00001 #include "RegionGenerator.h"
00002 #include "Events/EventRouter.h"
00003 #include "Wireless/Wireless.h"
00004 #include "Shared/WorldState.h"
00005
00006 #include "Vision/RLEGenerator.h"
00007
00008 #include "Shared/debuget.h"
00009
00010 RegionGenerator::RegionGenerator(EventBase::EventGeneratorID_t gid, unsigned int sid, unsigned int mysid)
00011 : FilterBankGenerator("RegionGenerator",gid,sid,EventBase::visRegionEGID,mysid), srcNumColors(0), srcColors(0), regions(NULL)
00012 { }
00013
00014 void
00015 RegionGenerator::freeCaches() {
00016 FilterBankGenerator::freeCaches();
00017 for(unsigned int l=0; l<numLayers; l++)
00018 for(unsigned int c=0; c<numChannels; c++) {
00019 delete [] regions[l][c];
00020 regions[l][c]=NULL;
00021 }
00022 }
00023
00024 void
00025 RegionGenerator::processEvent(const EventBase& event) {
00026 FilterBankGenerator::processEvent(event);
00027 const RLEGenerator * rle=dynamic_cast<const RLEGenerator*>(src);
00028 if(NULL==rle) {
00029 serr->printf("RegionGenerator's event %s is not from RLEGenerator\n",event.getName().c_str());
00030 return;
00031 }
00032 const SegmentedColorFilterBankEvent * segev=dynamic_cast<const SegmentedColorFilterBankEvent*>(&event);
00033 if(NULL==segev) {
00034 serr->printf("RegionGenerator's event %s is not SegmentedColorFilterBankEvent\n",event.getName().c_str());
00035 return;
00036 }
00037 if(srcNumColors!=segev->getNumColors())
00038 freeCaches();
00039 srcNumColors=segev->getNumColors();
00040 srcColors=segev->getColors();
00041 erouter->postEvent(new SegmentedColorFilterBankEvent(this,getGeneratorID(),getSourceID(),*segev));
00042 }
00043
00044 unsigned int
00045 RegionGenerator::getBinSize() const {
00046 unsigned int used=FilterBankGenerator::getBinSize();
00047 used+=strlen("RegionImage")+LoadSave::stringpad;
00048 used+=sizeof(unsigned int);
00049 unsigned int xmit_bytes_per_run=5*sizeof(int)+2*sizeof(float)+2*sizeof(int);
00050 if(imageValids[selectedSaveLayer][selectedSaveChannel])
00051 used+=xmit_bytes_per_run;
00052 else
00053 used+=xmit_bytes_per_run*MAX_REGIONS;
00054 return used;
00055 }
00056
00057 unsigned int
00058 RegionGenerator::LoadBuffer(const char buf[], unsigned int len) {
00059 unsigned int origlen=len;
00060 unsigned int used;
00061 std::string tmp;
00062 if(0==(used=FilterBankGenerator::LoadBuffer(buf,len))) return 0;
00063 len-=used; buf+=used;
00064 if(0==(used=decode(tmp,buf,len))) return 0;
00065 len-=used; buf+=used;
00066 if(tmp!="RegionImage") {
00067 serr->printf("Unhandled image type for RegionGenerator: %s",tmp.c_str());
00068 return 0;
00069 } else {
00070 unsigned int tmpNumClr=0;
00071 if(0==(used=decode(tmpNumClr,buf,len))) return 0;
00072 len-=used; buf+=used;
00073 if(tmpNumClr!=srcNumColors)
00074 freeCaches();
00075 srcNumColors=tmpNumClr;
00076 if(images[selectedSaveLayer][selectedSaveChannel]==NULL)
00077 images[selectedSaveLayer][selectedSaveChannel]=createImageCache(selectedSaveLayer,selectedSaveChannel);
00078 region_stats * stats=reinterpret_cast<region_stats*>(images[selectedSaveLayer][selectedSaveChannel]);
00079 if(stats==NULL)
00080 return 0;
00081 for(unsigned int i=0; i<srcNumColors; i++) {
00082 unsigned int tmpNumReg=0;
00083 if(0==(used=decode(tmpNumReg,buf,len))) return 0;
00084 len-=used; buf+=used;
00085 if(MAX_REGIONS<=tmpNumReg)
00086 return 0;
00087 for(unsigned int j=0; j<tmpNumReg; j++) {
00088 region * curreg=®ions[selectedSaveLayer][selectedSaveChannel][j];
00089 if(0==(used=decode(curreg->color,buf,len))) return 0;
00090 len-=used; buf+=used;
00091 if(0==(used=decode(curreg->x1,buf,len))) return 0;
00092 len-=used; buf+=used;
00093 if(0==(used=decode(curreg->y1,buf,len))) return 0;
00094 len-=used; buf+=used;
00095 if(0==(used=decode(curreg->x2,buf,len))) return 0;
00096 len-=used; buf+=used;
00097 if(0==(used=decode(curreg->y2,buf,len))) return 0;
00098 len-=used; buf+=used;
00099 if(0==(used=decode(curreg->cen_x,buf,len))) return 0;
00100 len-=used; buf+=used;
00101 if(0==(used=decode(curreg->cen_y,buf,len))) return 0;
00102 len-=used; buf+=used;
00103 if(0==(used=decode(curreg->area,buf,len))) return 0;
00104 len-=used; buf+=used;
00105 if(0==(used=decode(curreg->run_start,buf,len))) return 0;
00106 len-=used; buf+=used;
00107 if(j==tmpNumReg-1)
00108 curreg->next=NULL;
00109 else
00110 curreg->next=®ions[selectedSaveLayer][selectedSaveChannel][j+1];
00111 }
00112
00113 if(0==(used=decode(stats[i].min_area,buf,len))) return 0;
