
                DBG printf("SOUND size %d\n", sound.getSamples());
                if (!_hasAudio) {
                    sound.resize(0,0);
                }
                return true;
            }
        }

        tryAgain = !triedAgain;

        if (tryAgain) {
            if (!shouldLoop) {
                return false;
            }
            av_seek_frame(pFormatCtx,-1,0,AVSEEK_FLAG_BACKWARD);
            startTime = Time::now();
        }
    } while (tryAgain);

    return false;
}
コード例 #11
0
ファイル: TestFrameGrabber.cpp プロジェクト: JoErNanO/yarp
void TestFrameGrabber::createTestImage(yarp::sig::ImageOf<yarp::sig::PixelRgb>&
                                       image) {
    // to test IPreciselyTimed, make timestamps be mysteriously NNN.NNN42
    double t = Time::now();
    t -= ((t*1000)-(int)t)/1000;
    t+= 0.00042;
    stamp.update(t);
    if (background.width()>0) {
        image.copy(background);
    } else {
        image.zero();
        image.resize(w,h);
    }
    switch (mode) {
    case VOCAB_BALL:
        {
            addCircle(image,PixelRgb(0,255,0),bx,by,15);
            addCircle(image,PixelRgb(0,255,255),bx,by,8);
            if (ct%5!=0) {
                rnd *= 65537;
                rnd += 17;
                bx += (rnd%5)-2;
                rnd *= 65537;
                rnd += 17;
                by += (rnd%5)-2;
            } else {
                int dx = w/2 - bx;
                int dy = h/2 - by;
                if (dx>0) { bx++; }
                if (dx<0) { bx--; }
                if (dy>0) { by++; }
                if (dy<0) { by--; }
            }
        }
        break;
    case VOCAB_GRID:
        {
            int ww = image.width();
            int hh = image.height();
            if (ww>1&&hh>1) {
                for (int x=0; x<ww; x++) {
                    for (int y=0; y<hh; y++) {
                        double xx = ((double)x)/(ww-1);
                        double yy = ((double)y)/(hh-1);
                        int r = int(0.5+255*xx);
                        int g = int(0.5+255*yy);
                        bool act = (y==ct);
                        image.pixel(x,y) = PixelRgb(r,g,act*255);
                    }
                }
            }
        }
        break;
    case VOCAB_LINE:
    default:
        {
            for (int i=0; i<image.width(); i++) {
                image.pixel(i,ct).r = 255;
            }
        }
        break;
    case VOCAB_RAND:
        {
            // from Alessandro Scalzo

            static unsigned char r=128,g=128,b=128;
            
            int ww = image.width();
            int hh = image.height();
            
            if (ww>1&&hh>1) {
                for (int x=0; x<ww; x++) {
                    for (int y=0; y<hh; y++) {
                        //r+=(rand()%3)-1;
                        //g+=(rand()%3)-1;
                        //b+=(rand()%3)-1;
                        r += Random::uniform(-1,1);
                        g += Random::uniform(-1,1);
                        b += Random::uniform(-1,1);
                        image.pixel(x,y) = PixelRgb(r,g,b);
                    }
                }
            }
        }
        break;
    case VOCAB_NONE:
        break;
    }
    ct++;
    if (ct>=image.height()) {
        ct = 0;
    }
    if (by>=image.height()) {
        by = image.height()-1;
    }
    if (bx>=image.width()) {
        bx = image.width()-1;
    }
    if (bx<0) bx = 0;
    if (by<0) by = 0;
}