TmpClass(){
Image tmp;
GLubyte *texImage = NULL;
mx = 0;mn = 255;
tmp.read(greyImage);
texture.textWidth = tmp.columns();
texture.textHeight = tmp.rows();
texture.texImage = new GLubyte[texture.textHeight * texture.textWidth * 3];
texImage = texture.texImage;
for(unsigned int i = 0;i < texture.textHeight;++ i){
for(unsigned int j = 0, index = 3 * i * texture.textWidth;j < texture.textWidth;++ j, index += 3){
Magick::Color c = tmp.pixelColor(j, texture.textHeight - i);
texImage[index] = (unsigned char)c.redQuantum();
texImage[index + 1] = (unsigned char)c.greenQuantum();
texImage[index + 2] = (unsigned char)c.blueQuantum();
//texImage[index + 3] = rand() / (float)RAND_MAX;
if(texImage[index] > mx)
mx = texImage[index];
if(texImage[index] < mn)
mn = texImage[index];
}
}
cout << mx << ' ' << mn << endl;
tmp.display();
}
void SimWorld::renderWorld()
{
//Create an image of the specified world size
Magick::Image blankWorld(Magick::Geometry(worldSizeX, worldSizeY), "white");
//Publish the world image
sensor_msgs::Image rosImg;
rosImg.height = worldSizeY;
rosImg.width = worldSizeX;
rosImg.encoding = "rgba8";
rosImg.step = 4 * worldSizeX; //R, G, B, A = 4, at 8 bits per channel, times width
//Copy the ImageMagick image into the message
//TODO There may be a faster way to do this...
for(int ii = 0; ii < worldSizeX; ii++)
{
for(int jj = 0; jj < worldSizeY; jj++)
{
Magick::Color pColor = blankWorld.pixelColor(ii, jj);
rosImg.data.push_back(pColor.redQuantum());
rosImg.data.push_back(pColor.greenQuantum());
rosImg.data.push_back(pColor.blueQuantum());
rosImg.data.push_back(pColor.alphaQuantum());
}
}
//Tell the world!
worldState.publish(rosImg);
}
// This helper function exists because when an image includes color
//
// 0x112233
//
// ImageMagick will represent it with high-res quanta multiplied by **257**,
//
// 0x111122223333
//
// which will not be the same as the quantum we get programmatically from
//
// Color("#112233")
//
// which will be the 256x,
//
// 0x110022003300
//
// hence not the same as the value from the file. We can use the provided
// macros for scaling quanta to do away with this whole mess, and so I'll
// use my own Vector3i to represent a color.
//
// (Why: multiplying by 257 fills up the dynamic range completely.)
//
static Vector3i sConvertColor(const Magick::Color & inColor)
{
Vector3i outColor;
outColor[0] = MagickCore::ScaleQuantumToChar(inColor.redQuantum());
outColor[1] = MagickCore::ScaleQuantumToChar(inColor.blueQuantum());
outColor[2] = MagickCore::ScaleQuantumToChar(inColor.greenQuantum());
/*
#if (MagickLibVersion == 0x618)
outColor[0] = ScaleQuantumToChar(inColor.redQuantum());
outColor[1] = ScaleQuantumToChar(inColor.blueQuantum());
outColor[2] = ScaleQuantumToChar(inColor.greenQuantum());
#elif (MagickLibVersion == 0x628)
outColor[0] = MagickLib::ScaleQuantumToChar(inColor.redQuantum());
outColor[1] = MagickLib::ScaleQuantumToChar(inColor.blueQuantum());
outColor[2] = MagickLib::ScaleQuantumToChar(inColor.greenQuantum());
#else
