FakeFrameGrabber.cpp

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/*
 * Copyright (C) 2006-2020 Istituto Italiano di Tecnologia (IIT)
 * Copyright (C) 2006-2010 RobotCub Consortium
 * All rights reserved.
 *
 * This software may be modified and distributed under the terms of the
 * BSD-3-Clause license. See the accompanying LICENSE file for details.
 */
 
#include "FakeFrameGrabber.h"
 
#include <yarp/os/LogComponent.h>
#include <yarp/os/LogStream.h>
#include <yarp/sig/ImageDraw.h>
 
#include <cstdio>
#include <random>
 
using namespace yarp::os;
using namespace yarp::dev;
using namespace yarp::sig;
using namespace yarp::sig::draw;
 
namespace {
YARP_LOG_COMPONENT(FAKEFRAMEGRABBER, "yarp.device.fakeFrameGrabber")
constexpr yarp::conf::vocab32_t VOCAB_BALL           = yarp::os::createVocab('b','a','l','l');
constexpr yarp::conf::vocab32_t VOCAB_GRID           = yarp::os::createVocab('g','r','i','d');
constexpr yarp::conf::vocab32_t VOCAB_RAND           = yarp::os::createVocab('r','a','n','d');
constexpr yarp::conf::vocab32_t VOCAB_NONE           = yarp::os::createVocab('n','o','n','e');
constexpr yarp::conf::vocab32_t VOCAB_GRID_MULTISIZE = yarp::os::createVocab('s','i','z','e');
constexpr yarp::conf::vocab32_t VOCAB_TIMETEXT       = yarp::os::createVocab('t','i','m','e');
}
 
FakeFrameGrabber::FakeFrameGrabber() :
    ct(0),
    bx(0),
    by(0),
    w(128),
    h(128),
    rnd(0),
    freq(30),
    period(1/freq),
    first(0),
    horizontalFov(0.0),
    verticalFov(0.0),
    prev(0),
    mode(0),
    use_bayer(false),
    use_mono(false),
    mirror(false)
{
    //the following data are used by [time] test
    std::snprintf(num[0].data,  16, "**** ** ** ****");
    std::snprintf(num[1].data,  16, " *  *  *  *  * ");
    std::snprintf(num[2].data,  16, "***  *****  ***");
    std::snprintf(num[3].data,  16, "***  ****  ****");
    std::snprintf(num[4].data,  16, "* ** ****  *  *");
    std::snprintf(num[5].data,  16, "****  ***  ****");
    std::snprintf(num[6].data,  16, "****  **** ****");
    std::snprintf(num[7].data,  16, "***  *  *  *  *");
    std::snprintf(num[8].data,  16, "**** ***** ****");
    std::snprintf(num[9].data,  16, "**** ****  ****");
    std::snprintf(num[10].data, 16, "               ");
    std::snprintf(num[11].data, 16, "          ** **");
    start_time = yarp::os::Time::now();
}
 
