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190 | /*
* File: Image.cpp
* Author: Oliver Welter
*
* Created on 11. Dezember 2008, 17:24
*/
#include <iterator>
#include <string>
#include "Image.h"
#include "Messages/Framework-Representations.pb.h"
#include <google/protobuf/io/zero_copy_stream_impl.h>
using namespace naoth;
using namespace std;
Image::Image()
:
selfCreatedImage(true),
yuv422(NULL),
timestamp(0),
currentBuffer(0),
bufferCount(0),
wrongBufferSizeCount(0)
{
yuv422 = new unsigned char[data_size()];
// initialize the image with gray
std::memset(yuv422, 128, data_size());
}
Image::Image(const Image& orig)
{
cameraInfo = orig.cameraInfo;
if(selfCreatedImage) {
delete[] yuv422;
}
yuv422 = new unsigned char[data_size()];
std::memcpy(yuv422, orig.yuv422, data_size());
selfCreatedImage = true;
}
Image& Image::operator=(const Image& orig)<--- 'operator=' should check for assignment to self to avoid problems with dynamic memory. [+]'operator=' should check for assignment to self to ensure that each block of dynamically allocated memory is owned and managed by only one instance of the class.
{
cameraInfo = orig.cameraInfo;
if(selfCreatedImage) {
delete[] yuv422;
}
yuv422 = new unsigned char[data_size()];
std::memcpy(yuv422, orig.yuv422, data_size());
selfCreatedImage = true;
return *this;
}
Image::~Image()
{
if (selfCreatedImage) {
delete[] yuv422;
}
}
void Image::setCameraInfo(const CameraInfo& ci)
{
if (cameraInfo.resolutionHeight != ci.resolutionHeight || cameraInfo.resolutionWidth != ci.resolutionWidth)
{
if(selfCreatedImage) {
delete[] yuv422;
}
cameraInfo = ci;
yuv422 = new unsigned char[data_size()];
}
}
void Image::wrapImageDataYUV422(unsigned char* data, const unsigned int size)
{
ASSERT(size == data_size());
if(selfCreatedImage) {
delete[] yuv422;
}
yuv422 = data;
selfCreatedImage = false;
}
void Image::copyImageDataYUV422(const unsigned char* data, const unsigned int size)
{
ASSERT(size == data_size());
// create own buffer if necessary
if(!selfCreatedImage) {
yuv422 = new unsigned char[data_size()];
selfCreatedImage = true;
}
// just overwrite the old image data
memcpy(yuv422, data, size);
}
void Image::print(ostream& stream) const
{
stream << "Timestamp: " << timestamp << endl
<< "Image Buffer: "<< currentBuffer << " / " << bufferCount << endl
<< "Wrong Buffer Size Count: "<< wrongBufferSizeCount << endl
<< "Camera Info:"<< endl
<< "============"<< endl
<< cameraInfo << endl
<< "============"<< endl
;
}//end print
void Serializer<Image>::serialize(const Image& representation, std::ostream& stream)
{
// the data has to be converted to a YUV (1 byte for each) array. no interlacing
naothmessages::Image img;
img.set_height(representation.height());
img.set_width(representation.width());
img.set_format(naothmessages::Image_Format_YUV422);
// FIXME: set_data calls std::string(..) which creates a copy of the whole data.
// Can we make it zero-copy somehow?
img.set_data(representation.data(), representation.data_size());
google::protobuf::io::OstreamOutputStream buf(&stream);
img.SerializeToZeroCopyStream(&buf);
}
void Serializer<Image>::deserialize(std::istream& stream, Image& representation)
{
naothmessages::Image img;
google::protobuf::io::IstreamInputStream buf(&stream);
img.ParseFromZeroCopyStream(&buf);
//TODO: deprecated
if(img.width() != (int)naoth::IMAGE_WIDTH || img.height() != (int)naoth::IMAGE_HEIGHT) {
THROW("Image size (" << img.width() << "," << img.height() << ") doesn't correspond to the static values IMAGE_WIDTH (" << naoth::IMAGE_WIDTH << ") and IMAGE_HEIGHT (" << naoth::IMAGE_HEIGHT << ").");
}
// YUV444
if(img.format() == naothmessages::Image_Format_YUV)
{
// check the integrity
ASSERT(img.data().size() != Image::PIXEL_SIZE_YUV444 * img.width() * img.height());
CameraInfo newCameraInfo;
newCameraInfo.resolutionHeight = img.height();
newCameraInfo.resolutionWidth = img.width();
representation.setCameraInfo(newCameraInfo);
const unsigned char* data = reinterpret_cast<const unsigned char*>(img.data().c_str());
// HACK: copy the image pixel by pixel because the internal structure only
// representa the image in the YUV422 format
for(unsigned int i=0; i < static_cast<unsigned int>(img.width()*img.height()); i++)
{
unsigned int x = i % newCameraInfo.resolutionWidth;
unsigned int y = i / newCameraInfo.resolutionWidth;
Pixel p;
p.y = data[i * 3];
p.u = data[i * 3 + 1];
p.v = data[i * 3 + 2];
representation.set(x,y, p);
}
}
// "native" YUV422 data
else if(img.format() == naothmessages::Image_Format_YUV422)
{
// check the integrity
ASSERT(img.data().size() == Image::PIXEL_SIZE_YUV422 * img.width() * img.height());
CameraInfo newCameraInfo;
newCameraInfo.resolutionHeight = img.height();
newCameraInfo.resolutionWidth = img.width();
representation.setCameraInfo(newCameraInfo);
const unsigned char* data = reinterpret_cast<const unsigned char*>(img.data().c_str());
const unsigned int size = static_cast<unsigned int>(img.data().size());
representation.copyImageDataYUV422(data,size);
} else {
THROW("Unknown image format.");
}
}
|