bool ImageIcon::show(const Glib::ustring &fileName)
{
if (!Glib::file_test(fileName, Glib::FILE_TEST_EXISTS))
return false;
gchar *fName = (gchar *)fileName.c_str();
//g_message("fname:%s\n", fName);
if (Glib::file_test(fileName, Glib::FILE_TEST_IS_REGULAR))
{
struct stat info;
if (stat(fName, &info))
{
Glib::ustring err = "cannot get file info";
showBrokenImage(err);
return false;
}
long fileLen = info.st_size;
if (fileLen > 0x150000L)
{
Glib::ustring err = "File too large";
showBrokenImage(err);
return false;
}
}
Glib::ustring svg = ".svg";
Glib::ustring svgz = ".svgz";
if (hasSuffix(fileName, svg) || hasSuffix(fileName, svgz) )
{
if (!showSvgFile(fileName))
{
showBrokenImage(bitmapError);
return false;
}
return true;
}
else if (isValidImageIconFile(fileName))
{
if (!showBitmap(fileName))
{
showBrokenImage(bitmapError);
return false;
}
return true;
}
else
{
showBrokenImage("unsupported file type");
return false;
}
}
/**
Bitmap-Effekt
*/
void Effects::showAnimatedBitmap(byte animatedBitmap, byte duration, eColors color) {
switch (animatedBitmap) {
case ANI_BITMAP_CHAMPGLASS:
for (byte i = 0; i < 6; i++) {
showBitmap(BITMAP_CHAMPGLASS1 + i % 2, duration, color);
}
break;
case ANI_BITMAP_CHRISTTREE:
for (byte i = 0; i < 4; i++) {
showBitmap(BITMAP_CHRISTTREE1 + i % 2, duration, color);
}
break;
case ANI_BITMAP_SMILEY_WINK:
showBitmap(BITMAP_SMILEY, 2 * duration, color);
showBitmap(BITMAP_SMILEY_WINK, duration, color);
showBitmap(BITMAP_SMILEY, duration, color);
break;
default:
;
}
}
/// \fixme This function is almost an exact duplicate of SVGPreview::set() in ui/dialog/filedialogimpl-gtkmm.cpp.
bool ImageIcon::show(const Glib::ustring &fileName)
{
if (!Glib::file_test(fileName, Glib::FILE_TEST_EXISTS)) {
showBrokenImage("File does not exist");
return false;
}
if (Glib::file_test(fileName, Glib::FILE_TEST_IS_REGULAR)) {
gchar *fName = const_cast<gchar *>(fileName.c_str()); // this const-cast seems not necessary, was it put there because of older sys/stat.h version?
struct stat info;
if (stat(fName, &info)) // stat returns 0 upon success
{
showBrokenImage("Cannot get file info");
return false;
}
if (info.st_size > 0x150000L) {
showBrokenImage("File too large");
return false;
}
}
Glib::ustring svg = ".svg";
Glib::ustring svgz = ".svgz";
if (hasSuffix(fileName, svg) || hasSuffix(fileName, svgz)) {
if (!showSvgFile(fileName)) {
showBrokenImage(bitmapError);
return false;
}
return true;
} else if (isValidImageIconFile(fileName)) {
if (!showBitmap(fileName)) {
showBrokenImage(bitmapError);
return false;
}
return true;
} else {
showBrokenImage("unsupported file type");
return false;
}
}
void CalibrateThread::run()
{
Size boardSize, imageSize;
float squareSize = 1.f, aspectRatio = 1.f;
Mat cameraMatrix, distCoeffs;
//QString of = ui->lineEdit_WorkFolder->text() + '/' + ui->lineEdit_OutputName->text();
QByteArray ba = strFileName.toLatin1();
const char* outputFilename = ba.data();
int i, nframes = 0;
bool writeExtrinsics = true, writePoints = true;
bool undistortImage = false;
int flags = 0;
VideoCapture capture;
bool flipVertical = false;
bool showUndistorted = false;
int delay = 1000;
clock_t prevTimestamp = 0;
int mode = CAPTURING;
vector<vector<Point2f> > imagePoints;
vector<string> imageList;
Pattern pattern = CHESSBOARD;
boardSize.width = m_width;
boardSize.height = m_height;
squareSize = m_squaresize;
//ui->textEdit_Information->append("\nCalibrating... Please wait for a while\n");