00114 len-=used; buf+=used;
00115 if(0==(used=decode(stats[i].total_area,buf,len))) return 0;
00116 len-=used; buf+=used;
00117 if(0==(used=decode(stats[i].merge_threshold,buf,len))) return 0;
00118 len-=used; buf+=used;
00119 stats[i].list=regions[selectedSaveLayer][selectedSaveChannel];
00120 stats[i].num=tmpNumReg;
00121 }
00122 imageValids[selectedSaveLayer][selectedSaveChannel]=true;
00123 return origlen-len;
00124 }
00125 }
00126
00127 unsigned int
00128 RegionGenerator::SaveBuffer(char buf[], unsigned int len) const {
00129 unsigned int origlen=len;
00130 unsigned int used;
00131 if(0==(used=FilterBankGenerator::SaveBuffer(buf,len))) return 0;
00132 len-=used; buf+=used;
00133 if(0==(used=encode("RegionImage",buf,len))) return 0;
00134 len-=used; buf+=used;
00135
00136 region_stats * stats=reinterpret_cast<region_stats*>(getImage(selectedSaveLayer,selectedSaveChannel));
00137 if(stats==NULL)
00138 return 0;
00139 if(0==(used=encode(srcNumColors,buf,len))) return 0;
00140 len-=used; buf+=used;
00141 for(unsigned int i=0; i<srcNumColors; i++) {
00142 if(0==(used=encode(stats[i].num,buf,len))) return 0;
00143 len-=used; buf+=used;
00144 region * curreg=stats[i].list;
00145 for(int j=0; j<stats[i].num; j++) {
00146 if(0==(used=encode(curreg->color,buf,len))) return 0;
00147 len-=used; buf+=used;
00148 if(0==(used=encode(curreg->x1,buf,len))) return 0;
00149 len-=used; buf+=used;
00150 if(0==(used=encode(curreg->y1,buf,len))) return 0;
00151 len-=used; buf+=used;
00152 if(0==(used=encode(curreg->x2,buf,len))) return 0;
00153 len-=used; buf+=used;
00154 if(0==(used=encode(curreg->y2,buf,len))) return 0;
00155 len-=used; buf+=used;
00156 if(0==(used=encode(curreg->cen_x,buf,len))) return 0;
00157 len-=used; buf+=used;
00158 if(0==(used=encode(curreg->cen_y,buf,len))) return 0;
00159 len-=used; buf+=used;
00160 if(0==(used=encode(curreg->area,buf,len))) return 0;
00161 len-=used; buf+=used;
00162 if(0==(used=encode(curreg->run_start,buf,len))) return 0;
00163 len-=used; buf+=used;
00164 curreg=curreg->next;
00165 }
00166
00167 if(0==(used=encode(stats[i].min_area,buf,len))) return 0;
00168 len-=used; buf+=used;
00169 if(0==(used=encode(stats[i].total_area,buf,len))) return 0;
00170 len-=used; buf+=used;
00171 if(0==(used=encode(stats[i].merge_threshold,buf,len))) return 0;
00172 len-=used; buf+=used;
00173 }
00174 return origlen-len;
00175 }
00176
00177 void
00178 RegionGenerator::setNumImages(unsigned int nLayers, unsigned int nChannels) {
00179 if(nLayers==numLayers && nChannels==numChannels)
00180 return;
00181 FilterBankGenerator::setNumImages(nLayers,nChannels);
00182 regions = new region**[numLayers];
00183 for(unsigned int i=0; i<numLayers; i++) {
00184 regions[i] = new region*[numChannels];
00185 for(unsigned int j=0; j<numChannels; j++)
00186 regions[i][j]=NULL;
00187 }
00188 }
00189
00190 unsigned char *
00191 RegionGenerator::createImageCache(unsigned int layer, unsigned int chan) const {
00192
00193 regions[layer][chan]=new region[MAX_REGIONS];
00194
00195
00196
00197 region_stats * stats=new region_stats[srcNumColors];
00198
00199
00200 memcpy(stats,srcColors,srcNumColors*sizeof(region_stats));
00201
00202 return reinterpret_cast<unsigned char*>(stats);
00203 }
00204
00205 void
00206 RegionGenerator::calcImage(unsigned int layer, unsigned int chan) const {
00207 PROFSECTION("RegionGenerator::calcImage(...)",state->mainProfile);
00208
00209
00210 const RLEGenerator& srcRLE=dynamic_cast<const RLEGenerator&>(*src);
00211 RLEGenerator::run * rmap=reinterpret_cast<RLEGenerator::run*>(srcRLE.getImage(layer,chan));
00212 region_stats * stats=reinterpret_cast<region_stats*>(images[layer][chan]);
00213
00214
00215 CMVision::ConnectComponents(rmap,srcRLE.getNumRuns(layer,chan));
00216 unsigned int numReg = CMVision::ExtractRegions(regions[layer][chan],MAX_REGIONS,rmap,srcRLE.getNumRuns(layer,chan));
00217 unsigned int maxArea = CMVision::SeparateRegions(stats,srcNumColors,regions[layer][chan],numReg);
00218 CMVision::SortRegions(stats,srcNumColors,maxArea);
00219 CMVision::MergeRegions(stats,(int)srcNumColors,rmap);
00220
00221
00222 imageValids[layer][chan]=true;
00223 }
00224
00225 void
00226 RegionGenerator::destruct() {
00227 FilterBankGenerator::destruct();
00228 for(unsigned int i=0; i<numLayers; i++)
00229 delete [] regions[i];
00230 delete [] regions;
00231 regions=NULL;
00232 }
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