Update of /cvsroot/playerstage/code/player/server/drivers/blobfinder/simpleshape
In directory
sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv12245/server/drivers/blobfinder/simpleshape
Modified Files:
simpleshape.cc
Log Message:
applied
[ 1895643 ] CVS: big simpleshape patch
[ 1895540 ] CVS: imagebase cannot handle compressed camera images
Index: simpleshape.cc
===================================================================
RCS file:
/cvsroot/playerstage/code/player/server/drivers/blobfinder/simpleshape/simpleshape.cc,v
retrieving revision 1.7
retrieving revision 1.8
diff -C2 -d -r1.7 -r1.8
*** simpleshape.cc 1 Nov 2007 22:16:17 -0000 1.7
--- simpleshape.cc 18 Feb 2008 19:42:49 -0000 1.8
***************
*** 101,104 ****
--- 101,108 ----
/** @} */
+ #include <stddef.h>
+ #include <stdlib.h>
+ #include <assert.h>
+ #include <string.h>
#include "../../base/imagebase.h"
***************
*** 164,167 ****
--- 168,173 ----
private: void WriteBlobfinderData();
+ private: void WriteCameraData();
+
// Model data (this is the shape to search for)
private: const char *modelFilename;
***************
*** 183,186 ****
--- 189,197 ----
private: Shape shapes[256];
private: unsigned int shapeCount;
+
+ private: player_devaddr_t blobfinder_addr;
+ private: player_devaddr_t debugcam_addr;
+
+ private: bool debugcam;
};
***************
*** 203,211 ****
// Constructor
SimpleShape::SimpleShape( ConfigFile* cf, int section)
! : ImageBase(cf, section, true, PLAYER_MSGQUEUE_DEFAULT_MAXLEN,
PLAYER_BLOBFINDER_CODE)
{
this->inpImage = NULL;
this->outImage = NULL;
this->workImage = NULL;
// Filename for the target shape image
--- 214,247 ----
// Constructor
SimpleShape::SimpleShape( ConfigFile* cf, int section)
! : ImageBase(cf, section, true, PLAYER_MSGQUEUE_DEFAULT_MAXLEN)
{
this->inpImage = NULL;
this->outImage = NULL;
this->workImage = NULL;
+ memset(&(this->blobfinder_addr), 0, sizeof blobfinder_addr);
+ memset(&(this->debugcam_addr), 0, sizeof debugcam_addr);
+ this->debugcam = true;
+
+ if (cf->ReadDeviceAddr(&(this->blobfinder_addr), section, "provides",
+ PLAYER_BLOBFINDER_CODE, -1, NULL))
+ {
+ this->SetError(-1);
+ return;
+ }
+ if (this->AddInterface(this->blobfinder_addr))
+ {
+ this->SetError(-1);
+ return;
+ }
+ if (cf->ReadDeviceAddr(&(this->debugcam_addr), section, "provides",
+ PLAYER_CAMERA_CODE, -1, NULL))
+ {
+ PLAYER_WARN("debug preview will not be available");
+ this->debugcam = false;
+ } else if (this->AddInterface(this->debugcam_addr))
+ {
+ this->SetError(-1);
+ return;
+ }
// Filename for the target shape image
***************
*** 221,225 ****
this->shapeCount = 0;
- return;
}
--- 257,260 ----
***************
*** 321,326 ****
{
CvSize size;
! int width, height;
!
width = this->stored_data.width;
height = this->stored_data.height;
--- 356,363 ----
{
CvSize size;
! int i, j, width, height, depth;
! unsigned char * row1;
! unsigned char * row2;
!
