void YARPDispMap::getDisparity( unsigned char * img1,
unsigned char * img2,
unsigned char * disparity)
{
unsigned char * DSet1 = (unsigned char*) _DataSet1.GetRawBuffer();
unsigned char * DSet2 = (unsigned char*) _DataSet2.GetRawBuffer();
// unsigned char * image1 = (unsigned char*) img1.GetRawBuffer();
// unsigned char * image2 = (unsigned char*) img2.GetRawBuffer();
// int * dispOffset;
// int * tmpDisparity;
int imgOffset;
node * graph;
int top, bottom;
int totNodes= 0;
int totArcs = 0;
int length;
int graphSize;
int i,j,k,n,m;
getImageSet(img1, DSet1);
getImageSet(img2, DSet2);
int levels = (int)(0.5+log(_xSize)/log(2.0));
unsigned char * data1;
unsigned char * data2;
for (j=0; j<_totSize; j++)
{
_dispOffset[j] = 0;
_tmpDisp[j] = INT_MAX;
}
bool found;
for (length = _xSize/8; length<=_xSize; length*=2)
{
graphSize = length*_deltaDisp+2;
//Graph Allocation
graph = new node [graphSize];
graph[0].foll_nodes = new int [4*graphSize*(_deltaDisp+2)];
graph[0].arcweight = new float [4*graphSize*(_deltaDisp+2)];
//End Allocation
memset(disparity,255,length*length);
imgOffset = _totSize-(4*length*length-1)/3;
data1 = DSet1 + imgOffset;
data2 = DSet2 + imgOffset;
top = 0;
bottom = length-1;
found = false;
for (j=1; j<length; j++)
for (i=1; i<length; i++)
{
if(data1[j*length+i]!=0)
{
top = j;
j = length;
found = true;
break;
}
}
if (!found)
{
delete [] graph[0].foll_nodes;
delete [] graph[0].arcweight;
delete [] graph;
// delete [] dispOffset;
// delete [] tmpDisparity;
// delete [] leftDataSet;
/// delete [] rightDataSet;
// delete [] Sobel;
return;
}
for (j=top; j<length; j++)
for (i=1; i<length; i++)
{
if(data2[j*length+i]!=0)
{
top = j;
j = length;
break;
}
}
for (j=length-1; j>=top; j--)
for (i=length-1; i>=0; i--)
{
if(data1[j*length+i]!=0)
{
bottom = j;
j = 0;
break;
}
}
for (j=bottom; j>=top; j--)
for (i=length-1; i>=0; i--)
{
if(data2[j*length+i]!=0)
{
bottom = j;
j = 0;
break;
}
}
for (j=1; j<length-1; j++)
for (i=1; i<length-1; i++)
{
_sobel[j*length+i] = data1[(j-1)*length+(i-1)]+2*data1[(j-1)*length+(i)]+data1[(j-1)*length+(i+1)];
_sobel[j*length+i] += -data1[(j+1)*length+(i-1)]-2*data1[(j+1)*length+(i)]-data1[(j+1)*length+(i+1)];
}
int ls,le;
int rs,re;
for (j=top; j<=bottom; j++)
{
data1 = DSet1 + imgOffset + j*length;
data2 = DSet2 + imgOffset + j*length;
ls = 0;
le = length-1;
rs = 0;
re = length-1;
for (i=0;i<length; i++)
{
if (data1[i] != 0)
{
ls = i;
for (m=length-1;m>=0; m--)
if(data1[m] != 0)
{
le = m;
break;
}
break;
}
}
for (i=0;i<length; i++)
{
if (data2[i] != 0)
{
rs = i;
for (m=length-1;m>=0; m--)
if(data2[m] != 0)
{
re = m;
break;
}
break;
}
}
int maxR = 0;
int minR = length;
int position;
for (i=ls; i<=le; i++)
{
position = -(*(_dispOffset+imgOffset+j*length+i));
position +=i;
if (position+_maxDisp>maxR)
maxR = position+_maxDisp;
if (position+_minDisp<minR)
minR = position+_minDisp;
}
buildGraph2D(graph, le-ls+1,maxR-minR+1,ls,minR, _dispOffset+imgOffset+j*length, &totNodes, &totArcs);
if ((j==0)||(j==length-1))
assignWeights(graph,length,data1,data2,_sobel, _tmpDisp, -1.0f, totArcs, totNodes);
else
assignWeights(graph,length,data1,data2,&_sobel[(j)*length], &_tmpDisp[imgOffset+(j-1)*length], _alpha, totArcs, totNodes) ;
dynProgr(totNodes, graph);
i = totNodes-1;
//printf("Line: %d. Vertical Disparity: %d. Cost: %f\n",j,l,graph[i].pathweight);
// if (graph[i].pathweight < cost)
// {
// cost = graph[i].pathweight;
// vd = l;
// }
memset (&_tmpDisp[imgOffset+j*length],0, length*sizeof(int));
for (k=0; k<=4*length; k++)
{
n = graph[i].prevNode;
if (k!=0)
{
_tmpDisp[imgOffset+j*length+graph[i].left]= graph[i].left-graph[i].right;
// if (j==length-2)
// printf("Length: %d, Disparity=%d\n",length,tmpDisparity[imgOffset+j*length+graph[i].left]);
disparity[j*length+graph[i].left] = (4*(graph[i].left-graph[i].right)+128);
m = graph[i].left;
}
i=n;
if((i<=0)||(i>totNodes-1))
break;
}//end k for
// printf("Line: %d. Vertical Disparity: %d. Cost: %f\n",j,vd,cost);
int a,b;
//Process discontinuities in tmpDisparity
if (disparity[j*length]==255) //Occlusion in zero//e se sono tutti zero???
