[Playerstage-developers] imageseq with color support

[Pedro M. S. <psh...@dc...>]

Hello,

I've changed imageseq driver to support color images.
I've tested with PPM rawbit and jpeg images but it should work with
others formats.
Following is the diff output (for player-2.0.3).

Bests,
Pedro

--------------------------------------------------


--- imageseq.cc.old     2007-03-16 16:08:30.000000000 -0300
+++ imageseq.cc 2007-03-16 16:16:55.000000000 -0300
@@ -227,15 +227,52 @@
   IplImage *image;

   // Load image; currently forces the image to mono
-  image = cvLoadImage(filename, 0);
-
+  image = cvLoadImage(filename, -1);
+  /*
+  printf("IPL: Size     = %d width x %d height\n"
+    "     Channels = %d [1 : (bw), 2 , 3 : (rgb), 4 : (rgba)]\n"
+    "     Depth    = %d bits [8u 8s 16s 32s 32f 64f]\n"
+    "     Origin   = %d  [0: top-left; 1: bottom-left]\n"
+    "     Align    = %d  [alignment of image rows = 4 or 8]\n"
+    "     Img size = %d  [height * width step]\n"
+    "     W. step  = %d  size of a row = width*channels*depth/8\n",
+    image->width, image->height, image->nChannels, image->depth,
image->origin,
+    image->align, image->imageSize, image->widthStep);
+  */
   this->data.width = image->width;
   this->data.height = image->height;
-  this->data.bpp = 8;
-  this->data.format = PLAYER_CAMERA_FORMAT_MONO8;
   this->data.compression = PLAYER_CAMERA_COMPRESS_RAW;
-  this->data.image_count = this->data.width * this->data.height;
-
+  this->data.image_count = image->imageSize;
+
+  switch (image->depth)
+  {
+    case IPL_DEPTH_8U:
+    case IPL_DEPTH_8S:
+     if (image->nChannels == 1)
+     {
+      this->data.bpp = 8;
+      this->data.format = PLAYER_CAMERA_FORMAT_MONO8;
+     }
+     else if (image->nChannels == 3)
+     {
+      this->data.bpp = 24;
+      this->data.format = PLAYER_CAMERA_FORMAT_RGB888;
+     }
+     break;
+    case IPL_DEPTH_16S:
+     if (image->nChannels == 1)
+     {
+      this->data.bpp = 16;
+      this->data.format = PLAYER_CAMERA_FORMAT_MONO16;
+     }
+     break;
+    case IPL_DEPTH_32S:
+    case IPL_DEPTH_32F:
+    case IPL_DEPTH_64F:
+    default:
+     break;
+  }
+
   // Check image size
   if (this->data.image_count > PLAYER_CAMERA_IMAGE_SIZE)
   {
@@ -244,13 +281,28 @@
   }

   // Copy the pixels
-  for (i = 0; i < image->height; i++)
+  if (image->nChannels == 1)
+   for (i = 0; i < image->height; i++)
+   {
+     src = image->imageData + i * image->widthStep;
+     dst = this->data.image + i * image->widthStep;
+     memcpy(dst, src, image->widthStep);
+   }
+  else if (image->nChannels == 3)
   {
-    src = image->imageData + i * image->widthStep;
-    dst = this->data.image + i * this->data.width;
-    memcpy(dst, src, this->data.width);
+   for (int i = 0; i < image->height; i++)
+    for (int j = 0; j < image->width; j++)
+    {
+      // Convert BGR to RGB
+      this->data.image[i*image->widthStep+3*j
+0]=image->imageData[i*image->widthStep+3*j+2];
+      this->data.image[i*image->widthStep+3*j
+1]=image->imageData[i*image->widthStep+3*j+1];
+      this->data.image[i*image->widthStep+3*j
+2]=image->imageData[i*image->widthStep+3*j+0];
+
+    }
   }
-
+
+  cvReleaseImage(&image);
+
   return 0;
 }