width = this->stored_data.width;
height = this->stored_data.height;
***************
*** 332,336 ****
this->inpImage = cvCreateImage(size, IPL_DEPTH_8U, 1);
size = cvSize(2 * width, 2 * height);
! if (this->outImage == NULL)
{
this->outImage = cvCreateImage(size, IPL_DEPTH_8U, 1);
--- 369,373 ----
this->inpImage = cvCreateImage(size, IPL_DEPTH_8U, 1);
size = cvSize(2 * width, 2 * height);
! if ((this->outImage == NULL) && (this->debugcam))
{
this->outImage = cvCreateImage(size, IPL_DEPTH_8U, 1);
***************
*** 344,367 ****
switch (this->stored_data.format)
{
! case PLAYER_CAMERA_FORMAT_MONO8:
! {
! // Copy pixels to input image (grayscale)
! assert(this->inpImage->imageSize >= (int)
this->stored_data.image_count);
! memcpy(this->inpImage->imageData, this->stored_data.image,
this->inpImage->imageSize);
! break;
! }
! default:
{
! PLAYER_WARN1("image format [%d] is not supported",
this->stored_data.format);
! return -1;
}
}
// Copy original image to output
! /* if (this->out_camera_id.port)
{
cvSetZero(this->outImage);
cvCopy(this->inpImage, this->outSubImages + 0);
! }*/
// Clone the input image to our workspace
--- 381,416 ----
switch (this->stored_data.format)
{
! case PLAYER_CAMERA_FORMAT_MONO8:
! // Copy pixels to input image (grayscale)
! assert(this->inpImage->imageSize >=
static_cast<int>(this->stored_data.image_count));
! memcpy(this->inpImage->imageData, this->stored_data.image,
this->inpImage->imageSize);
! break;
! case PLAYER_CAMERA_FORMAT_RGB888:
! depth = this->stored_data.bpp / 8;
! assert((depth == 4) || (depth == 3));
! assert(this->inpImage->imageSize >=
static_cast<int>((this->stored_data.image_count) / depth));
! for (i = 0; i < height; i++)
{
! row1 = (reinterpret_cast<unsigned char *>(this->stored_data.image)) +
(i * width * depth);
! row2 = (reinterpret_cast<unsigned char *>(this->inpImage->imageData)) +
(i * width);
! for (j = 0; j < width; j++)
! {
! row2[0] = static_cast<unsigned char>((static_cast<double>(row1[0]) *
0.3) + (static_cast<double>(row1[1]) * 0.59) + (static_cast<double>(row1[2]) *
0.11));
! row1 += depth;
! row2++;
! }
}
+ break;
+ default:
+ PLAYER_WARN1("image format [%d] is not supported",
this->stored_data.format);
+ return -1;
}
// Copy original image to output
! if (this->debugcam)
{
cvSetZero(this->outImage);
cvCopy(this->inpImage, this->outSubImages + 0);
! }
// Clone the input image to our workspace
***************
*** 375,380 ****
this->workImage = NULL;
! WriteBlobfinderData();
!
return 0;
}
--- 424,430 ----
this->workImage = NULL;
! this->WriteBlobfinderData();
! if (this->debugcam) this->WriteCameraData();
!
return 0;
}
***************
*** 400,405 ****
// Copy edges to output image
! /* if (this->out_camera_id.port)
! cvCopy(this->workImage, this->outSubImages + 1);*/
// Find contours on a binary image
--- 450,455 ----
// Copy edges to output image
! if (this->debugcam)
! cvCopy(this->workImage, this->outSubImages + 1);
// Find contours on a binary image
***************
*** 427,433 ****
// Draw eligable contour on the output image; useful for debugging
! /* if (this->out_camera_id.port)
cvDrawContours(this->outSubImages + 2, contour, CV_RGB(255, 255, 255),
! CV_RGB(255, 255, 255), 0, 1, 8);*/
// Compute the contour features
--- 477,483 ----
// Draw eligable contour on the output image; useful for debugging
! if (this->debugcam)
cvDrawContours(this->outSubImages + 2, contour, CV_RGB(255, 255, 255),
! CV_RGB(255, 255, 255), 0, 1, 8);
// Compute the contour features
***************
*** 440,444 ****
// Draw contour on the main image; useful for debugging
! /* if (this->out_camera_id.port)
{
cvDrawContours(this->outSubImages + 3, contour, CV_RGB(128, 128, 128),
--- 490,494 ----
// Draw contour on the main image; useful for debugging
! if (this->debugcam)
{
cvDrawContours(this->outSubImages + 3, contour, CV_RGB(128, 128, 128),
***************
*** 446,453 ****
cvRectangle(this->outSubImages + 3, cvPoint(rect.x, rect.y),
cvPoint(rect.x + rect.width, rect.y + rect.height),
CV_RGB(255, 255, 255), 1);
! }*/
// Check for overrun
! if (this->shapeCount >= sizeof(this->shapes) / sizeof(this->shapes[0]))
{
PLAYER_WARN("image contains too many shapes");
--- 496,503 ----
cvRectangle(this->outSubImages + 3, cvPoint(rect.x, rect.y),
cvPoint(rect.x + rect.width, rect.y + rect.height),
CV_RGB(255, 255, 255), 1);
! }
// Check for overrun
! if (this->shapeCount >= (sizeof(this->shapes) / sizeof(class Shape)))
{
PLAYER_WARN("image contains too many shapes");
***************
*** 493,498 ****
box = cvFitEllipse2(contour);
- //printf("%f %f %f %f\n", box.center.x, box.center.y, box.size.width / 2,
box.size.height / 2);
-
aa = box.size.width * box.size.width / 4;
bb = box.size.height * box.size.height / 4;
--- 543,546 ----
***************
*** 624,630 ****
// Copy data to server.