if( imgList.size() == 0 )
{
//QMessageBox::warning(NULL, "Error", "Please choose a right folder");
emit popupErrorInformation("Please choose a right folder");
emit closeImageWindow();
return;
}
else
{
nframes = imgList.size();
}
emit appendText("\nCalibrating... Please wait for a while\n");
//namedWindow( "Image View", 1 );
//bDialog->show();
for(i = 0; i < nframes ;i++)
{
//ui->textEdit_Information->append("Processing the image No. " + QString::number(i + 1));
emit appendText("Processing the image No. " + QString::number(i + 1));
Mat view, viewGray;
bool blink = false;
qDebug(imgList.at(i).toLatin1().data());
if( i < (int)imgList.size() )
view = imread(imgList.at(i).toLatin1().data(), 1);
if(!view.data)
{
//QMessageBox::warning(NULL, "Error", );
emit popupErrorInformation("Could not open image files");
return;
}
imageSize = view.size();
if( flipVertical )
flip( view, view, 0 );
vector<Point2f> pointbuf;
cvtColor(view, viewGray, CV_BGR2GRAY);
bool found;
switch( pattern )
{
case CHESSBOARD:
found = findChessboardCorners( view, boardSize, pointbuf,
CV_CALIB_CB_ADAPTIVE_THRESH | CV_CALIB_CB_FAST_CHECK | CV_CALIB_CB_NORMALIZE_IMAGE);
break;
case CIRCLES_GRID:
found = findCirclesGrid( view, boardSize, pointbuf );
break;
case ASYMMETRIC_CIRCLES_GRID:
found = findCirclesGrid( view, boardSize, pointbuf, CALIB_CB_ASYMMETRIC_GRID );
break;
}
// improve the found corners' coordinate accuracy
if( pattern == CHESSBOARD && found) cornerSubPix( viewGray, pointbuf, Size(11,11),
Size(-1,-1), TermCriteria( CV_TERMCRIT_EPS+CV_TERMCRIT_ITER, 30, 0.1 ));
if( mode == CAPTURING && found &&
(!capture.isOpened() || clock() - prevTimestamp > delay*1e-3*CLOCKS_PER_SEC) )
{
imagePoints.push_back(pointbuf);
prevTimestamp = clock();
blink = capture.isOpened();
}
if(found)
drawChessboardCorners( view, boardSize, Mat(pointbuf), found );
string msg = mode == CAPTURING ? "100/100" :
mode == CALIBRATED ? "Calibrated" : "Press 'g' to start";
int baseLine = 0;
Size textSize = getTextSize(msg, 1, 1, 1, &baseLine);
Point textOrigin(view.cols - 2*textSize.width - 10, view.rows - 2*baseLine - 10);
if( mode == CAPTURING )
{
if(undistortImage)
msg = format( "%d/%d Undist", (int)imagePoints.size(), nframes );
else
msg = format( "%d/%d", (int)imagePoints.size(), nframes );
}
putText( view, msg, textOrigin, 1, 1,
mode != CALIBRATED ? Scalar(0,0,255) : Scalar(0,255,0));
if( blink )
bitwise_not(view, view);
if( mode == CALIBRATED && undistortImage )
{
Mat temp = view.clone();
undistort(temp, view, cameraMatrix, distCoeffs);
}
Mat rgb;
cvtColor(view, rgb, CV_BGR2RGB);
QImage image32 = QImage(rgb.cols, rgb.rows, QImage::Format_RGB32);
QRgb value;
for(int r = 0; r < rgb.rows; r++)
{
for(int c = 0; c < rgb.cols; c++)
{
value = qRgb(rgb.ptr<uchar>(0)[r * rgb.cols * 3 + c * 3 + 0], rgb.ptr<uchar>(0)[r * rgb.cols * 3 + c * 3 + 1], rgb.ptr<uchar>(0)[r * rgb.cols * 3 + c * 3 + 2]);
image32.setPixel(c, r, value);
}
}
emit showBitmap(image32);
int key;
if(i < nframes - 1)
{
key = 0xff & waitKey(500);
}
else
{
key = waitKey(500);
}
if( (key & 255) == 27 )
break;
if( key == 'u' && mode == CALIBRATED )
undistortImage = !undistortImage;
}
if(imagePoints.size() > 0)
{
emit appendText("\n" + QString::number(imagePoints.size()) + " out of " + QString::number(nframes) + " images are effective!\n" );
runAndSave(outputFilename, imagePoints, imageSize,
boardSize, pattern, squareSize, aspectRatio,
flags, cameraMatrix, distCoeffs,
writeExtrinsics, writePoints);
