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RLEGenerator.cc Go to the documentation of this file. #include "RLEGenerator.h" #include "Events/EventRouter.h" #include "Events/SegmentedColorFilterBankEvent.h" #include "Wireless/Wireless.h" #include "Shared/WorldState.h" #include "Shared/debuget.h" RLEGenerator::RLEGenerator(EventBase::EventGeneratorID_t gid, unsigned int sid, unsigned int mysid) : FilterBankGenerator("RLEGenerator",0,0,gid,sid,EventBase::visRLEEGID,mysid), src(NULL), numRuns(NULL), maxRuns(NULL) { setNumImages(numLayers,numChannels); } RLEGenerator::~RLEGenerator() { freeCaches(); destruct(); } void RLEGenerator::processEvent(const EventBase& event) { const FilterBankEvent& fbkevent=dynamic_cast<const FilterBankEvent& >(event); src=fbkevent.getSource(); frameNumber=src->getFrameNumber(); if(src->getNumLayers()!=numLayers || src->getNumChannels()!=numChannels) setNumImages(src->getNumLayers(),src->getNumChannels()); if(src->getWidth(numLayers-1)!=getWidth(numLayers-1)) setDimensions(); invalidateCaches(); framesProcessed++; if(const SegmentedColorFilterBankEvent * segsrc=dynamic_cast<const SegmentedColorFilterBankEvent *>(&fbkevent)) erouter->postEvent(new SegmentedColorFilterBankEvent(this,getGeneratorID(),getSourceID(),*segsrc)); else erouter->postEvent(new FilterBankEvent(this,getGeneratorID(),getSourceID())); } unsigned int RLEGenerator::getBinSize() const { unsigned int used=FilterBankGenerator::getBinSize(); used+=strlen("RLEImage")+LoadSave::stringpad; used+=sizeof(unsigned int); if(imageValids[selectedSaveLayer][selectedSaveChannel]) used+=XMIT_BYTES_PER_RUN*numRuns[selectedSaveLayer][selectedSaveChannel]; else used+=XMIT_BYTES_PER_RUN*maxRuns[selectedSaveLayer]; return used; } /*! this isn't really tested, don't rely on it working without a little debugging... specifically, doesn't set parent or next fields*/ unsigned int RLEGenerator::LoadBuffer(const char buf[], unsigned int len) { unsigned int origlen=len; unsigned int used; std::string tmp; if(0==(used=FilterBankGenerator::LoadBuffer(buf,len))) return 0; len-=used; buf+=used; if(0==(used=decode(tmp,buf,len))) return 0; len-=used; buf+=used; if(tmp!="RLEImage") { serr->printf("Unhandled image type for RLEGenerator: %s",tmp.c_str()); return 0; } else { if(0==(used=decode(numRuns[selectedSaveLayer][selectedSaveChannel],buf,len))) return 0; len-=used; buf+=used; if(maxRuns[selectedSaveLayer]<numRuns[selectedSaveLayer][selectedSaveChannel]) return 0; if(images[selectedSaveLayer][selectedSaveChannel]==NULL) images[selectedSaveLayer][selectedSaveChannel]=createImageCache(selectedSaveLayer,selectedSaveChannel); run * runs=reinterpret_cast<run*>(images[selectedSaveLayer][selectedSaveChannel]); if(runs==NULL) return 0; unsigned int y=0; for(unsigned int i=0; i<numRuns[selectedSaveLayer][selectedSaveChannel]; i++) { if(0==(used=decode(runs[i].color,buf,len))) return 0; len-=used; buf+=used; if(0==(used=decode(runs[i].x,buf,len))) return 0; len-=used; buf+=used; if(0==(used=decode(runs[i].width,buf,len))) return 0; len-=used; buf+=used; if((unsigned int)(runs[i].x+runs[i].width)>=getWidth(selectedSaveLayer)) y++; runs[i].y=y; } imageValids[selectedSaveLayer][selectedSaveChannel]=true; return origlen-len; } } unsigned int RLEGenerator::SaveBuffer(char buf[], unsigned int len) const { unsigned int origlen=len; unsigned int used; if(0==(used=FilterBankGenerator::SaveBuffer(buf,len))) return 0; len-=used; buf+=used; if(0==(used=encode("RLEImage",buf,len))) return 0; len-=used; buf+=used; run * runs=reinterpret_cast<run*>(getImage(selectedSaveLayer,selectedSaveChannel)); if(runs==NULL) return 0; if(0==(used=encode(numRuns[selectedSaveLayer][selectedSaveChannel],buf,len))) return 0; len-=used; buf+=used; for(unsigned int i=0; i<numRuns[selectedSaveLayer][selectedSaveChannel]; i++) { if(0==(used=encode(runs[i].color,buf,len))) return 0; len-=used; buf+=used; if(0==(used=encode(runs[i].x,buf,len))) return 0; len-=used; buf+=used; if(0==(used=encode(runs[i].width,buf,len))) return 0; len-=used; buf+=used; } return origlen-len; } void RLEGenerator::setDimensions() { for(unsigned int i=0; i<numLayers; i++) { widths[i]=src->getWidth(i); heights[i]=src->getHeight(i); maxRuns[i]=calcExpMaxRuns(i); } } void RLEGenerator::setNumImages(unsigned int nLayers, unsigned int nChannels) { FilterBankGenerator::setNumImages(nLayers,nChannels); maxRuns=new unsigned int[numLayers]; numRuns=new unsigned int*[numLayers]; for(unsigned int i=0; i<numLayers; i++) { maxRuns[i]=calcExpMaxRuns(i); numRuns[i]=new unsigned int[numChannels]; } } //! simply creates a new data region and returns it unsigned char * RLEGenerator::createImageCache(unsigned int layer, unsigned int /*chan*/) const { return reinterpret_cast<unsigned char*>(new run[maxRuns[layer]]); } //! a single call to the CMVision library to do the work, and we're done. void RLEGenerator::calcImage(unsigned int layer, unsigned int chan) const { PROFSECTION("RLEGenerator::calcImage(...)",state->mainProfile); numRuns[layer][chan] = CMVision::EncodeRuns(reinterpret_cast<run*>(images[layer][chan]),src->getImage(layer,chan),getWidth(layer),getHeight(layer),maxRuns[layer]); imageValids[layer][chan]=true; // <--- don't forget to do this, otherwise you'll recompute on every access, even if the cache is still valid } void RLEGenerator::destruct() { FilterBankGenerator::destruct(); for(unsigned int i=0; i<numLayers; i++) delete [] numRuns[i]; delete [] numRuns; numRuns=NULL; delete [] maxRuns; maxRuns=NULL; } /*! @file * @brief Implements RLEGenerator, which generates RLE compressed FilterBankEvents (generally from indexed color images from, say, SegmentedColorGenerator) * @author alokl (Creator) * @author ejt (reorganized) * * $Author: ejt $ * $Name: tekkotsu-2_0_1+Doc $ * $Revision: 1.6 $ * $State: Exp $ * $Date: 2004/02/05 02:37:09 $ */

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