outColor[0] = MagickCore::ScaleQuantumToChar(inColor.redQuantum());
outColor[1] = MagickCore::ScaleQuantumToChar(inColor.blueQuantum());
outColor[2] = MagickCore::ScaleQuantumToChar(inColor.greenQuantum());
#endif
*/
return outColor;
}
void init(const char *fileName){
GLfloat light_position[]={ 0.0, 0.0, 10.0, 1.0 };
GLfloat light_color[] ={ 1.0, 1.0, 1.0, 1.0 };
GLfloat ambient_color[] ={ 0.9, 0.3, 0.3, 1.0 };
GLfloat mat_specular[] ={ 1.0, 1.0, 1.0, 1.0 };
int i = 1;
glClearColor(0.1, 0.1, 0.1, 0);
glEnable(GL_DEPTH);
glShadeModel(GL_SMOOTH);
glLightModeliv(GL_LIGHT_MODEL_TWO_SIDE, &i ); // two-sided lighting
glMaterialfv(GL_FRONT_AND_BACK, GL_SPECULAR, mat_specular );
glLightfv(GL_LIGHT0, GL_POSITION, light_position );
glLightfv(GL_LIGHT0, GL_AMBIENT, ambient_color );
glLightfv(GL_LIGHT0, GL_SPECULAR, light_color );
glLightfv(GL_LIGHT0, GL_DIFFUSE, light_color );
makeRamp();
/*glPixelStorei(GL_UNPACK_ALIGNMENT, 1);
glTexEnvf(GL_TEXTURE_ENV, GL_TEXTURE_ENV_MODE, GL_MODULATE);
glTexParameterf(GL_TEXTURE_1D, GL_TEXTURE_WRAP_S, GL_CLAMP);
glTexParameterf(GL_TEXTURE_1D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
glTexParameterf(GL_TEXTURE_1D, GL_TEXTURE_MIN_FILTER, GL_LINEAR);
glTexImage1D(GL_TEXTURE_1D, 0, 3, width, 0, GL_RGB, GL_FLOAT, ramp[0]);
glEnable(GL_TEXTURE_GEN_S);
glEnable(GL_TEXTURE_1D);*/
tmpFunc = funcs[current].func;
normFunc = funcs[current].normFunc;
{
Image tmp;
GLubyte *texImage = NULL;
tmp.read(fileName);
texture.textWidth = tmp.columns();
texture.textHeight = tmp.rows();
texture.texImage = new GLubyte[texture.textHeight * texture.textWidth * 3];
texImage = texture.texImage;
for(unsigned int i = 0;i < texture.textHeight;++ i){
for(unsigned int j = 0, index = 3 * i * texture.textWidth;j < texture.textWidth;++ j, index += 3){
Magick::Color c = tmp.pixelColor(j, texture.textHeight - i);
texImage[index] = (unsigned char)c.redQuantum();
texImage[index + 1] = (unsigned char)c.greenQuantum();
texImage[index + 2] = (unsigned char)c.blueQuantum();
//texImage[index + 3] = rand() / (float)RAND_MAX;
}
}
}
glEnable(GL_TEXTURE_2D); // allow 2D texture maps
glEnable(GL_LIGHTING); // so lighting models are used
glEnable(GL_LIGHT0); // we'll use LIGHT0
}
MagickPPExport int Magick::operator < (const Magick::Color &left_,
const Magick::Color &right_)
{
if(left_.redQuantum() < right_.redQuantum())
return(true);
if(left_.redQuantum() > right_.redQuantum())
return(false);
if(left_.greenQuantum() < right_.greenQuantum())
return(true);
if(left_.greenQuantum() > right_.greenQuantum())
return(false);
if(left_.blueQuantum() < right_.blueQuantum())
return(true);
return(false);
}
MagickPPExport int Magick::operator == (const Magick::Color &left_,
const Magick::Color &right_)
{
return((left_.isValid() == right_.isValid()) &&
(left_.redQuantum() == right_.redQuantum()) &&
(left_.greenQuantum() == right_.greenQuantum()) &&
(left_.blueQuantum() == right_.blueQuantum()));
}
MagickPPExport int Magick::operator < ( const Magick::Color &left_,
const Magick::Color &right_)
{
if(left_.quantumRed() < right_.quantumRed())
return(true);
