void PipelineStabDetect::onInput(InputImageInfo info, Magick::Image image) {
try {
if (!initialized) {
init(image);
}
if (image.rows() != height || image.columns() != width) {
throw runtime_error(QString("Not uniform image size! %").arg(info.file.fileName()).toStdString());
}
Magick::Blob blob;
// set raw RGBS output format & convert it into a Blob
if (image.depth() > 8)
*err << "Warning: we lost some information by converting to 8bit depth (now " << image.depth() << ")" << endl;
image.depth(8);
image.magick("RGB");
image.write(&blob);
LocalMotions localmotions;
VSFrame frame;
size_t dataLen = blob.length();
Q_ASSERT(fi.planes == 1);
Q_ASSERT(dataLen == image.baseColumns() * image.baseRows() * 3);
if (stabConf->mdConf.show > 0) { // create copy of blob
frame.data[0] = new uint8_t[dataLen];
memcpy(frame.data[0], blob.data(), dataLen);
} else {
frame.data[0] = (uint8_t*) blob.data();
}
frame.linesize[0] = image.baseColumns() * 3;
if (vsMotionDetection(&md, &localmotions, &frame) != VS_OK) {
throw runtime_error("motion detection failed");
} else {
if (vsWriteToFile(&md, f, &localmotions) != VS_OK) {
throw runtime_error("cannot write to transform file");
}
vs_vector_del(&localmotions);
}
if (stabConf->mdConf.show > 0) {
// if we want to store transformations, we have to create new image...
Magick::Geometry g(width, height);
Magick::Blob oblob(frame.data[0], dataLen);
Magick::Image oimage;
oimage.read(oblob, g, 8, "RGB");
delete[] frame.data[0];
emit input(info, oimage);
} else {
emit input(info, image);
}
} catch (exception &e) {
emit error(e.what());
}
}
bool ResourceManager::AddImage(const boost::filesystem::path& path,
const std::string& imgname,
const float width,
const float height,
const std::string& key) {
if(!boost::filesystem::is_regular_file(path/imgname)) {
Logger::Critical(LogOrigin::RESOURCEMANAGER, "Tried loading image path'"+(path/imgname).string()+"' but this image path doesn't exist!");
exit(1);
}
// create Original file path
std::string originalFile = (path / imgname).string();
// if the optional param key is not given, use the basename as key
std::string image_key = "";
if(key == "") {
image_key = boost::filesystem::basename(originalFile);
} else {
image_key = key;
}
// Create Cache Paths
boost::filesystem::path cacheDir = (path / "cached").string();
std::string cacheFile = (cacheDir / image_key ).string()+".png";
// if an image with that key already exists in the dictionary, return
if(mImages.count(image_key) != 0) {
return true;
}
// Log output
Logger::Debug(LogOrigin::RESOURCEMANAGER, "Caching image " + originalFile);
// Create cache directory
boost::filesystem::create_directory(cacheDir.string());
// Load, convert and save image (originalFile > cacheFile)
Magick::Image mimage;
mimage.backgroundColor(Magick::Color(0, 0, 0, 65535));
mimage.density(Magick::Geometry(144, 144));
mimage.read(originalFile);
// Conver floats to view pixels so that images will always be at the same scale
const Vector2D vec(Coordinates::WorldFloatToWorldPixel(Vector2D(width, height)));
mimage.zoom(Magick::Geometry(vec.x, vec.y));
mimage.depth(8);
mimage.write(cacheFile);
// Load cached file
sf::Image sfimage;
sfimage.LoadFromFile(cacheFile);
sfimage.SetSmooth(true);
// Save loaded Image in Dictionary
// mImages.insert(new std::pair<std::string, sf::Image>(image_key, sfimage));
mImages[image_key] = sfimage;
return true;
}
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();
}
void copyImage(Magick::Image& src,
yarp::sig::ImageOf<yarp::sig::PixelRgb>& dest) {
Magick::Geometry g = src.size();
int h = g.height();
int w = g.width();
src.depth(8);
dest.resize(w,h);
for (int i=0; i<h; i++) {
// must transfer row by row, since YARP may use padding in representation
Magick::PixelPacket *packet = src.getPixels(0,i,w,1);
src.writePixels(Magick::RGBQuantum,(unsigned char *)(&dest.pixel(0,i)));
}
src.syncPixels();
}
void DrvSDL::WriteGif() {
std::list<Magick::Image> gif;
int num = 0;
