int YARPLogpolarSampler::Cartesian2Logpolar (const YARPGenericImage& in, YARPGenericImage& out)
{
using namespace _logpolarParams;
ACE_ASSERT (in.GetWidth() == _xsize && in.GetHeight() == _ysize);
ACE_ASSERT (out.GetWidth() == _stheta && out.GetHeight() == _srho);
Make_LP_Real (_outimage, (unsigned char *)in.GetRawBuffer(), &_img, _cart2LP_Map);
char *de = out.GetRawBuffer();
unsigned char * o = _outimage;
char *cmap = _colormap;
const int w = out.GetWidth();
const int h = out.GetHeight();
const int p = out.GetPadding();
int i, j;
for (i = 0; i < h; i++)
{
for (j = 0; j < w; j++)
{
*de++ = *(o + *cmap++);
o += 3;
}
de += p;
o += _padb;
}
return YARP_OK;
}
/// LATER: this is NOT tested.
static int ImageRead(YARPGenericImage& img, const char *filename)
{
int width, height, color, num, size;
FILE *fp = ACE_OS::fopen(filename, "rb");
if (!fp) //die("cannot open file for reading");
{
warn("cannot open file for reading");
return -1;
}
if (ReadHeader(fp, &height, &width, &color) < 0)
{
ACE_OS::fclose (fp);
return -1;
}
if (!color)
// img.GetID()==YARP_PIXEL_RGB || img.GetID() == YARP_PIXEL_MONO)
{
// img.SetID(color?YARP_PIXEL_RGB:YARP_PIXEL_MONO);
img.SetID(YARP_PIXEL_MONO);
img.Resize(width,height);
///ACE_ASSERT(img.GetPadding() == 0);
ACE_ASSERT(img.GetRawBuffer()!=NULL);
const int w = img.GetWidth() * img.GetPixelSize();
const int h = img.GetHeight();
const int pad = img.GetPadding() + w;
char *dst = img.GetRawBuffer ();
size = w * h;
num = 0;
for (int i = 0; i < h; i++)
{
num += ACE_OS::fread((void *) dst, 1, (size_t) w, fp);
dst += pad;
}
}
else if (img.GetID()==YARP_PIXEL_RGB)
{
img.SetID(YARP_PIXEL_RGB);
img.Resize(width,height);
///ACE_ASSERT(img.GetPadding() == 0);
ACE_ASSERT(img.GetRawBuffer()!=NULL);
const int w = img.GetWidth() * img.GetPixelSize();
const int h = img.GetHeight();
const int pad = img.GetPadding() + w;
char *dst = img.GetRawBuffer ();
size = w * h;
num = 0;
for (int i = 0; i < h; i++)
{
num += ACE_OS::fread((void *) dst, 1, (size_t) w, fp);
dst += pad;
}
}
else
{
// image is color, nothing was specified, assume BGR
img.SetID(YARP_PIXEL_BGR);
img.Resize(width,height);
///ACE_ASSERT(img.GetPadding() == 0);
ACE_ASSERT(img.GetRawBuffer()!=NULL);
const int w = img.GetWidth() * img.GetPixelSize();
const int h = img.GetHeight();
const int pad = img.GetPadding() + w;
size = w * h;
YARPImageOf<YarpPixelRGB> img2;
img2.Resize (width,height);
char *dst = img2.GetRawBuffer ();
num = 0;
for (int i = 0; i < h; i++)
{
num += ACE_OS::fread((void *) dst, 1, (size_t) w, fp);
dst += pad;
}
img.CastCopy(img2);
}
if (num != size)
{
ACE_OS::printf ( "%d versus %d\n", num, size );
//die("cannot read image data from file");
warn("cannot read image data from file");
ACE_OS::fclose (fp);
return -1;
}
ACE_OS::fclose(fp);
return 0;
}