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[image] added a function to draw a line in any color (#1915)

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* [image] added a function to draw a line in any color

* [image] added documentation for draw_line_color function
This commit is contained in:
Wilco Schoneveld
2016-11-01 18:23:40 +01:00
committed by Christophe De Wagter
parent 4cfb28f5d9
commit e18b6bd0fb
2 changed files with 24 additions and 9 deletions
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sw/airborne/modules/computer_vision/lib/vision/image.c
+23 -9
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@@ -197,18 +197,18 @@ uint16_t image_yuv422_colorfilt(struct image_t *input, struct image_t *output, u
/** /**
* Simplified high-speed low CPU downsample function without averaging * Simplified high-speed low CPU downsample function without averaging
* downsample factor must be 1, 2, 4, 8 ... 2^X * downsample factor must be 1, 2, 4, 8 ... 2^X
* image of typ UYVY expected. Only one color UV per 2 pixels * image of type UYVY expected. Only one color UV per 2 pixels
* *
* we keep the UV color of the first pixel pair * we keep the UV color of the first pixel pair
* and sample the intensity evenly 1-3-5-7-... or 1-5-9-... * and sample the intensity evenly 1-3-5-7-... or 1-5-9-...
* *
* input: u1y1 v1y2 u3y3 v3y4 u5y5 v5y6 u7y7 v7y8 ... * input: u1y1 v1y2 u3y3 v3y4 u5y5 v5y6 u7y7 v7y8 ...
* downsample=1 u1y1 v1y2 u3y3 v3y4 u5y5 v5y6 u7y7 v7y8 ... * downsample=1 u1y1 v1y2 u3y3 v3y4 u5y5 v5y6 u7y7 v7y8 ...
* downsample=2 u1y1v1 (skip2) y3 (skip2) u5y5v5 (skip2 y7 (skip2) ... * downsample=2 u1y1v1 (skip2) y3 (skip2) u5y5v5 (skip2) y7 (skip2) ...
* downsample=4 u1y1v1 (skip6) y5 (skip6) ... * downsample=4 u1y1v1 (skip6) y5 (skip6) ...
* @param[in] *input The input YUV422 image * @param[in] *input The input YUV422 image
* @param[out] *output The downscaled YUV422 image * @param[out] *output The downscaled YUV422 image
* @param[in] downsample The downsampel facter (must be downsample=2^X) * @param[in] downsample The downsample factor (must be downsample=2^X)
*/ */
void image_yuv422_downsample(struct image_t *input, struct image_t *output, uint16_t downsample) void image_yuv422_downsample(struct image_t *input, struct image_t *output, uint16_t downsample)
{ {
@@ -591,12 +591,25 @@ void image_show_flow(struct image_t *img, struct flow_t *vectors, uint16_t point
} }
/** /**
* Draw a line on the image * Draw a pink line on the image
* @param[in,out] *img The image to show the line on * @param[in,out] *img The image to show the line on
* @param[in] *from The point to draw from * @param[in] *from The point to draw from
* @param[in] *to The point to draw to * @param[in] *to The point to draw to
*/ */
void image_draw_line(struct image_t *img, struct point_t *from, struct point_t *to) void image_draw_line(struct image_t *img, struct point_t *from, struct point_t *to) {
static uint8_t color[4] = {255, 255, 255, 255};
image_draw_line_color(img, from, to, color);
}
/**
* Draw a line on the image
* @param[in,out] *img The image to show the line on
* @param[in] *from The point to draw from
* @param[in] *to The point to draw to
* @param[in] *color The line color as a [U, Y1, V, Y2] uint8_t array, or a uint8_t value pointer for grayscale images.
* Example colors: white = {127, 255, 127, 255}, green = {0, 127, 0, 127};
*/
void image_draw_line_color(struct image_t *img, struct point_t *from, struct point_t *to, uint8_t *color)
{ {
int xerr = 0, yerr = 0; int xerr = 0, yerr = 0;
uint8_t *img_buf = (uint8_t *)img->buf; uint8_t *img_buf = (uint8_t *)img->buf;
@@ -631,14 +644,15 @@ void image_draw_line(struct image_t *img, struct point_t *from, struct point_t *
/* draw the line */ /* draw the line */
for (uint16_t t = 0; /* starty >= 0 && */ starty < img->h && /* startx >= 0 && */ startx < img->w for (uint16_t t = 0; /* starty >= 0 && */ starty < img->h && /* startx >= 0 && */ startx < img->w
&& t <= distance + 1; t++) { && t <= distance + 1; t++) {
img_buf[img->w * pixel_width * starty + startx * pixel_width] = (t <= 3) ? 0 : 255; uint32_t buf_loc = img->w * pixel_width * starty + startx * pixel_width;
img_buf[buf_loc] = (t <= 3) ? 0 : color[0]; // u (or grayscale)
if (img->type == IMAGE_YUV422) { if (img->type == IMAGE_YUV422) {
img_buf[img->w * pixel_width * starty + startx * pixel_width + 1] = 255; img_buf[buf_loc + 1] = color[1]; // y1
if (startx + 1 < img->w) { if (startx + 1 < img->w) {
img_buf[img->w * pixel_width * starty + startx * pixel_width + 2] = (t <= 3) ? 0 : 255; img_buf[buf_loc + 2] = (t <= 3) ? 0 : color[2]; // v
img_buf[img->w * pixel_width * starty + startx * pixel_width + 3] = 255; img_buf[buf_loc + 3] = color[3]; // y2
} }
} }
sw/airborne/modules/computer_vision/lib/vision/image.h
+1
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@@ -97,6 +97,7 @@ int32_t image_multiply(struct image_t *img_a, struct image_t *img_b, struct imag
void image_show_points(struct image_t *img, struct point_t *points, uint16_t points_cnt); void image_show_points(struct image_t *img, struct point_t *points, uint16_t points_cnt);
void image_show_flow(struct image_t *img, struct flow_t *vectors, uint16_t points_cnt, uint8_t subpixel_factor); void image_show_flow(struct image_t *img, struct flow_t *vectors, uint16_t points_cnt, uint8_t subpixel_factor);
void image_draw_line(struct image_t *img, struct point_t *from, struct point_t *to); void image_draw_line(struct image_t *img, struct point_t *from, struct point_t *to);
void image_draw_line_color(struct image_t *img, struct point_t *from, struct point_t *to, uint8_t *color);
void pyramid_next_level(struct image_t *input, struct image_t *output, uint8_t border_size); void pyramid_next_level(struct image_t *input, struct image_t *output, uint8_t border_size);
void pyramid_build(struct image_t *input, struct image_t *output_array, uint8_t pyr_level, uint8_t border_size); void pyramid_build(struct image_t *input, struct image_t *output_array, uint8_t pyr_level, uint8_t border_size);