{
for (k=0; k<length; k++)
{
if (disparity[j*length+k]!= 255)
break;
}
if(k<length)
for (m=0; m<k; m++)
_tmpDisp[imgOffset+j*length+m]=_tmpDisp[imgOffset+j*length+k];
}
else if (disparity[j*length+length-1]==255)
{
for (k=length-1; k>=0; k--)
{
if (disparity[j*length+k]!= 255)
break;
}
for (m=k+1; m<length; m++)
_tmpDisp[imgOffset+j*length+m]=_tmpDisp[imgOffset+j*length+k];
}
else
{
for (k=0; k<length; k++)
{
if (disparity[j*length+k]== 255)
{
for (m=k; m<length; m++)
{
if (disparity[j*length+m]!= 255)
{
for (n=k; n<m; n++)
{
a = m-k+1;
b = _tmpDisp[imgOffset+j*length+m]-_tmpDisp[imgOffset+j*length+k-1];
if (((n-k+1)*b/a)+_tmpDisp[imgOffset+j*length+k-1]>0)
_tmpDisp[imgOffset+j*length+n] = (int)( ((n-k+1)*b/a)+_tmpDisp[imgOffset+j*length+k-1]+0.5f);
else
_tmpDisp[imgOffset+j*length+n] = (int)( ((n-k+1)*b/a)+_tmpDisp[imgOffset+j*length+k-1]-0.5f);
}
m=length;
}
}
k=n;
}
}
}//endif
if (length<_xSize)
{
for (k=0; k<length; k++)
{
if (_tmpDisp[imgOffset+j*length+k]!=INT_MAX)
{
_dispOffset[imgOffset-4*length*length+2*j*2*length+2*k] = 2*_tmpDisp[imgOffset+j*length+k];
_dispOffset[imgOffset-4*length*length+2*j*2*length+2*k+1] = 2*_tmpDisp[imgOffset+j*length+k];
_dispOffset[imgOffset-4*length*length+(2*j+1)*2*length+2*k] = 2*_tmpDisp[imgOffset+j*length+k];
_dispOffset[imgOffset-4*length*length+(2*j+1)*2*length+2*k+1] = 2*_tmpDisp[imgOffset+j*length+k];
}
}
}//endif
}//endj
// sprintf(File_Name,"%s%d%s","C:/Users/Fabio/Projects/DinamicDisparity/Images/_dpoutput",length,".bmp");
// Save_Bitmap(dispImg,length,length,1,File_Name);
// endTime = Get_Time();
// printf("Time Elapsed: %d msec\n", endTime-startTime);
//Graph Deallocation
delete [] graph[0].foll_nodes;
delete [] graph[0].arcweight;
delete [] graph;
//End Deallocation
}
// delete [] dispOffset;
// delete [] tmpDisparity;
// delete [] leftDataSet;
// delete [] rightDataSet;
// delete [] Sobel;
//Disparity Inversion
/*
unsigned char * invDisp;
// invDisp = new unsigned char [xSize*ySize];
memset(invDisp,255,xSize*ySize);
for (j=0; j<ySize; j++)
for (i=0; i<xSize; i++)
{
if (dispImg[j*xSize+i]!=255)
k = (dispImg[j*xSize+i]-128)/8;
if( ((i-k)>=0)&&((i-k)<xSize) )
invDisp[j*xSize+(i-k)] = (-k*8)+128;
}
sprintf(File_Name,"%s%d%s","C:/Users/Fabio/Projects/DinamicDisparity/Images/_dpoutput_inv",xSize,".bmp");
Save_Bitmap(invDisp,xSize,xSize,1,File_Name);
*/
// endTime = Get_Time();
// printf("Line : %d, Time Elapsed: %d msec\n",j, endTime-startTime);
}
ParticleEmitter::ParticleEmitter(const XmlNodePtrConst emitterNode,
Particle *const target,
Map *const map, const int rotation,
const std::string& dyePalettes) :
mParticleTarget(target),
mMap(map),
mParticleImage(nullptr),
mOutputPauseLeft(0),
mDeathEffectConditions(0),
mParticleFollow(false)
{
// Initializing default values
mParticlePosX.set(0.0F);
mParticlePosY.set(0.0F);
mParticlePosZ.set(0.0F);
mParticleAngleHorizontal.set(0.0F);
mParticleAngleVertical.set(0.0F);
mParticlePower.set(0.0F);
mParticleGravity.set(0.0F);
mParticleRandomness.set(0);
mParticleBounce.set(0.0F);
mParticleAcceleration.set(0.0F);