!
Publish(device_addr,PLAYER_MSGTYPE_DATA,PLAYER_BLOBFINDER_DATA_BLOBS,&data,sizeof(data));
! free(data.blobs);
!
return;
}
--- 672,680 ----
// Copy data to server.
!
Publish(blobfinder_addr,PLAYER_MSGTYPE_DATA,PLAYER_BLOBFINDER_DATA_BLOBS,&data);
! if (data.blobs) free(data.blobs);
! data.blobs = NULL;
! data.blobs_count = 0;
!
return;
}
***************
*** 634,666 ****
// Write camera data; this is a little bit naughty: we re-use the
// input camera data, but modify the pixels
! /*void SimpleShape::WriteCameraData()
{
! size_t size;
!
! if (this->camera_id.port == 0)
! return;
if (this->outImage == NULL)
return;
// Do some byte swapping
! this->outCameraData.width = htons(this->outImage->width);
! this->outCameraData.height = htons(this->outImage->height);
! this->outCameraData.bpp = 8;
! this->outCameraData.format = PLAYER_CAMERA_FORMAT_MONO8;
! this->outCameraData.compression = PLAYER_CAMERA_COMPRESS_RAW;
! this->outCameraData.image_size = htonl(this->outImage->imageSize);
!
! // Copy in the pixels
! memcpy(this->outCameraData.image, this->outImage->imageData,
this->outImage->imageSize);
!
! // Compute message size
! size = sizeof(this->outCameraData) - sizeof(this->outCameraData.image)
! + this->outImage->imageSize;
!
! // Copy data to server
! this->PutMsg(this->out_camera_id, NULL, PLAYER_MSGTYPE_DATA, 0,
&this->outCameraData, size, &this->cameraTime);
!
! return;
! }*/
!
!
--- 684,714 ----
// Write camera data; this is a little bit naughty: we re-use the
// input camera data, but modify the pixels
! void SimpleShape::WriteCameraData()
{
! player_camera_data_t * outCameraData;
!
if (this->outImage == NULL)
return;
+ outCameraData = reinterpret_cast<player_camera_data_t
*>(malloc(sizeof(player_camera_data_t)));
+ assert(outCameraData);
// Do some byte swapping
! outCameraData->width = this->outImage->width;
! outCameraData->height = this->outImage->height;
! outCameraData->bpp = 8;
! outCameraData->format = PLAYER_CAMERA_FORMAT_MONO8;
! outCameraData->compression = PLAYER_CAMERA_COMPRESS_RAW;
! outCameraData->fdiv = 0;
! outCameraData->image_count = this->outImage->imageSize;
! outCameraData->image = NULL;
! if (outCameraData->image_count)
! {
! outCameraData->image = reinterpret_cast<uint8_t
*>(malloc(outCameraData->image_count));
! // Copy in the pixels
! memcpy(outCameraData->image, this->outImage->imageData,
outCameraData->image_count);
! }
! Publish(this->device_addr,
! PLAYER_MSGTYPE_DATA, PLAYER_CAMERA_DATA_STATE,
! reinterpret_cast<void *>(outCameraData),
! 0, NULL, false); // this call should also free outCameraData and
outCameraData->image
! }
-------------------------------------------------------------------------
This SF.net email is sponsored by: Microsoft
Defy all challenges. Microsoft(R) Visual Studio 2008.
http://clk.atdmt.com/MRT/go/vse0120000070mrt/direct/01/
_______________________________________________
Playerstage-commit mailing list
[email protected]
https://lists.sourceforge.net/lists/listinfo/playerstage-commit