 
bool FakeFrameGrabber::close() {
    return true;
}
 
bool FakeFrameGrabber::open(yarp::os::Searchable& config) {
    yarp::os::Value *val;
    Value* retM;
    retM=Value::makeList("1.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 1.0");
    w = config.check("width",yarp::os::Value(320),
                     "desired width of test image").asInt32();
    h = config.check("height",yarp::os::Value(240),
                     "desired height of test image").asInt32();
    horizontalFov=config.check("horizontalFov",Value(1.0),
                               "desired horizontal fov of test image").asFloat64();
    verticalFov=config.check("verticalFov",Value(2.0),
                               "desired vertical fov of test image").asFloat64();
    mirror=config.check("mirror",Value(false),
                        "mirroring disabled by default").asBool();
    intrinsic.put("physFocalLength",config.check("physFocalLength",Value(3.0),"Physical focal length of the fakeFrameGrabber").asFloat64());
    intrinsic.put("focalLengthX",config.check("focalLengthX",Value(4.0),"Horizontal component of the focal length of the fakeFrameGrabber").asFloat64());
    intrinsic.put("focalLengthY",config.check("focalLengthY",Value(5.0),"Vertical component of the focal length of the fakeFrameGrabber").asFloat64());
    intrinsic.put("principalPointX",config.check("principalPointX",Value(6.0),"X coordinate of the principal point of the fakeFrameGrabber").asFloat64());
    intrinsic.put("principalPointY",config.check("principalPointY",Value(7.0),"Y coordinate of the principal point of the fakeFrameGrabber").asFloat64());
    intrinsic.put("retificationMatrix",config.check("retificationMatrix",*retM,"Matrix that describes the lens' distortion(fake)"));
    intrinsic.put("distortionModel",config.check("distortionModel",Value("FishEye"),"Reference to group of parameters describing the distortion model of the camera").asString());
    intrinsic.put("k1",config.check("k1",Value(8.0),"Radial distortion coefficient of the lens(fake)").asFloat64());
    intrinsic.put("k2",config.check("k2",Value(9.0),"Radial distortion coefficient of the lens(fake)").asFloat64());
    intrinsic.put("k3",config.check("k3",Value(10.0),"Radial distortion coefficient of the lens(fake)").asFloat64());
    intrinsic.put("t1",config.check("t1",Value(11.0),"Tangential distortion of the lens(fake)").asFloat64());
    intrinsic.put("t2",config.check("t2",Value(12.0),"Tangential distortion of the lens(fake)").asFloat64());
    //Only for debug
    CameraConfig conf1, conf2, conf3;
    conf1.height=128; conf1.width=128; conf1.framerate=60.0; conf1.pixelCoding=VOCAB_PIXEL_RGB;
    conf2.height=256; conf2.width=256; conf2.framerate=30.0; conf2.pixelCoding=VOCAB_PIXEL_BGR;
    conf3.height=512; conf3.width=512; conf3.framerate=15.0; conf3.pixelCoding=VOCAB_PIXEL_MONO;
    configurations.push_back(conf1);
    configurations.push_back(conf2);
    configurations.push_back(conf3);
    delete retM;
 
    if (config.check("freq",val,"rate of test images in Hz")) {
        freq = val->asFloat64();
        period = 1/freq;
    } else if (config.check("period",val,
                            "period of test images in seconds")) {
        period = val->asFloat64() / 1000.0;
        if(period<=0) {
            period =0;
            freq = -1;
        }
    }
    mode = config.check("mode",
                        yarp::os::Value(VOCAB_LINE, true),
                        "bouncy [ball], scrolly [line], grid [grid], grid multisize [size], random [rand], none [none], time test[time]").asVocab();
 
    if (config.check("src")) {
        if (!yarp::sig::file::read(background,
                                   config.check("src",
                                                yarp::os::Value("test.ppm"),
                                                "background image to use, if any").asString())) {
            return false;
        }
        if (background.width()>0) {
            w = background.width();
            h = background.height();
        }
    }
 
    use_bayer = config.check("bayer","should emit bayer test image?");
    use_mono = config.check("mono","should emit a monochrome image?");
    use_mono = use_mono||use_bayer;
 
    if (freq!=-1) {
        yCInfo(FAKEFRAMEGRABBER,
               "Test grabber period %g / freq %g , mode [%s]",
               period,
               freq,
               yarp::os::Vocab::decode(mode).c_str());
    } else {
        yCInfo(FAKEFRAMEGRABBER,
               "Test grabber period %g / freq [inf], mode [%s]",
               period,
               yarp::os::Vocab::decode(mode).c_str());
    }
 
    bx = w/2;
    by = h/2;
    return true;
}
 
void FakeFrameGrabber::timing() {
    double now = yarp::os::Time::now();
 
    if (now-prev>1000) {
        first = now;
        prev = now;
    }
    double dt = period-(now-prev);
 
    if (dt>0) {
        yarp::os::Time::delay(dt);
    }
 
    // this is the controlled instant when we consider the
    // image as going out
    prev += period;
}
 
int FakeFrameGrabber::height() const {
    return h;
}
 
int FakeFrameGrabber::width() const {
    return w;
}
 
int FakeFrameGrabber::getRgbHeight(){
    return h;
}
 
int FakeFrameGrabber::getRgbWidth(){
    return w;
}
 
bool FakeFrameGrabber::getRgbSupportedConfigurations(yarp::sig::VectorOf<CameraConfig> &configurations){
    configurations=this->configurations;
    return true;
}
 
bool FakeFrameGrabber::getRgbResolution(int &width, int &height){
    width=w;
    height=h;
    return true;
}
 
