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FilterBankGenerator.cc Go to the documentation of this file. #include "FilterBankGenerator.h" #include "Events/FilterBankEvent.h" #include "Events/EventRouter.h" #include "Wireless/Socket.h" #include "Shared/RobotInfo.h" using namespace std; unsigned int FilterBankGenerator::sysFrameNumber=-1U; unsigned char * FilterBankGenerator::getImage(unsigned int layer, unsigned int channel) { //for(int i=0;i<1000;i++) //std::cout << i << " FBG::getImage(" << layer<<'/'<<numLayers << ',' << channel<<'/'<<numChannels << ");" << std::endl; if(!refresh()) return NULL; if(!imageValids[layer][channel]) { if(images[layer][channel]==NULL) images[layer][channel]=createImageCache(layer,channel); calcImage(layer,channel); } return images[layer][channel]; } void FilterBankGenerator::freeCaches() { invalidateCaches(); for(unsigned int i=0; i<numLayers; i++) for(unsigned int j=0; j<numChannels; j++) { delete [] images[i][j]; images[i][j]=NULL; } } void FilterBankGenerator::invalidateCaches() { for(unsigned int i=0; i<numLayers; i++) for(unsigned int j=0; j<numChannels; j++) imageValids[i][j]=false; } void FilterBankGenerator::processEvent(const EventBase & event) { if(event.getGeneratorID()==getListenGeneratorID() && event.getSourceID()==getListenSourceID()) { const FilterBankEvent& fbkevent=dynamic_cast<const FilterBankEvent& >(event); if(fbkevent.getSource()==NULL) { serr->printf("%s %s received event with null source\n",getClassName().c_str(),getName().c_str()); return; } src=fbkevent.getSource(); refresh(); } else { EventGeneratorBase::processEvent(event); } } unsigned int FilterBankGenerator::getBinSize() const { unsigned int used=0; used+=creatorSize("FbkImage"); used+=sizeof(widths[selectedSaveLayer]); used+=sizeof(heights[selectedSaveLayer]); used+=sizeof(selectedSaveLayer); used+=sizeof(selectedSaveChannel); return used; } /*! The loadBuffer() functions of the included subclasses aren't tested, so don't assume they'll work without a little debugging... */ unsigned int FilterBankGenerator::loadBuffer(const char buf[], unsigned int len) { unsigned int origlen=len; if(!checkCreatorInc("FbkImage",buf,len,true)) return 0; if(!decodeInc(widths[selectedSaveLayer],buf,len)) return 0; if(!decodeInc(heights[selectedSaveLayer],buf,len)) return 0; if(!decodeInc(selectedSaveLayer,buf,len)) return 0; if(!decodeInc(selectedSaveChannel,buf,len)) return 0; return origlen-len; } unsigned int FilterBankGenerator::saveBuffer(char buf[], unsigned int len) const { unsigned int origlen=len; if(!saveCreatorInc("FbkImage",buf,len)) return 0; if(!encodeInc(widths[selectedSaveLayer],buf,len)) return 0; if(!encodeInc(heights[selectedSaveLayer],buf,len)) return 0; if(!encodeInc(selectedSaveLayer,buf,len)) return 0; if(!encodeInc(selectedSaveChannel,buf,len)) return 0; return origlen-len; } void FilterBankGenerator::setNumImages(unsigned int nLayers, unsigned int nChannels) { if(nLayers==numLayers && nChannels==numChannels) return; freeCaches(); destruct(); numLayers=nLayers; numChannels=nChannels; widths=new unsigned int[numLayers]; heights=new unsigned int[numLayers]; if(numLayers>0) { for(unsigned int res=0; res<numLayers-1; res++) { widths[res] = CameraResolutionX>>(numLayers-2-res); heights[res] = CameraResolutionY>>(numLayers-2-res); } widths[numLayers-1]=CameraResolutionX*2; heights[numLayers-1]=CameraResolutionY*2; } skips=new unsigned int[numLayers]; strides=new unsigned int[numLayers]; increments=new unsigned int[numLayers]; images=new unsigned char**[numLayers]; imageValids=new bool*[numLayers]; for(unsigned int i=0; i<numLayers; i++) { skips[i]=strides[i]=0; increments[i]=1; images[i]=new unsigned char*[numChannels]; imageValids[i]=new bool[numChannels]; for(unsigned int j=0; j<numChannels; j++) { images[i][j]=NULL; imageValids[i][j]=false; } } } void FilterBankGenerator::setDimensions() { if(src==NULL) return; for(unsigned int i=0; i<numLayers; i++) { widths[i]=src->getWidth(i); heights[i]=src->getHeight(i); } } void FilterBankGenerator::destruct() { delete [] widths; widths=NULL; delete [] heights; heights=NULL; delete [] skips; skips=NULL; delete [] strides; strides=NULL; delete [] increments; increments=NULL; for(unsigned int i=0; i<numLayers; i++) { delete [] images[i]; delete [] imageValids[i]; } delete [] images; images=NULL; delete [] imageValids; imageValids=NULL; numLayers=numChannels=0; } bool FilterBankGenerator::refresh() { if(sysFrameNumber==-1U) { serr->printf("ERROR: attempted access to camera image before any data was available\n"); return false; } if(frameNumber==sysFrameNumber) return true; if(src==NULL) { serr->printf("ERROR: attempted access to camera image before stage had a known source\n"); return false; } if(!src->refresh()) return false; if(frameNumber==src->getFrameNumber()) return true; frameNumber=src->getFrameNumber(); setNumImages(src->getNumLayers(),src->getNumChannels()); if(numLayers<=0 || numChannels<=0) { serr->printf("ERROR: attempted to access image in empty FilterBankGenerator\n"); return false; } if(src->getWidth(numLayers-1)!=getWidth(numLayers-1) || src->getHeight(numLayers-1)!=getHeight(numLayers-1)) { serr->printf("WARNING: the image dimensions don't match values predicted by RobotInfo consts, now %dx%d",widths[numLayers-1],heights[numLayers-1]); setDimensions(); } else if(framesProcessed==0) { setDimensions(); } invalidateCaches(); framesProcessed++; return true; } /*! @file * @brief Implements abstract base class for generators of FilterBankEvent's * @author ejt (Creator) * * $Author: ejt $ * $Name: tekkotsu-3_0 $ * $Revision: 1.11 $ * $State: Exp $ * $Date: 2006/09/09 04:33:04 $ */

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