void testScale() {
report(0,"checking scaling...");
ImageOf<PixelRgb> img;
ImageOf<PixelMono> img2;
ImageOf<PixelRgb> img3;
img.resize(64,64);
img.zero();
for (int i=0; i<img.width()/2; i++) {
for (int j=0; j<img.height()/2; j++) {
img(i,j).r = 255;
img(i,j).g = 255;
img(i,j).b = 255;
}
}
img2.copy(img,32,32);
checkEqual(img2.width(),32,"dimension check");
checkEqual(img2(0,0),255,"logic check");
checkEqual(img2(img2.width()-2,0),0,"logic check");
checkEqual(img2(0,img2.height()-2),0,"logic check");
img3.copy(img,16,16);
checkEqual(img3.width(),16,"dimension check");
checkEqual(img3(0,0).r,255,"logic check");
checkEqual(img3(img3.width()-2,0).r,0,"logic check");
checkEqual(img3(0,img3.height()-2).r,0,"logic check");
img.copy(img3,4,4);
checkEqual(img.width(),4,"dimension check");
}
static bool ImageReadRGB(ImageOf<PixelRgb> &img, const char *filename)
{
int width, height, color, num;
FILE *fp=0;
fp = fopen(filename, "rb");
if(fp==0)
{
fprintf(stderr, "Error opening %s, check if file exists.\n", filename);
return false;
}
if (!ReadHeader(fp, &height, &width, &color))
{
fclose (fp);
fprintf(stderr, "Error reading header, is file a valid ppm/pgm?\n");
return false;
}
if (!color)
{
ImageOf<PixelMono> tmp;
tmp.resize(width,height);
const int w = tmp.width() * tmp.getPixelSize();
const int h = tmp.height();
const int pad = tmp.getRowSize();
unsigned char *dst = tmp.getRawImage ();
num = 0;
for (int i = 0; i < h; i++)
{
num += (int)fread((void *) dst, 1, (size_t) w, fp);
dst += pad;
}
fclose(fp);
img.copy(tmp);
return true;
}
img.resize(width,height);
const int w = img.width() * img.getPixelSize();
const int h = img.height();
const int pad = img.getRowSize();
unsigned char *dst = img.getRawImage ();
num = 0;
for (int i = 0; i < h; i++)
{
num += (int)fread((void *) dst, 1, (size_t) w, fp);
dst += pad;
}
fclose(fp);
return true;
}
bool file::read(ImageOf<PixelRgba> & dest, const ConstString& src)
{
ImageOf<PixelRgb> img2;
bool ok = ImageReadRGB(img2,src.c_str());
if (ok) {
dest.copy(img2);
}
return ok;
}
void testExternal() {
report(0, "testing external image...");
unsigned char buf[EXT_HEIGHT][EXT_WIDTH];
{
for (int x=0; x<EXT_WIDTH; x++) {
for (int y=0; y<EXT_HEIGHT; y++) {
buf[y][x] = 20;
}
}
}
ImageOf<PixelMono> img1;
img1.setExternal(&buf[0][0],EXT_WIDTH,EXT_HEIGHT);
checkEqual(img1.width(),EXT_WIDTH,"width check");
checkEqual(img1.height(),EXT_HEIGHT,"height check");
int mismatch = 0;
for (int x=0; x<img1.width(); x++) {
for (int y=0; y<img1.height(); y++) {
img1.pixel(x,y) = 5;
if (buf[y][x]!=5) {
mismatch++;
}
}
}
checkEqual(mismatch,0,"delta check");
report(0, "testing various padding + alignments...");
for (int ww=1; ww<=17; ww++) {
for (int hh=1; hh<=17; hh++) {
for (int pad1=1; pad1<=9; pad1++) {
for (int pad2=1; pad2<=9; pad2++) {
int wwp1 = (ww%pad1)?(ww+pad1-(ww%pad1)):ww;
FlexImage img;
char *data = new char[wwp1*hh*3];
yAssert(data);
img.setQuantum(pad1);
img.setPixelCode(VOCAB_PIXEL_RGB);
img.setPixelSize(3);
img.setExternal(data,ww,hh);
ImageOf<PixelRgb> target;
target.setQuantum(pad2);
target.copy(img);
delete[] data;
}
}
}
}
}
bool getVideo(ImageOf<PixelRgb>& image) {
if (frameFinished) {
FlexImage flex;
flex.setPixelCode(VOCAB_PIXEL_RGB);
flex.setQuantum((pFrameRGB->linesize[0]));
flex.setExternal(pFrameRGB->data[0],
pCodecCtx->width,
pCodecCtx->height);
image.copy(flex);
}
return frameFinished;
}
/**
* Read an image from the grabber.