bool FakeFrameGrabber::setRgbResolution(int width, int height){
    w=width;
    h=height;
    return true;
}
 
bool FakeFrameGrabber::getRgbFOV(double &horizontalFov, double &verticalFov){
    horizontalFov=this->horizontalFov;
    verticalFov=this->verticalFov;
    return true;
}
 
bool FakeFrameGrabber::setRgbFOV(double horizontalFov, double verticalFov){
    this->horizontalFov=horizontalFov;
    this->verticalFov=verticalFov;
    return true;
}
 
bool FakeFrameGrabber::getRgbIntrinsicParam(yarp::os::Property &intrinsic){
    intrinsic=this->intrinsic;
    return true;
}
 
bool FakeFrameGrabber::getRgbMirroring(bool &mirror){
    mirror=this->mirror;
    return true;}
 
bool FakeFrameGrabber::setRgbMirroring(bool mirror){
    this->mirror=mirror;
    return true;
}
 
bool FakeFrameGrabber::getImage(yarp::sig::ImageOf<yarp::sig::PixelRgb>& image) {
    timing();
    createTestImage(image);
    return true;
}
 
 
bool FakeFrameGrabber::getImage(yarp::sig::ImageOf<yarp::sig::PixelMono>& image) {
    timing();
    createTestImage(rgb_image);
    if (use_bayer) {
        makeSimpleBayer(rgb_image,image);
    } else {
        image.copy(rgb_image);
    }
    return true;
}
 
 
yarp::os::Stamp FakeFrameGrabber::getLastInputStamp() {
    return stamp;
}
 
bool FakeFrameGrabber::hasAudio() { return false; }
 
bool FakeFrameGrabber::hasVideo() { return !use_mono; }
 
bool FakeFrameGrabber::hasRawVideo() {
    return use_mono;
}
 
bool FakeFrameGrabber::getCameraDescription(CameraDescriptor *camera) { return false; }
bool FakeFrameGrabber::hasFeature(int feature, bool *hasFeature) { return false; }
bool FakeFrameGrabber::setFeature(int feature, double value) { return false; }
bool FakeFrameGrabber::getFeature(int feature, double *value) { return false; }
bool FakeFrameGrabber::setFeature(int feature, double  value1, double  value2) { return false; }
bool FakeFrameGrabber::getFeature(int feature, double *value1, double *value2) { return false; }
bool FakeFrameGrabber::hasOnOff(int feature, bool *HasOnOff) { return false; }
bool FakeFrameGrabber::setActive(int feature, bool onoff) { return false; }
bool FakeFrameGrabber::getActive(int feature, bool *isActive) { return false; }
bool FakeFrameGrabber::hasAuto(int feature, bool *hasAuto) { return false; }
bool FakeFrameGrabber::hasManual(int feature, bool *hasManual) { return false; }
bool FakeFrameGrabber::hasOnePush(int feature, bool *hasOnePush) { return false; }
bool FakeFrameGrabber::setMode(int feature, FeatureMode mode) { return false; }
bool FakeFrameGrabber::getMode(int feature, FeatureMode *mode) { return false; }
bool FakeFrameGrabber::setOnePush(int feature) { return false; }
 
void FakeFrameGrabber::printTime(unsigned char* pixbuf, int pixbuf_w, int pixbuf_h, int x, int y, char* s, int size)
{
    int pixelsize = 5;
    for (int i = 0; i<size; i++)
    {
        char* num_p = nullptr;
        switch (s[i])
        {
            case '0': num_p = num[0].data; break;
            case '1': num_p = num[1].data; break;
            case '2': num_p = num[2].data; break;
            case '3': num_p = num[3].data; break;
            case '4': num_p = num[4].data; break;
            case '5': num_p = num[5].data; break;
            case '6': num_p = num[6].data; break;
            case '7': num_p = num[7].data; break;
            case '8': num_p = num[8].data; break;
            case '9': num_p = num[9].data; break;
            case ' ': num_p = num[10].data; break;
            case '.': num_p = num[11].data; break;
        }
 