mParticleDieDistance.set(-1.0F);
mParticleMomentum.set(1.0F);
mParticleLifetime.set(-1);
mParticleFadeOut.set(0);
mParticleFadeIn.set(0);
mOutput.set(1);
mOutputPause.set(0);
mParticleAlpha.set(1.0F);
for_each_xml_child_node(propertyNode, emitterNode)
{
if (xmlNameEqual(propertyNode, "property"))
{
const std::string name = XML::getProperty(
propertyNode, "name", "");
if (name == "position-x")
{
mParticlePosX = readParticleEmitterProp(propertyNode, 0.0F);
}
else if (name == "position-y")
{
mParticlePosY = readParticleEmitterProp(propertyNode, 0.0F);
mParticlePosY.minVal *= SIN45;
mParticlePosY.maxVal *= SIN45;
mParticlePosY.changeAmplitude *= SIN45;
}
else if (name == "position-z")
{
mParticlePosZ = readParticleEmitterProp(propertyNode, 0.0F);
mParticlePosZ.minVal *= SIN45;
mParticlePosZ.maxVal *= SIN45;
mParticlePosZ.changeAmplitude *= SIN45;
}
else if (name == "image")
{
std::string image = XML::getProperty(
propertyNode, "value", "");
// Don't leak when multiple images are defined
if (!image.empty() && !mParticleImage)
{
if (!dyePalettes.empty())
Dye::instantiate(image, dyePalettes);
ResourceManager *const resman
= ResourceManager::getInstance();
mParticleImage = resman->getImage(image);
}
}
else if (name == "subimage")
{
std::string image = XML::getProperty(
propertyNode, "value", "");
// Don't leak when multiple images are defined
if (!image.empty() && !mParticleImage)
{
if (!dyePalettes.empty())
Dye::instantiate(image, dyePalettes);
ResourceManager *const resman
= ResourceManager::getInstance();
Image *img = resman->getImage(image);
if (img)
{
mParticleImage = resman->getSubImage(img,
XML::getProperty(propertyNode, "x", 0),
XML::getProperty(propertyNode, "y", 0),
XML::getProperty(propertyNode, "width", 0),
XML::getProperty(propertyNode, "height", 0));
img->decRef();
}
else
{
mParticleImage = nullptr;
}
}
}
else if (name == "horizontal-angle")
{
mParticleAngleHorizontal =
readParticleEmitterProp(propertyNode, 0.0F);
mParticleAngleHorizontal.minVal
+= static_cast<float>(rotation);
mParticleAngleHorizontal.minVal *= DEG_RAD_FACTOR;
mParticleAngleHorizontal.maxVal
+= static_cast<float>(rotation);
mParticleAngleHorizontal.maxVal *= DEG_RAD_FACTOR;
mParticleAngleHorizontal.changeAmplitude *= DEG_RAD_FACTOR;
}
else if (name == "vertical-angle")
{
mParticleAngleVertical =
readParticleEmitterProp(propertyNode, 0.0F);
mParticleAngleVertical.minVal *= DEG_RAD_FACTOR;
mParticleAngleVertical.maxVal *= DEG_RAD_FACTOR;
mParticleAngleVertical.changeAmplitude *= DEG_RAD_FACTOR;
}
else if (name == "power")
{
mParticlePower = readParticleEmitterProp(propertyNode, 0.0F);
}
else if (name == "gravity")
{
mParticleGravity = readParticleEmitterProp(propertyNode, 0.0F);
}
else if (name == "randomnes"
|| name == "randomness") // legacy bug
{
mParticleRandomness = readParticleEmitterProp(propertyNode, 0);
}
else if (name == "bounce")
{
mParticleBounce = readParticleEmitterProp(propertyNode, 0.0F);
}
else if (name == "lifetime")
{
mParticleLifetime = readParticleEmitterProp(propertyNode, 0);
