[89] | 1 | /*********************************************************************
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| 2 | // created: 2007/04/12 - 16:30
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| 3 | //
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| 4 | // author: Elie Al Alam & Gerald Dherbomez
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| 5 | //
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| 6 | // version: $Id: DbtPlyImageManager.cpp 1239 2012-11-28 16:30:00Z kurdejma $
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| 7 | //
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| 8 | // purpose: Dbite Player Image Manager implementation
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| 9 | *********************************************************************/
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| 10 |
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| 11 | #include "DbtPlyImageManager.h"
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| 12 |
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| 13 | #include "ImageViewer.h"
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| 14 |
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| 15 | #include "kernel/ComponentFactory.h"
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| 16 | #include "kernel/ComponentManager.h"
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| 17 | #include "kernel/DbiteFileTypes.h"
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| 18 | #include "kernel/Log.h"
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| 19 | #include "PacpusTools/ShMem.h"
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| 20 |
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| 21 | #include <iostream>
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| 22 | #include <QImage>
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| 23 | #include <QMutex>
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| 24 |
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| 25 | #include "structure/genericStructures.h"
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| 26 | #include <kernel/inputOutputInterface.h>
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| 27 |
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| 28 | namespace pacpus {
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| 29 |
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| 30 | using namespace std;
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| 31 |
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| 32 | DECLARE_STATIC_LOGGER("pacpus.base.DbtPlyImageManager");
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| 33 |
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| 34 | static const string kDefaultMemoryName = "IMAGE";
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| 35 |
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| 36 | /// Construction de la fabrique de composant DbtPlyImageManager
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| 37 | static ComponentFactory<DbtPlyImageManager> sFactory("DbtPlyImageManager");
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| 38 |
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| 39 | void DbtPlyImageManager::addInputOutput()
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| 40 | {
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| 41 | ADD_OUTPUT("image",DbtPlyImageManager,PacpusImage);
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| 42 | //output.insert("image",new OutputInterface<PacpusImage,DbtPlyImageManager> ("image",this));
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| 43 | }
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| 44 |
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| 45 | /// Constructor
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| 46 | DbtPlyImageManager::DbtPlyImageManager(QString name)
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| 47 | : DbtPlyFileManager (name)
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| 48 | , im_(NULL)
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| 49 | , shMem_(NULL)
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| 50 | , imageMutex_(new QMutex())
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| 51 | , firstTime(true)
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| 52 | {
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| 53 | addInputOutput();
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| 54 | }
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| 55 |
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| 56 | /// Destructor
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| 57 | DbtPlyImageManager::~DbtPlyImageManager()
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| 58 | {
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| 59 | // #if WIN32
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| 60 | delete imageMutex_;
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| 61 | // #endif
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| 62 | if (shMem_) {
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| 63 | delete shMem_;
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| 64 | shMem_ = NULL;
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| 65 | }
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| 66 | }
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| 67 |
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| 68 | /// TODO: doc
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| 69 | void DbtPlyImageManager::processData(road_time_t t, road_timerange_t tr, void * buf)
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| 70 | {
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| 71 | if (!buf) {
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| 72 | LOG_WARN("no data to process: empty data buffer")
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| 73 | return;
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| 74 | }
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| 75 |
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| 76 | // look at the dbt index in file manager and get the identifier of dbt structure
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| 77 | hdfile_header_t::DataTypeT id = dbt_[dbtIndex_].pfile->getType();
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| 78 |
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| 79 | switch (id) {
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| 80 | case STEREO_LEFT_IMAGE:
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| 81 | case STEREO_RIGHT_IMAGE:
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| 82 | //{
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| 83 | // QMutexLocker mutexLocker(imageMutex_);
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| 84 | // Q_UNUSED(mutexLocker);
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| 85 | // if (firstTime) {
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| 86 | // im_ = new QImage(320, 240, QImage::Format_RGB32);
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| 87 | // if (!im_) {
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| 88 | // LOG_ERROR("invalid image");
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| 89 | // }
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| 90 | // shMem_ = new ShMem(kDefaultMemoryName.c_str(), im_->numBytes());
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| 91 | // firstTime = false;
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| 92 | // }
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| 93 | // // convert image to 32 bits for the display
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| 94 | // YtoRGB32(im_->bits(), (unsigned char *)buf);
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| 95 | // shMem_->write(im_->bits(), im_->numBytes());
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| 96 | //}
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| 97 | // break;
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| 98 |
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| 99 | case FILE_JPEG:
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| 100 | imageFile_ = mDbtDataPath + (char *)buf;
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| 101 | LOG_TRACE("image path = " << imageFile_);
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| 102 | if (mVerbose) {
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| 103 | cout << "[IMAGE]:\t"
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| 104 | << imageFile_.toStdString() << endl
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| 105 | ;
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| 106 | }
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| 107 |
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| 108 | {
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| 109 | QMutexLocker mutexLocker(imageMutex_);
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| 110 | Q_UNUSED(mutexLocker);
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| 111 | if (!im_) {
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| 112 | LOG_TRACE("allocating image");
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| 113 | im_ = new QImage();
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| 114 | if (!im_) {
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| 115 | LOG_ERROR("cannot allocate image");
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| 116 | }
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| 117 | }
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| 118 | static int shmemSize;
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| 119 | bool imageLoaded = im_->load(imageFile_);