*
* @param image The image to read. The image will be resized to
* the dimensions the grabber is using, and the captured image
* data will be written to it.
*
* @return True if an image was successfully captured. If false
* returned, the image will be resized to the dimensions used by
* the grabber, but all pixels will be zeroed.
*/
bool OpenCVGrabber::sendImage(IplImage* iplFrame, ImageOf<PixelRgb> & image)
{
// Resize the output image, this should not result in new
// memory allocation if the image is already the correct size
image.resize(iplFrame->width, iplFrame->height);
if (!m_saidSize) {
yDebug("Received image of size %dx%d\n", image.width(), image.height());
m_saidSize = true;
}
// Get an IplImage, the Yarp Image owns the memory pointed to
IplImage * iplImage = (IplImage*)image.getIplImage();
// create the timestamp
m_laststamp.update();
// Copy the captured image to the output image, flipping it if
// the coordinate origin is not the top left
if (IPL_ORIGIN_TL == iplFrame->origin)
cvCopy(iplFrame, iplImage, 0);
else
cvFlip(iplFrame, iplImage, 0);
if (iplFrame->channelSeq[0] == 'B') {
cvCvtColor(iplImage, iplImage, CV_BGR2RGB);
}
if (m_w <= 0) {
m_w = image.width();
}
if (m_h <= 0) {
m_h = image.height();
}
if (fromFile) {
if (m_w>0 && m_h>0) {
if (image.width() != m_w || image.height() != m_h) {
if (!m_saidResize) {
yDebug("Software scaling from %dx%d to %dx%d", image.width(), image.height(), m_w, m_h);
m_saidResize = true;
}
image.copy(image, m_w, m_h);
}
}
}
DBG yDebug("%d by %d %s image\n", image.width(), image.height(), iplFrame->channelSeq);
return true;
}
static bool ImageReadBGR(ImageOf<PixelBgr> &img, const char *filename)
{
int width, height, color, num;
FILE *fp=0;
fp = fopen(filename, "rb");
if(fp==0)
{
fprintf(stderr, "Error opening %s, check if file exists.\n", filename);
return false;
}
if (!ReadHeader(fp, &height, &width, &color))
{
fclose (fp);
fprintf(stderr, "Error reading header, is file a valid ppm/pgm?\n");
return false;
}
if (!color)
{
fclose(fp);
fprintf(stderr, "File is grayscale, conversion not yet supported\n");
return false;
}
ImageOf<PixelRgb> tmpImg;
tmpImg.resize(width, height);
const int w = tmpImg.width() * img.getPixelSize();
const int h = tmpImg.height();
const int pad = tmpImg.getRowSize();
unsigned char *dst = tmpImg.getRawImage ();
num = 0;
for (int i = 0; i < h; i++)
{
num += (int)fread((void *) dst, 1, (size_t) w, fp);
dst += pad;
}
fclose(fp);
return img.copy(tmpImg);
}
/**
* Read an image from the grabber.
*
* @param image The image to read. The image will be resized to
* the dimensions the grabber is using, and the captured image
* data will be written to it.
*
* @return True if an image was successfully captured. If false
* returned, the image will be resized to the dimensions used by
* the grabber, but all pixels will be zeroed.
