personalrobots-commit

[Personalrobots-commit] SF.net SVN: personalrobots: [91] pkg/trunk/image_utils

[<mor...@us...>]

Revision: 91
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=91&view=rev
Author:   morgan_quigley
Date:     2008-04-04 09:45:35 -0700 (Fri, 04 Apr 2008)

Log Message:
-----------
a header to wrap jpeg compression / decompression

Added Paths:
-----------
    pkg/trunk/image_utils/include/
    pkg/trunk/image_utils/include/image_utils/
    pkg/trunk/image_utils/include/image_utils/jpeg_wrapper.h

Added: pkg/trunk/image_utils/include/image_utils/jpeg_wrapper.h
===================================================================
--- pkg/trunk/image_utils/include/image_utils/jpeg_wrapper.h	                        (rev 0)
+++ pkg/trunk/image_utils/include/image_utils/jpeg_wrapper.h	2008-04-04 16:45:35 UTC (rev 91)
@@ -0,0 +1,128 @@
+#ifndef IMAGE_UTILS_JPEG_WRAPPER_H
+#define IMAGE_UTILS_JPEG_WRAPPER_H
+
+#include "ijg_libjpeg/ros_jpeg_mutex.h"
+extern "C"
+{
+#include "jpeglib.h"
+}
+
+class JpegWrapper
+{
+public:
+  JpegWrapper() 
+  : raster_width(0), raster_height(0), raster(NULL),
+    raster_alloc_size(0)
+  {
+    cinfo.err = jpeg_std_error(&jerr);
+    jpeg_create_compress(&cinfo);
+    dinfo.err = jpeg_std_error(&jerr);
+    jpeg_create_decompress(&dinfo);
+  }
+
+  ~JpegWrapper()
+  {
+    jpeg_destroy_compress(&cinfo);
+    jpeg_destroy_decompress(&dinfo);
+    if (raster)
+      delete[] raster;
+  }
+
+  inline int width()  { return raster_width; }
+  inline int height() { return raster_height; }
+  inline int raster_size() { return 3 * raster_width * raster_height; }
+  inline uint8_t *get_raster() { return raster; }
+
+  bool decompress_jpeg_buf(char *data, uint32_t data_len)
+  {
+    ros_jpeg_mutex_lock();
+    jpeg_buffer_src(&dinfo, data, data_len);
+    jpeg_read_header(&dinfo, TRUE);
+    jpeg_start_decompress(&dinfo);
+    if (dinfo.output_components != 3)
+    {
+      printf("woah! this jpeg buffer doesn't have three components.\n");
+      return false;
+    }
+    raster_width = dinfo.output_width;
+    raster_height = dinfo.output_height;
+    realloc_raster_if_needed();
+    int row_stride = raster_width * 3;
+    JSAMPROW row_pointer[1];
+    while (dinfo.output_scanline < dinfo.output_height)
+    {
+      row_pointer[0] = (JSAMPROW)&raster[dinfo.output_scanline * row_stride];
+      jpeg_read_scanlines(&dinfo, row_pointer, 1);
+    }
+    jpeg_finish_decompress(&dinfo);
+    ros_jpeg_mutex_unlock();
+    return true;
+  }
+protected:
+  uint8_t *raster;
+  int raster_width, raster_height;
+  int raster_alloc_size;
+  jpeg_compress_struct cinfo;
+  jpeg_decompress_struct dinfo;
+  jpeg_error_mgr jerr;
+
+  static void buffer_dest_init(j_compress_ptr cinfo) { }
+  static void buffer_source_init(j_decompress_ptr cinfo) { }
+  static boolean buffer_source_fill(j_decompress_ptr dinfo)
+  {
+    if (dinfo->src->bytes_in_buffer == 0)
+    {
+      printf("woah! jpeg memory buffer was incomplete! ahhhh\n");
+      return FALSE;
+    }
+    return TRUE;
+  }
+  static void buffer_source_skip(j_decompress_ptr dinfo, long num_bytes)
+  {
+    dinfo->src->next_input_byte += (size_t)num_bytes;
+    dinfo->src->bytes_in_buffer -= (size_t)num_bytes;
+  }
+  static void buffer_source_term(j_decompress_ptr dinfo) { }
+  static boolean buffer_dest_empty(j_compress_ptr cinfo)
+  {
+    // TODO: enlarge the compression buffer by a factor of 2 and
+    // copy over everything, then reset the write pointer
+    // and the number of available bytes
+  }
+  static void buffer_dest_term(j_compress_ptr cinfo) { }
+  static void jpeg_buffer_src(j_decompress_ptr dinfo, char *buf, int size)
+  {
+    if (dinfo->src == NULL)
+      dinfo->src = (struct jpeg_source_mgr *)(*dinfo->mem->alloc_small)
+        ((j_common_ptr)dinfo, JPOOL_PERMANENT, sizeof(struct jpeg_source_mgr));
+    dinfo->src->init_source = buffer_source_init;
+    dinfo->src->fill_input_buffer = buffer_source_fill;
+    dinfo->src->skip_input_data = buffer_source_skip;
+    dinfo->src->resync_to_restart = jpeg_resync_to_restart;
+    dinfo->src->next_input_byte = (JOCTET *)buf;
+    dinfo->src->bytes_in_buffer = size;
+    dinfo->src->term_source = buffer_source_term;
+  }
+  static void jpeg_buffer_dest(j_compress_ptr cinfo, char *buf, int size)
+  {
+    // TODO
+  }
+
+  void realloc_raster_if_needed()
+  {
+    if (raster_alloc_size < raster_size())
+    {
+      if (raster)
+        delete[] raster;
+      raster_alloc_size = raster_size();
+      if (raster_alloc_size)
+        raster = new uint8_t[raster_alloc_size];
+      else
+        raster = NULL;
+    }
+  }
+};
+
+
+#endif
+