for(std::list<Magick::Blob>::iterator it = image_.begin(); it != image_.end(); it++) {
Magick::Image image;
image.magick("RGB");
image.depth(32);
image.size(Magick::Geometry(cols_ * pixels.x, rows_ * pixels.y));
Magick::PixelPacket *pixel_cache = image.getPixels(0, 0, cols_ * pixels.x, rows_ * pixels.y);
for(int n = 0; n < rows_ * pixels.y * cols_ * pixels.x; n++) {
int col = ((int *)(*it).data())[n];
uint8_t *rgb = (uint8_t *) &col;
Magick::PixelPacket *gif_pixel = pixel_cache + n;
*gif_pixel = Magick::ColorRGB(rgb[0] / 256.0, rgb[1] / 256.0, rgb[2] / 256.0);
}
image.syncPixels();
gif.push_back(image);
LCDInfo("Image %d", num++);
}
LCDInfo("Writing GIF image...");
for_each(gif.begin(), gif.end(), Magick::animationDelayImage(ani_speed_ / 10));
Magick::writeImages(gif.begin(), gif.end(), gif_file_);
}
bool ResourceManager::AddTexture(const boost::filesystem::path& path,
const std::string& imgname,
const float width,
const float height) {
if(!boost::filesystem::is_regular_file(path/imgname)) {
std::cerr << "Tried loading image path '" << (path/imgname).string() << "' but this image path doesn't exist!" << std::endl;
exit(1);
}
// convert coords
const Vector2D size(Coordinates::WorldFloatToWorldPixel(Vector2D(width, height)));
// create Original file path
std::string originalFile = (path / imgname).string();
// if the optional param key is not given, use the basename as key
std::string image_key = boost::filesystem::basename(originalFile);
// Create Cache Paths
boost::filesystem::path cacheDir = (path / "cached").string();
std::string cacheFile = (cacheDir / image_key ).string()+".png";
// if an image with that key already exists in the dictionary, return
if(mTextures.count(image_key) != 0) {
return true;
}
sf::Texture sftexture;
bool cache = true;
if(boost::filesystem::is_regular_file(cacheFile)) {
// Load cached file
bool success = sftexture.LoadFromFile(cacheFile);
if (success && (int)sftexture.GetHeight() == (int)size.x && (int)sftexture.GetWidth() == (int)size.y) {
cache = false;
std::cout << "Texture " << originalFile << " already exists. Not caching. "<< std::endl;
} else if (success) {
std::cout << "Texture " << originalFile << " does not exist in the resolution "
<< size.x << "x" << size.y << " but in " << sftexture.GetHeight() << "x" << sftexture.GetWidth() << "." << std::endl;
}
}
if(cache){
std::cout << ":: Caching image " << originalFile << std::endl;
// Create cache directory
boost::filesystem::create_directory(cacheDir.string());
// Load, convert and save image (originalFile > cacheFile)
Magick::Image mimage;
mimage.backgroundColor(Magick::Color(0, 0, 0, 65535));
mimage.density(Magick::Geometry(144, 144));
mimage.read(originalFile);
mimage.zoom(Magick::Geometry(std::max(size.x,size.y), std::max(size.x,size.y)));
mimage.depth(8);
mimage.write(cacheFile);
// Load cached file
sftexture.LoadFromFile(cacheFile);
}
sftexture.SetSmooth(true);
//std::cout << " Added image: "<<image_key << std::endl;
// Save loaded Texture in Dictionary
mTextures[image_key] = sftexture;
return true;
}
void Magick::depthImage::operator()( Magick::Image &image_ ) const
{
image_.depth( _depth );
}
void PipelineStabTransform::onInput(InputImageInfo info, Magick::Image image) {
try {
if (!initialized) {
init(image);
}
if (image.rows() != height || image.columns() != width) {
throw runtime_error(QString("Not uniform image size! %").arg(info.file.fileName()).toStdString());
}
Q_ASSERT(image.baseColumns() == width && image.baseRows() == height);
Magick::Blob blob;
// set raw RGBS output format & convert it into a Blob
if (image.depth() > 8)
*err << "Warning: we lost some information by converting to 8bit depth (now " << image.depth() << ")" << endl;
image.depth(8);
image.magick("RGB");
image.write(&blob);
Q_ASSERT(blob.length() == image.baseColumns() * image.baseRows() * 3);
// inframe
VSFrame inframe;
size_t dataLen = blob.length();
inframe.data[0] = (uint8_t*) blob.data();
inframe.linesize[0] = image.baseColumns() * 3; // TODO: it is correct?