*/
bool OpenCVGrabber::sendImage(const cv::Mat & frame, ImageOf<PixelRgb> & image)
{
// Resize the output image, this should not result in new
// memory allocation if the image is already the correct size
image.resize(frame.cols, frame.rows);
if (!m_saidSize) {
yDebug("Received image of size %zux%zu\n", image.width(), image.height());
m_saidSize = true;
}
// create the timestamp
m_laststamp.update();
// Convert to RGB color space
cv::Mat frame_rgb;
cv::cvtColor(frame, frame_rgb, cv::COLOR_BGR2RGB);
// Copy the captured image to the output image
memcpy(image.getRawImage(), frame_rgb.data, sizeof(unsigned char) * frame_rgb.rows * frame_rgb.cols * frame_rgb.channels());
if (m_w == 0) {
m_w = image.width();
}
if (m_h == 0) {
m_h = image.height();
}
if (fromFile) {
if (m_w>0 && m_h>0) {
if (image.width() != m_w || image.height() != m_h) {
if (!m_saidResize) {
yDebug("Software scaling from %zux%zu to %zux%zu", image.width(), image.height(), m_w, m_h);
m_saidResize = true;
}
image.copy(image, m_w, m_h);
}
}
}
DBG yDebug("%zu by %zu image\n", image.width(), image.height());
return true;
}
bool file::write(const Image& src, const ConstString& dest)
{
int code=src.getPixelCode();
if (code==VOCAB_PIXEL_MONO)
return write(static_cast<const ImageOf<PixelMono>&>(src),dest);
else if (code==VOCAB_PIXEL_MONO_FLOAT)
return write(static_cast<const ImageOf<PixelFloat>&>(src),dest);
else if (code==VOCAB_PIXEL_BGR)
return write(static_cast<const ImageOf<PixelBgr>&>(src),dest);
else if (code==VOCAB_PIXEL_RGB)
return write(static_cast<const ImageOf<PixelRgb>&>(src),dest);
else if (code==VOCAB_PIXEL_RGBA)
return write(static_cast<const ImageOf<PixelRgba>&>(src),dest);
else
{
ImageOf<PixelRgb> img;
img.copy(src);
return write(img,dest);
}
}
void testCopy() {
report(0,"testing image copying...");
ImageOf<PixelRgb> img1;
img1.resize(128,64);
for (int x=0; x<img1.width(); x++) {
for (int y=0; y<img1.height(); y++) {
PixelRgb& pixel = img1.pixel(x,y);
pixel.r = x;
pixel.g = y;
pixel.b = 42;
}
}
ImageOf<PixelRgb> result;
result.copy(img1);
checkEqual(img1.width(),result.width(),"width check");
checkEqual(img1.height(),result.height(),"height check");
if (img1.width()==result.width() &&
img1.height()==result.height()) {
int mismatch = 0;
for (int x=0; x<img1.width(); x++) {
for (int y=0; y<img1.height(); y++) {
PixelRgb& pix0 = img1.pixel(x,y);
PixelRgb& pix1 = result.pixel(x,y);
if (pix0.r!=pix1.r ||
pix0.g!=pix1.g ||
pix0.b!=pix1.b) {
mismatch++;
}
}
}
checkTrue(mismatch==0,"pixel match check");
}
}
void testCast() {
report(0,"testing image casting...");
ImageOf<PixelRgb> img1;
img1.resize(128,64);
for (int x=0; x<img1.width(); x++) {
for (int y=0; y<img1.height(); y++) {
PixelRgb& pixel = img1.pixel(x,y);
unsigned char v = x%30;
pixel.r = v;
pixel.g = v;
pixel.b = v;
}
}
ImageOf<PixelMono> result;
result.copy(img1);
checkEqual(img1.width(),result.width(),"width check");
checkEqual(img1.height(),result.height(),"height check");
if (img1.width()==result.width() &&
img1.height()==result.height()) {
int mismatch = 0;
for (int x=0; x<img1.width(); x++) {
for (int y=0; y<img1.height(); y++) {
PixelRgb& pix0 = img1.pixel(x,y);
PixelMono& pix1 = result.pixel(x,y);
if (pix0.r>pix1+1 || pix0.r<pix1-1) {
mismatch++;
}
}
}
checkTrue(mismatch==0,"pixel match check");
}
}
bool file::write(const Image& src, const ConstString& dest)
{
ImageOf<PixelRgb> img;
img.copy(src);
return write(img,dest);
}