This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.

[Personalrobots-commit] SF.net SVN: personalrobots: [99] pkg/trunk/image_utils

[<mor...@us...>]

Revision: 99
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=99&view=rev
Author:   morgan_quigley
Date:     2008-04-11 10:55:41 -0700 (Fri, 11 Apr 2008)

Log Message:
-----------
a ppm-writing class and a simple checkerboard generator program

Added Paths:
-----------
    pkg/trunk/image_utils/include/image_utils/ppm_wrapper.h
    pkg/trunk/image_utils/src/
    pkg/trunk/image_utils/src/create_chessboard/
    pkg/trunk/image_utils/src/create_chessboard/Makefile
    pkg/trunk/image_utils/src/create_chessboard/create_chessboard.cpp
    pkg/trunk/image_utils/test/ppm/
    pkg/trunk/image_utils/test/ppm/Makefile
    pkg/trunk/image_utils/test/ppm/ppm.cpp

Added: pkg/trunk/image_utils/include/image_utils/ppm_wrapper.h
===================================================================
--- pkg/trunk/image_utils/include/image_utils/ppm_wrapper.h	                        (rev 0)
+++ pkg/trunk/image_utils/include/image_utils/ppm_wrapper.h	2008-04-11 17:55:41 UTC (rev 99)
@@ -0,0 +1,48 @@
+#ifndef IMAGE_UTILS_PPM_WRAPPER_H
+#define IMAGE_UTILS_PPM_WRAPPER_H
+
+// this guy encapsulates reading / writing ppm images
+#include <string>
+#include <cstdio>
+#include <cassert>
+using std::string;
+
+class PpmWrapper
+{
+public:
+  PpmWrapper();
+  ~PpmWrapper();
+
+  static char *write_file(string filename, int width, int height, 
+                          string colorspace, uint8_t *raster)
+  {
+    if (colorspace != string("rgb24") && colorspace != string("bgr24"))
+      return "woah! PpmWrapper can only handle rgb24 or bgr24 images";
+    FILE *f = fopen(filename.c_str(), "wb");
+    if (!f)
+      return "couldn't open file to write ppm";
+    fprintf(f, "P6%d %d\n255\n", width, height);
+    if (colorspace == string("rgb24"))
+      fwrite(raster, 1, width*height*3, f);
+    else if (colorspace == string("bgr24"))
+    {
+      uint8_t *bgr = new uint8_t[width*height*3];
+      for (int y = 0; y < height; y++)
+        for(int x = 0; x < height; x++)
+        {
+          uint8_t *p = raster + y * width * 3 + x * 3;
+          uint8_t *q = bgr    + y * width * 3 + x * 3;
+          q[0] = p[2]; q[1] = p[1]; q[2] = p[0];
+        }
+      fwrite(bgr, 1, width * height * 3, f);
+      delete[] bgr;
+    }
+    else
+      assert(0);
+    fclose(f);
+    return NULL; // no error
+  }
+};
+
+#endif
+