if(left_.quantumRed() > right_.quantumRed())
return(false);
if(left_.quantumGreen() < right_.quantumGreen())
return(true);
if(left_.quantumGreen() > right_.quantumGreen())
return(false);
if(left_.quantumBlue() < right_.quantumBlue())
return(true);
return(false);
}
MagickPPExport int Magick::operator == (const Magick::Color &left_,
const Magick::Color &right_)
{
return((left_.isValid() == right_.isValid()) &&
(left_.quantumRed() == right_.quantumRed()) &&
(left_.quantumGreen() == right_.quantumGreen()) &&
(left_.quantumBlue() == right_.quantumBlue()));
}
int main(int argc,char **argv)
{
try {
yarp::sig::ImageOf<yarp::sig::PixelRgb> yimg1, yimg2;
yimg1.resize(255,127);
for (int i=0; i<yimg1.width(); i++) {
for (int j=0; j<yimg1.height(); j++) {
yarp::sig::PixelRgb& pix = yimg1.pixel(i,j);
pix.r = ((i+j)/2)%256;
pix.g = i%256;
pix.b = j%256;
}
}
printf("Creating a YARP image, and showing the value of one pixel\n");
yarp::sig::PixelRgb& pixel1 = yimg1.pixel(10,20);
printf("rgb %d %d %d\n", pixel1.r, pixel1.g, pixel1.b);
Magick::Image mimg;
copyImage(yimg1,mimg);
printf("Copying image to Magick, and tracking the value of the same pixel\n");
Magick::Color c = mimg.pixelColor(10, 20);
printf("rgb %d %d %d\n", c.redQuantum(),c.greenQuantum(),c.blueQuantum());
printf("Saving image as test.gif\n");
mimg.write("test.gif");
copyImage(mimg,yimg2);
printf("Copying image back to YARP, and tracking the value of the same pixel\n");
yarp::sig::PixelRgb& pixel2 = yimg2.pixel(10,20);
printf("rgb %d %d %d\n", pixel2.r, pixel2.g, pixel2.b);
}
catch( Magick::Exception &error_ )
{
cout << "Caught exception: " << error_.what() << endl;
return 1;
}
return 0;
}
/** layerToImage
*
* Converts a layer into an ImageMagick Image
*/
int HandlerUtils::LayerToImage(const Map& map, const Layer& layer, Magick::Image& image)
{
std::vector<Magick::Image> tiles;
if (HandlerUtils::GetTiles(map, tiles))
return -1;
Magick::Color color = Magick::ColorRGB(0, 0, 0);
color.alpha(0);
int width = map.GetWidth() * map.GetTileWidth();
int height = map.GetHeight() * map.GetTileHeight();
image.matte(true);
image.resize(Magick::Geometry(width, height));
image.backgroundColor(color);
image.erase();
return HandlerUtils::LayerToImage(map, layer, tiles, image);
}
/** MapToImage
*
* Converts a map into an ImageMagick Image
*/
int HandlerUtils::MapToImage(const Map& map, Magick::Image& image)
{
std::vector<Magick::Image> tiles;
if (HandlerUtils::GetTiles(map, tiles))
return -1;
Magick::Color color = Magick::ColorRGB(0, 0, 0);
color.alpha(0);
const Tileset& tileset = map.GetTileset();
uint32_t tile_width, tile_height;
tileset.GetTileDimensions(tile_width, tile_height);
int width = map.GetWidth() * tile_width;
int height = map.GetHeight() * tile_height;
image.matte(true);
image.resize(Magick::Geometry(width, height));
image.backgroundColor(color);
image.erase();
try
{
for (const auto& layer : map.GetLayers())
{
if (HandlerUtils::LayerToImage(map, layer, tiles, image))
return -1;
}
}
catch (Magick::Exception& error_)
{
return -1;
}
return 0;
}