        for (int yi = 0; yi<5; yi++)
            for (int xi = 0; xi<3; xi++)
            {
                int ii = yi * 3 + xi;
                if (num_p[ii] == '*')
                {
                    for (int r = yi * pixelsize; r<yi*pixelsize + pixelsize; r++)
                    {
                        int off = i * (pixelsize + 20);
                        for (int c = xi * pixelsize + off; c<xi*pixelsize + pixelsize + off; c++)
                        {
                            if (c >= pixbuf_h ||
                                r >= pixbuf_w)
                            {
                                //avoid drawing out of the image memory
                                return;
                            }
                            unsigned char *pixel = pixbuf;
                            size_t offset = c * 3 + r * (pixbuf_w * 3);
                            pixel = pixel + offset;
                            pixel[0] = 0;
                            pixel[1] = 0;
                            pixel[2] = 255;
                        }
                    }
                }
            }
    }
}
 
void FakeFrameGrabber::createTestImage(yarp::sig::ImageOf<yarp::sig::PixelRgb>&
                                       image) {
    // to test IPreciselyTimed, make timestamps be mysteriously NNN.NNN42
    double t = Time::now();
    t -= ((t*1000)-(int)t)/1000;
    t+= 0.00042;
    stamp.update(t);
    if (background.width()>0) {
        image.copy(background);
    } else {
        image.resize(w,h);
        image.zero();
    }
    switch (mode) {
    case VOCAB_TIMETEXT:
        {
            char txtbuf[50];
            double time = yarp::os::Time::now() - start_time;
            std::snprintf(txtbuf, 50, "%.3f", time);
            int len = strlen(txtbuf);
            if (len < 20)
            {
                printTime((unsigned char*)image.getRawImage(), image.width(), image.height(), 0, 0, txtbuf, len);
            }
        }
        break;
    case VOCAB_BALL:
        {
            addCircle(image,PixelRgb{0,255,0},bx,by,15);
            addCircle(image,PixelRgb{0,255,255},bx,by,8);
            if (ct%5!=0) {
                rnd *= 65537;
                rnd += 17;
                int delta_x = (rnd % 5) - 2;
                bx += delta_x;
                rnd *= 65537;
                rnd += 17;
                int delta_y = (rnd % 5) - 2;
                by += delta_y;
            } else {
                int dx = w/2 - bx;
                int dy = h/2 - by;
                if (dx>0) { bx++; }
                if (dx<0) { bx--; }
                if (dy>0) { by++; }
                if (dy<0) { by--; }
            }
        }
        break;
    case VOCAB_GRID:
        {
            size_t ww = image.width();
            size_t hh = image.height();
            if (ww>1&&hh>1) {
                for (size_t x=0; x<ww; x++) {
                    for (size_t y=0; y<hh; y++) {
                        double xx = ((double)x)/(ww-1);
                        double yy = ((double)y)/(hh-1);
                        bool act = (y==ct);
                        auto r = static_cast<unsigned char>(0.5 + 255 * xx);
                        auto g = static_cast<unsigned char>(0.5 + 255 * yy);
                        auto b = static_cast<unsigned char>(act * 255);
                        image.pixel(x, y) = PixelRgb{r, g, b};
                    }
                }
            }
        }
        break;
    case VOCAB_GRID_MULTISIZE:
    {
        static int count = 0;
        count++;
        if (count== 100)
        {
            yCDebug(FAKEFRAMEGRABBER) << "size 100, 100";
            image.resize(100,100);
        }
        else if (count == 200)
        {
            yCDebug(FAKEFRAMEGRABBER) << "size 200, 100";
            image.resize(200, 100);
        }
        else if (count == 300)
        {
            yCDebug(FAKEFRAMEGRABBER) << "size 300, 50";
            image.resize(300, 50);
            count = 0;
        }
 
        size_t ww = w = image.width();
        size_t hh = h = image.height();
        if (ww>1 && hh>1) {
            for (size_t x = 0; x<ww; x++) {
                for (size_t y = 0; y<hh; y++) {
                    double xx = ((double)x) / (ww - 1);
                    double yy = ((double)y) / (hh - 1);
                    bool act = (y == ct);
                    auto r = static_cast<unsigned char>(0.5 + 255 * xx);
                    auto g = static_cast<unsigned char>(0.5 + 255 * yy);
                    auto b = static_cast<unsigned char>(act * 255);
                    image.pixel(x, y) = PixelRgb{r, g, b};
                }
            }
        }
    }
    break;
    case VOCAB_LINE:
    default:
        {
            for (size_t i=0; i<image.width(); i++) {
                image.pixel(i,ct).r = 255;
            }
            char ttxt[50];
            std::snprintf(ttxt, 50, "%021.10f", t);
            image.pixel(0, 0).r = ttxt[0] - '0';
            image.pixel(0, 0).g = ttxt[1] - '0';
            image.pixel(0, 0).b = ttxt[2] - '0';
 