}
else
{
emit appendText("Calibrating is not successful! \nPlease change the parameters and try again!");
emit popupErrorInformation("Sorry, no enough points are detected! Please try another group of images!");
emit closeImageWindow();
return;
}
emit appendText("Calibrating Successfully! \nPlease go to the folder to check the out put files!");
emit closeImageWindow();
if( !capture.isOpened() && showUndistorted )
{
Mat view, rview, map1, map2;
initUndistortRectifyMap(cameraMatrix, distCoeffs, Mat(),
getOptimalNewCameraMatrix(cameraMatrix, distCoeffs, imageSize, 1, imageSize, 0),
imageSize, CV_16SC2, map1, map2);
for( i = 0; i < (int)imageList.size(); i++ )
{
view = imread(imageList[i], 1);
if(!view.data)
continue;
//undistort( view, rview, cameraMatrix, distCoeffs, cameraMatrix );
remap(view, rview, map1, map2, INTER_LINEAR);
imshow("Image View", rview);
int c = 0xff & waitKey();
if( (c & 255) == 27 || c == 'q' || c == 'Q' )
break;
}
}
return;
}
static void
showInternalTaskInfo (rtems_id tid)
{
#ifdef __RTEMS_VIOLATE_KERNEL_VISIBILITY__
int epicsPri;
Thread_Control *the_thread;
Objects_Locations location;
static Thread_Control thread;
static char bitbuf[120];
static const struct bitmap taskState[] = {
{ "RUN", STATES_ALL_SET, STATES_READY },
{ "DORM", STATES_DORMANT, STATES_DORMANT },
{ "SUSP", STATES_SUSPENDED, STATES_SUSPENDED },
{ "TRANS", STATES_TRANSIENT, STATES_TRANSIENT },
{ "Delay", STATES_DELAYING, STATES_DELAYING },
{ "Wtime", STATES_WAITING_FOR_TIME, STATES_WAITING_FOR_TIME },
{ "Wbuf", STATES_WAITING_FOR_BUFFER, STATES_WAITING_FOR_BUFFER },
{ "Wseg", STATES_WAITING_FOR_SEGMENT, STATES_WAITING_FOR_SEGMENT },
{ "Wmsg" , STATES_WAITING_FOR_MESSAGE, STATES_WAITING_FOR_MESSAGE },
{ "Wevnt", STATES_WAITING_FOR_EVENT, STATES_WAITING_FOR_EVENT },
{ "Wsem", STATES_WAITING_FOR_SEMAPHORE,STATES_WAITING_FOR_SEMAPHORE },
{ "Wmtx", STATES_WAITING_FOR_MUTEX, STATES_WAITING_FOR_MUTEX },
{ "Wjoin", STATES_WAITING_FOR_JOIN_AT_EXIT,STATES_WAITING_FOR_JOIN_AT_EXIT },
{ "Wrpc", STATES_WAITING_FOR_RPC_REPLY,STATES_WAITING_FOR_RPC_REPLY },
{ "Wrate", STATES_WAITING_FOR_PERIOD, STATES_WAITING_FOR_PERIOD },
{ "Wsig", STATES_WAITING_FOR_SIGNAL, STATES_WAITING_FOR_SIGNAL },
{ NULL, 0, 0 },
};
the_thread = _Thread_Get (tid, &location);
if (location != OBJECTS_LOCAL) {
fprintf(epicsGetStdout(),"%-30s", " *** RTEMS task gone! ***");
return;
}
thread = *the_thread;
_Thread_Enable_dispatch();
/*
* Show both real and current priorities if they differ.
* Note that the epicsThreadGetOsiPriorityValue routine is not used here.
* If a thread has a priority outside the normal EPICS range then
* that priority should be displayed, not the value truncated to
* the EPICS range.
*/
epicsPri = 199-thread.real_priority;
if (epicsPri < 0)
fprintf(epicsGetStdout()," <0");
else if (epicsPri > 99)
fprintf(epicsGetStdout()," >99");
else
fprintf(epicsGetStdout()," %4d", epicsPri);
if (thread.current_priority == thread.real_priority)
fprintf(epicsGetStdout(),"%4d ", (int)thread.current_priority);
else
fprintf(epicsGetStdout(),"%4d/%-3d", (int)thread.real_priority, (int)thread.current_priority);
showBitmap (bitbuf, thread.current_state, taskState);
fprintf(epicsGetStdout(),"%8.8s", bitbuf);
if (thread.current_state & (STATES_WAITING_FOR_SEMAPHORE |
STATES_WAITING_FOR_MUTEX |
STATES_WAITING_FOR_MESSAGE))
fprintf(epicsGetStdout()," %8.8x", (int)thread.Wait.id);
else
fprintf(epicsGetStdout()," %8.8s", "");
#endif
}