mParticleLifetime.minVal += 1;
}
else if (name == "output")
{
mOutput = readParticleEmitterProp(propertyNode, 0);
mOutput.maxVal += 1;
}
else if (name == "output-pause")
{
mOutputPause = readParticleEmitterProp(propertyNode, 0);
mOutputPauseLeft = mOutputPause.value(0);
}
else if (name == "acceleration")
{
mParticleAcceleration = readParticleEmitterProp(
propertyNode, 0.0F);
}
else if (name == "die-distance")
{
mParticleDieDistance = readParticleEmitterProp(
propertyNode, 0.0F);
}
else if (name == "momentum")
{
mParticleMomentum = readParticleEmitterProp(
propertyNode, 1.0F);
}
else if (name == "fade-out")
{
mParticleFadeOut = readParticleEmitterProp(propertyNode, 0);
}
else if (name == "fade-in")
{
mParticleFadeIn = readParticleEmitterProp(propertyNode, 0);
}
else if (name == "alpha")
{
mParticleAlpha = readParticleEmitterProp(propertyNode, 1.0F);
}
else if (name == "follow-parent")
{
const std::string value = XML::getProperty(propertyNode,
"value", "0");
if (value == "1" || value == "true")
mParticleFollow = true;
}
else
{
logger->log("Particle Engine: Warning, "
"unknown emitter property \"%s\"",
name.c_str());
}
}
else if (xmlNameEqual(propertyNode, "emitter"))
{
ParticleEmitter newEmitter(propertyNode, mParticleTarget, map,
rotation, dyePalettes);
mParticleChildEmitters.push_back(newEmitter);
}
else if (xmlNameEqual(propertyNode, "rotation")
|| xmlNameEqual(propertyNode, "animation"))
{
ImageSet *const imageset = getImageSet(propertyNode);
if (!imageset)
{
logger->log1("Error: no valid imageset");
continue;
}
mTempSets.push_back(imageset);
Animation &animation = (xmlNameEqual(propertyNode, "rotation")) ?
mParticleRotation : mParticleAnimation;
// Get animation frames
for_each_xml_child_node(frameNode, propertyNode)
{
const int delay = XML::getIntProperty(
frameNode, "delay", 0, 0, 100000);
const int offsetX = XML::getProperty(frameNode, "offsetX", 0)
- imageset->getWidth() / 2 + mapTileSize / 2;
const int offsetY = XML::getProperty(frameNode, "offsetY", 0)
- imageset->getHeight() + mapTileSize;
const int rand = XML::getIntProperty(
frameNode, "rand", 100, 0, 100);
if (xmlNameEqual(frameNode, "frame"))
{
const int index = XML::getProperty(frameNode, "index", -1);
if (index < 0)
{
logger->log1("No valid value for 'index'");
continue;
}
Image *const img = imageset->get(index);
if (!img)
{
logger->log("No image at index %d", index);
continue;
}
animation.addFrame(img, delay,
offsetX, offsetY, rand);
}
else if (xmlNameEqual(frameNode, "sequence"))
{
int start = XML::getProperty(frameNode, "start", -1);
const int end = XML::getProperty(frameNode, "end", -1);
if (start < 0 || end < 0)
{
logger->log1("No valid value for 'start' or 'end'");
continue;
}
while (end >= start)
{
Image *const img = imageset->get(start);
if (!img)
{
logger->log("No image at index %d", start);
continue;
}
animation.addFrame(img, delay,
offsetX, offsetY, rand);
start ++;
}
}
else if (xmlNameEqual(frameNode, "end"))
{
animation.addTerminator(rand);
}
} // for frameNode
}
else if (xmlNameEqual(propertyNode, "deatheffect"))