            image.pixel(1, 0).r = ttxt[3] - '0';
            image.pixel(1, 0).g = ttxt[4] - '0';
            image.pixel(1, 0).b = ttxt[5] - '0';
 
            image.pixel(2, 0).r = ttxt[6] - '0';
            image.pixel(2, 0).g = ttxt[7] - '0';
            image.pixel(2, 0).b = ttxt[8] - '0';
 
            image.pixel(3, 0).r = ttxt[9] - '0';
            image.pixel(3, 0).g = ttxt[10] - '0';
            image.pixel(3, 0).b = ttxt[11] - '0';
 
            image.pixel(4, 0).r = ttxt[12] - '0';
            image.pixel(4, 0).g = ttxt[13] - '0';
            image.pixel(4, 0).b = ttxt[14] - '0';
 
            image.pixel(5, 0).r = ttxt[15] - '0';
            image.pixel(5, 0).g = ttxt[16] - '0';
            image.pixel(5, 0).b = ttxt[17] - '0';
 
            image.pixel(6, 0).r = ttxt[18] - '0';
            image.pixel(6, 0).g = ttxt[19] - '0';
            image.pixel(6, 0).b = ttxt[20] - '0';
        }
        break;
    case VOCAB_RAND:
        {
            // from Alessandro Scalzo
 
            static unsigned char r=128,g=128,b=128;
 
            size_t ww = image.width();
            size_t hh = image.height();
 
            if (ww>1&&hh>1) {
                std::default_random_engine randengine;
                std::uniform_real_distribution<double> udist(-1.0, 1.0);
                for (size_t x=0; x<ww; x++) {
                    for (size_t y=0; y<hh; y++) {
                        //r+=(rand()%3)-1;
                        //g+=(rand()%3)-1;
                        //b+=(rand()%3)-1;
                        r += udist(randengine);
                        g += udist(randengine);
                        b += udist(randengine);
                        image.pixel(x,y) = PixelRgb{r,g,b};
                    }
                }
            }
        }
        break;
    case VOCAB_NONE:
        break;
    }
    ct++;
    if (ct>=image.height()) {
        ct = 0;
    }
    if (by>=image.height()) {
        by = image.height()-1;
    }
    if (bx>=image.width()) {
        bx = image.width()-1;
    }
}
 
 
 
// From iCub staticgrabber device.
// DF2 bayer sequence.
// -- in staticgrabber: first row GBGBGB, second row RGRGRG.
// -- changed here to:  first row GRGRGR, second row BGBGBG.
bool FakeFrameGrabber::makeSimpleBayer(
        ImageOf<PixelRgb>& img,
        ImageOf<PixelMono>& bayer) {
 
    bayer.resize(img.width(), img.height());
 
    const size_t w = img.width();
    const size_t h = img.height();
 
    size_t i, j;
    for (i = 0; i < h; i++) {
        auto* row = (PixelRgb *)img.getRow(i);
        auto* rd = (PixelMono *)bayer.getRow(i);
 
        for (j = 0; j < w; j++) {
 
            if ((i%2) == 0) {
                switch (j%4) {
                    case 0:
                    case 2:
                        *rd++ = row->g;
                        row++;
                        break;
 
                    case 1:
                    case 3:
                        *rd++ = row->r;
                        row++;
                        break;
                }
            }
 
            if ((i%2) == 1) {
                switch (j%4) {
                    case 1:
                    case 3:
                        *rd++ = row->g;
                        row++;
                        break;
 
                    case 0:
                    case 2:
                        *rd++ = row->b;
                        row++;
                        break;
                }
            }
        }
    }
 
    return true;
}
 
bool TestFrameGrabber::open(yarp::os::Searchable& config)
{
    yCWarning(FAKEFRAMEGRABBER, "'test_grabber' was renamed 'fakeFrameGrabber'. The old name is still supported for compatibility, but it will be deprecated and removed in a future release. Please update your scripts");
    return FakeFrameGrabber::open(config);
}