Added: pkg/trunk/image_utils/src/create_chessboard/Makefile
===================================================================
--- pkg/trunk/image_utils/src/create_chessboard/Makefile	                        (rev 0)
+++ pkg/trunk/image_utils/src/create_chessboard/Makefile	2008-04-11 17:55:41 UTC (rev 99)
@@ -0,0 +1,4 @@
+SRC = create_chessboard.cpp
+OUT = create_chessboard
+PKG = image_utils
+include $(shell $(ROS_ROOT)/rospack find roscpp)/make_include/node.mk

Added: pkg/trunk/image_utils/src/create_chessboard/create_chessboard.cpp
===================================================================
--- pkg/trunk/image_utils/src/create_chessboard/create_chessboard.cpp	                        (rev 0)
+++ pkg/trunk/image_utils/src/create_chessboard/create_chessboard.cpp	2008-04-11 17:55:41 UTC (rev 99)
@@ -0,0 +1,36 @@
+#include "image_utils/ppm_wrapper.h"
+#include <cstdio>
+
+int main(int argc, char **argv)
+{
+  if (argc < 3)
+  {
+    printf("usage: create_chessboard WIDTH HEIGHT [SIZE]\n");
+    printf("  where WIDTH, HEIGHT are the number of square, and\n");
+    printf("  SIZE is the pixel length of the side of each square.\n");
+    return 1;
+  }
+
+  int w = atoi(argv[1]), h = atoi(argv[2]);
+  int s = 200;
+  if (argc >= 4)
+    s = atoi(argv[3]);
+  printf("creating %d by %d board with %d-pixel squares\n", w, h, s);
+
+  int img_width = w*s, img_height = h*s;
+  uint8_t *img = new uint8_t[img_width*img_height*3];
+  for (int y = 0; y < img_height; y++)
+    for (int x = 0; x < img_width; x++)
+    {
+      uint8_t *p = img + y * img_width * 3 + x * 3;
+      uint8_t xc = (uint8_t)(x / s) % 2;
+      uint8_t yc = (uint8_t)(y / s) % 2;
+      uint8_t  c = (xc ^ yc ? 255 : 0);
+      p[0] = p[1] = p[2] = c;
+    }
+
+  PpmWrapper::write_file("board.ppm", img_width, img_height, "rgb24", img);
+  delete[] img;
+
+  return 0;
+}

Added: pkg/trunk/image_utils/test/ppm/Makefile
===================================================================
--- pkg/trunk/image_utils/test/ppm/Makefile	                        (rev 0)
+++ pkg/trunk/image_utils/test/ppm/Makefile	2008-04-11 17:55:41 UTC (rev 99)
@@ -0,0 +1,4 @@
+SRC = ppm.cpp 
+OUT = ppm
+PKG = image_utils
+include $(shell $(ROS_ROOT)/rospack find roscpp)/make_include/node.mk

Added: pkg/trunk/image_utils/test/ppm/ppm.cpp
===================================================================
--- pkg/trunk/image_utils/test/ppm/ppm.cpp	                        (rev 0)
+++ pkg/trunk/image_utils/test/ppm/ppm.cpp	2008-04-11 17:55:41 UTC (rev 99)
@@ -0,0 +1,48 @@
+///////////////////////////////////////////////////////////////////////////////
+// The image_flows package provides image transport, codec wrapping, and 
+// various handy image utilities.
+//
+// Copyright (C) 2008, Morgan Quigley
+//
+// Redistribution and use in source and binary forms, with or without 
+// modification, are permitted provided that the following conditions are met:
+//   * Redistributions of source code must retain the above copyright notice, 
+//     this list of conditions and the following disclaimer.
+//   * Redistributions in binary form must reproduce the above copyright 
+//     notice, this list of conditions and the following disclaimer in the 
+//     documentation and/or other materials provided with the distribution.
+//   * Neither the name of Stanford University nor the names of its 
+//     contributors may be used to endorse or promote products derived from 
+//     this software without specific prior written permission.
+//   
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 
+// POSSIBILITY OF SUCH DAMAGE.
+
+
+#include "image_utils/ppm_wrapper.h"
+
+int main(int argc, char **argv)
+{
+  int width = 640, height = 480;
+  uint8_t *raster = new uint8_t[width*height*3];
+  for (int y = 0; y < height; y++)
+    for (int x = 0; x < width; x++)
+    {
+      raster[y*width*3 + x*3    ] = rand() % 255;
+      raster[y*width*3 + x*3 + 1] = rand() % 255;
+      raster[y*width*3 + x*3 + 2] = rand() % 255;
+    }
+  PpmWrapper::write_file("test.ppm", width, height, "rgb24", raster);
+
+  return 0;
+}
+


This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.