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| 120 | if (!imageLoaded) {
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| 121 | LOG_WARN("cannot load image file '" << imageFile_ << "'");
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| 122 | return;
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| 123 | }
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| 124 | LOG_TRACE("image loaded");
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| 125 | if (firstTime) {
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| 126 | // send image in shared memory
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| 127 | shmemSize = im_->byteCount();
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| 128 | LOG_TRACE("'" << mShMemName << "'" << " memory size = " << shmemSize);
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| 129 | shMem_ = new ShMem(mShMemName.toStdString().c_str(), shmemSize);
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| 130 | firstTime = false;
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| 131 | }
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| 132 | shMem_->write(im_->bits(), shmemSize);
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| 133 |
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| 134 | PacpusImage data;
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| 135 | data.time = t;
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| 136 | data.timerange = tr;
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| 137 | data.image = *im_;
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| 138 | OutputInterface<PacpusImage,DbtPlyImageManager> * out = static_cast<OutputInterface<PacpusImage,DbtPlyImageManager> *> (output.value("image"));
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| 139 | out->send(data);
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| 140 | }
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| 141 | break;
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| 142 |
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| 143 | default:
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| 144 | break;
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| 145 | }
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| 146 |
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| 147 | Q_EMIT displayIm(im_);
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| 148 | }
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| 149 |
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| 150 | ComponentBase::COMPONENT_CONFIGURATION DbtPlyImageManager::configureComponent(XmlComponentConfig config)
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| 151 | {
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| 152 | mShMemName = kDefaultMemoryName.c_str();
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| 153 | if (param.getProperty("shmem") != QString::null) {
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| 154 | mShMemName = param.getProperty("shmem");
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| 155 | }
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| 156 | return DbtPlyFileManager::configureComponent(config);
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| 157 | }
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| 158 |
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| 159 | void DbtPlyImageManager::startActivity()
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| 160 | {
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| 161 | DbtPlyFileManager::startActivity();
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| 162 | }
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| 163 |
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| 164 | void DbtPlyImageManager::stopActivity()
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| 165 | {
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| 166 | delete im_; im_ = NULL;
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| 167 | DbtPlyFileManager::stopActivity();
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| 168 | }
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| 169 |
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| 170 | ////////////////////////////////////////////////////////////////////////////////
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| 171 | /// Pour l'affichage de l'image
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| 172 | void DbtPlyImageManager::displayUI()
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| 173 | {
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| 174 | imviewer_ = new ImageViewer;
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| 175 | imviewer_->setMutex(imageMutex_);
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| 176 | imviewer_->show();
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| 177 | imviewer_->setWindowTitle(componentName);
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| 178 | connect(this, SIGNAL(displayIm(QImage*)), imviewer_, SLOT(display(QImage*)));
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| 179 | }
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| 180 |
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| 181 | ////////////////////////////////////////////////////////////////////////////////
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| 182 | /// Convert the image from Y to RGB32
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| 183 | /// The image is stored using a 32-bit RGB format (0xffRRGGBB)
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| 184 | void DbtPlyImageManager::YtoRGB32(unsigned char * dest, unsigned char * src)
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| 185 | {
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| 186 | unsigned char *srcptr, *srcend, *destptr;
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| 187 |
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| 188 | srcptr = src;
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| 189 | srcend = srcptr + (320 * 240);
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| 190 | destptr = dest;
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| 191 |
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| 192 | // single-stage idiotproofing
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| 193 | if (src == NULL || dest == NULL)
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| 194 | return;
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| 195 |
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| 196 | // just Y's (monochrome)
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| 197 |
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| 198 | // unroll it to 4 per cycle
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| 199 |
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| 200 | while(srcptr < srcend) {
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| 201 | *destptr++ = *srcptr;
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| 202 | *destptr++ = *srcptr;
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| 203 | *destptr++ = *srcptr;
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| 204 | destptr++;//A
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| 205 | srcptr++;
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| 206 |
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| 207 | *destptr++ = *srcptr;
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| 208 | *destptr++ = *srcptr;
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| 209 | *destptr++ = *srcptr;
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| 210 | destptr++;//A
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| 211 | srcptr++;
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| 212 |
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| 213 | *destptr++ = *srcptr;
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| 214 | *destptr++ = *srcptr;
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| 215 | *destptr++ = *srcptr;
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| 216 | destptr++;//A
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| 217 | srcptr++;
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| 218 |
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| 219 | *destptr++ = *srcptr;
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| 220 | *destptr++ = *srcptr;
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| 221 | *destptr++ = *srcptr;
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| 222 | destptr++;//A
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| 223 | srcptr++;
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| 224 | }
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| 225 | }
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| 226 |
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| 227 | void DbtPlyImageManager::tic()
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| 228 | {
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| 229 | tic_ = road_time();
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| 230 | }
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| 231 |
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| 232 | void DbtPlyImageManager::toc(char * text)
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| 233 | {
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| 234 | cout << "duration = " << (int)(road_time() - tic_) << "\t"
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| 235 | << text << "\n"
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| 236 | ;
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| 237 | }
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| 238 |
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| 239 | } // namespace pacpus
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