// outframe
uint8_t* data = new uint8_t[dataLen];
//memcpy(data, blob.data(), dataLen);
VSFrame outframe;
outframe.data[0] = data;
outframe.linesize[0] = image.baseColumns() * 3; // TODO: it is correct?
if (vsTransformPrepare(&td, &inframe, &outframe) != VS_OK) {
throw runtime_error("Failed to prepare transform");
}
Q_ASSERT(vsTransformGetSrcFrameInfo(&td)->planes == 1);
vsDoTransform(&td, vsGetNextTransform(&td, &trans));
vsTransformFinish(&td);
Magick::Geometry g(width, height);
Magick::Blob oblob(data, dataLen);
Magick::Image oimage;
oimage.size(g);
oimage.depth(8);
oimage.magick("RGB");
oimage.read(oblob);
delete[] data;
info.luminance = -1;
emit input(info, oimage);
} catch (exception &e) {
emit error(e.what());
}
}
void scan_image (const char *filename)
{
scanner.reset();
// normally scanner would reset associated decoder,
// but this debug program connects them manually
// (to make intermediate state more readily available)
// so decoder must also be reset manually
decoder.reset();
Magick::Image image;
image.read(filename);
string file = image.baseFilename();
size_t baseidx = file.rfind('/');
if(baseidx != string::npos)
file = file.substr(baseidx + 1, file.length() - baseidx - 1);
ofstream svg((file + ".svg").c_str());
unsigned inwidth = image.columns();
unsigned flush1 = inwidth / 32;
unsigned flush0 = 2;
unsigned width = inwidth + flush1 + flush0;
unsigned height = image.rows();
unsigned midy = (height + 1) / 2 + 2;
image.crop(Magick::Geometry(inwidth, 1, 0, midy));
image.size(Magick::Geometry(width, 1, 0, 0));
svg << "<?xml version='1.0'?>" << endl
<< "<!DOCTYPE svg PUBLIC '-//W3C//DTD SVG 1.1//EN'"
<< " 'http://www.w3.org/Graphics/SVG/1.1/DTD/svg11.dtd'>" << endl
<< "<svg version='1.1' id='top'"
<< " width='10in' height='6in' preserveAspectRatio='xMinYMid slice'"
<< " overflow='visible' viewBox='0,0 " << width * 2 << ",384'"
<< " xmlns:xlink='http://www.w3.org/1999/xlink'"
<< " xmlns='http://www.w3.org/2000/svg'>" << endl
<< "<defs><style type='text/css'><![CDATA[" << endl
<< " * { stroke-linejoin: round; stroke-linecap: round;"
<< " stroke-width: .1; text-anchor: middle;"
<< " image-rendering: optimizeSpeed;"
<< " font-size: 6; font-weight: bold }" << endl
<< " path { fill: none }" << endl
<< " #zero { stroke: #00f }" << endl
<< " #edges { stroke: #f00 }" << endl
<< " #cur-edge { stroke: #f44 }" << endl
<< " #raw { stroke: orange }" << endl
<< " #y0 { stroke: yellow }" << endl
<< " #y1 { stroke: #0c0 }" << endl
<< " #y2 { stroke: #0aa }" << endl
<< " .y1thr { stroke: #f0f }" << endl
<< " rect.bar { fill: black }" << endl
<< " text.bar { fill: white }" << endl
<< " rect.space { fill: white }" << endl
<< " text.space { fill: black }" << endl
<< " text.data { fill: #44f; font-size: 16 }" << endl
<< "]]></style></defs>" << endl
<< "<image width='" << width * 2 << "' height='384'"
<< " preserveAspectRatio='none'"
<< " xlink:href='" << file << ".png'/>" << endl
<< "<g transform='translate(1,384) scale(2,-.5)'>" << endl;
// brute force
unsigned raw[width];
{
// extract scan from image pixels
image.modifyImage();
Magick::Pixels view(image);
Magick::PixelPacket *pxp = view.get(0, 0, width, 1);
Magick::ColorYUV y;
double max = 0;
svg << "<path id='raw' d='M";
unsigned i;
for(i = 0; i < inwidth; i++, pxp++) {
y = *pxp;
if(max < y.y())
max = y.y();
raw[i] = (unsigned)(y.y() * 0x100);
svg << ((i != 1) ? " " : " L ") << i << "," << raw[i];
y.u(0);
y.v(0);
*pxp = y;
}
y.y(max); /* flush scan FIXME? */
for(; i < inwidth + flush1; i++) {
raw[i] = (unsigned)(y.y() * 0x100);
svg << " " << i << "," << raw[i];
*pxp++ = y;
}
y.y(0);
for(; i < width; i++) {
raw[i] = (unsigned)(y.y() * 0x100);
svg << " " << i << "," << raw[i];
*pxp++ = y;
}
view.sync();
svg << "'/>" << endl
<< "</g>" << endl;
}
image.depth(8);
image.write(file + ".png");
// process scan and capture calculated values
unsigned cur_edge[width], last_edge[width];
int y0[width], y1[width], y2[width], y1_thr[width];
svg << "<g transform='translate(-3)'>" << endl;
for(unsigned i = 0; i < width; i++) {
int edge = scanner.scan_y(raw[i]);
unsigned x;
zbar_scanner_get_state(scanner.get_c_scanner(), &x,
&cur_edge[i], &last_edge[i],
&y0[i], &y1[i], &y2[i], &y1_thr[i]);
#ifdef DEBUG_SCANNER
cerr << endl;
#endif
cur_edge[i] += i - x;
if(edge) {
last_edge[i] += i - x;
unsigned w = scanner.get_width();
svg << "<rect x='" << (2. * (last_edge[i] - w) / ZBAR_FRAC)
<< "' width='" << (w * 2. / ZBAR_FRAC)
<< "' height='32' class='"
<< (scanner.get_color() ? "space" : "bar") << "'/>" << endl
<< "<text transform='translate("
<< ((2. * last_edge[i] - w) / ZBAR_FRAC) - 3
<< ",16) rotate(90)' class='"
<< (scanner.get_color() ? "space" : "bar") << "'>" << endl
<< w << "</text>" << endl;
zbar_symbol_type_t sym = decoder.decode_width(w);
if(sym > ZBAR_PARTIAL) {
svg << "<text transform='translate("
<< (2. * (last_edge[i] + w) / ZBAR_FRAC)
<< ",208) rotate(90)' class='data'>"
<< decoder.get_data_string() << "</text>" << endl;
}
}
else
last_edge[i] = 0;
}
svg << "</g>" << endl
<< "<g transform='translate(-3,384) scale(2,-.5)'>" << endl
<< "<path id='edges' d='";
for(unsigned i = 0; i < width; i++)
if(last_edge[i])
svg << " M" << ((double)last_edge[i] / ZBAR_FRAC) << ",0v768";
svg << "'/>" << endl
<< "</g>" << endl
<< "<g transform='translate(-1,384) scale(2,-.5)'>" << endl
<< "<path id='y0' d='M";
for(unsigned i = 0; i < width; i++)
svg << ((i != 1) ? " " : " L ") << i << "," << y0[i];
svg << "'/>" << endl
<< "</g>" << endl;
svg << "<g transform='translate(-1,128) scale(2,-1)'>" << endl
<< "<line id='zero' x2='" << width << "'/>" << endl
<< "<path id='cur-edge' d='";
for(unsigned i = 1; i < width - 1; i++)
if(!last_edge[i + 1] && (cur_edge[i] != cur_edge[i + 1]))
svg << " M" << ((double)cur_edge[i] / ZBAR_FRAC) - 1 << ",-32v64";
svg << "'/>" << endl
<< "<path class='y1thr' d='M";
for(unsigned i = 0; i < width; i++)
svg << ((i != 1) ? " " : " L ") << i << "," << y1_thr[i];
svg << "'/>" << endl
<< "<path class='y1thr' d='M";
for(unsigned i = 0; i < width; i++)
svg << ((i != 1) ? " " : " L ") << i << "," << -y1_thr[i];
svg << "'/>" << endl
<< "<path id='y1' d='M";
for(unsigned i = 0; i < width; i++)
svg << ((i != 1) ? " " : " L ") << (i - 0.5) << "," << y1[i];
svg << "'/>" << endl
<< "<path id='y2' d='M";
for(unsigned i = 0; i < width; i++)
svg << ((i != 1) ? " " : " L ") << i << "," << y2[i];
svg << "'/>" << endl
<< "</g>" << endl;
svg << "</svg>" << endl;
}
