allow loading geometry from json; sample slightly more cleanly

CMakeLists.txt

@@ -11,4 +11,7 @@ FIND_PACKAGE(YARP)
 INCLUDE_DIRECTORIES(${YARP_INCLUDE_DIRS})
 LINK_LIBRARIES(${YARP_LIBRARIES})
 
+find_package(PkgConfig REQUIRED)
+pkg_check_modules(JSONCPP jsoncpp)
+
 ADD_SUBDIRECTORY(src)

Dockerfile

@@ -29,6 +29,10 @@ RUN \
   apt-get update; \
   apt-get install -y libopencv-videoio-dev
 
+RUN \
+  apt-get update; \
+  apt-get install -y libjsoncpp-dev
+
 COPY . /makesweet/
 
 RUN \

src/CMakeLists.txt

@@ -18,7 +18,8 @@ ELSE()
   SET(PROTO_HDRS)
 ENDIF()
 
-ADD_LIBRARY(msmap msmap.h msmap.c)
+ADD_LIBRARY(msmap STATIC msmap.h msmap.c)
+include_directories(${JSONCPP_INCLUDE_DIRS})
 
 ADD_EXECUTABLE(reanimator reanimator.cpp Prop.h Prop.cpp Pixer.h
   Mapping.h Mapping.cpp Repository.h Repository.cpp Render.h Render.cpp
@@ -42,3 +43,5 @@ endif()
 if (USE_DETAIL)
   TARGET_LINK_LIBRARIES(reanimator ${PROTOBUF_LIBRARIES})
 endif()
+
+target_link_libraries(reanimator ${JSONCPP_LIBRARIES})

src/Pixer.h

@@ -43,9 +43,21 @@ public:
     p.a = a/v;
     return p;
   }
+
+  void preblend() {
+    r *= a;
+    g *= a;
+    b *= a;
+  }
+
+  void postblend(double sc) {
+    r /= sc;
+    g /= sc;
+    b /= sc;
+  }
 };
 
-inline Pixer sampleLinear(const yarp::sig::ImageOf<yarp::sig::PixelBgra>& src, 
+inline Pixer sampleWeakly(const yarp::sig::ImageOf<yarp::sig::PixelBgra>& src, 
 			  double x, double y) {
   const yarp::sig::PixelBgra& p = src.safePixel(x,y);
   Pixer v;
@@ -56,4 +68,40 @@ inline Pixer sampleLinear(const yarp::sig::ImageOf<yarp::sig::PixelBgra>& src,
   return v;
 }
 
+inline Pixer sampleLinear(const yarp::sig::ImageOf<yarp::sig::PixelBgra>& src, 
+			  double x, double y) {
+  int xx = (int)x;
+  int yy = (int)y;
+  float fx = x - xx;
+  float fy = y - yy;
+  const yarp::sig::PixelBgra& poo = src.safePixel(x,y);
+  const yarp::sig::PixelBgra& poy = src.safePixel(x,y+1);
+  const yarp::sig::PixelBgra& pxo = src.safePixel(x+1,y);
+  const yarp::sig::PixelBgra& pxy = src.safePixel(x+1,y+1);
+  Pixer v;
+  double aa = (1-fx)*(1-fy)*poo.a + fx*(1-fy)*pxo.a + (1-fx)*fy*poy.a + fx*fy*pxy.a;
+  if (aa < 0.0001) aa = 0.0001;
+  v.r =
+    ((1-fx)*(1-fy)*poo.r*poo.a +
+     fx*(1-fy)*pxo.r*pxo.a +
+     (1-fx)*fy*poy.r*poy.a +
+     fx*fy*pxy.r*pxy.a)/aa;
+  v.g =
+    ((1-fx)*(1-fy)*poo.g*poo.a +
+     fx*(1-fy)*pxo.g*pxo.a +
+     (1-fx)*fy*poy.g*poy.a +
+     fx*fy*pxy.g*pxy.a)/aa;
+  v.b =
+    ((1-fx)*(1-fy)*poo.b*poo.a +
+     fx*(1-fy)*pxo.b*pxo.a +
+     (1-fx)*fy*poy.b*poy.a +
+     fx*fy*pxy.b*pxy.a)/aa;
+  v.a =
+    (1-fx)*(1-fy)*poo.a +
+    fx*(1-fy)*pxo.a +
+    (1-fx)*fy*poy.a +
+    fx*fy*pxy.a;
+  return v;
+}
+
 #endif

src/Render.cpp

@@ -249,17 +249,29 @@ void Render::add(const Input& in) {
     Pixer m3b = sampleLinear(in.get(),xx+(xxa-xxb)/2.0,yy+(yya-yyb)/2.0);
     Pixer m4b = sampleLinear(in.get(),xx-(xxa+xxb)/2.0,yy-(yya+yyb)/2.0);
     Pixer m5b = sampleLinear(in.get(),xx-(xxa-xxb)/2.0,yy-(yya-yyb)/2.0);
-    
+
+    mo.preblend();
+    m2.preblend();
+    m3.preblend();
+    m4.preblend();
+    m5.preblend();
+    m2b.preblend();
+    m3b.preblend();
+    m4b.preblend();
+    m5b.preblend();
+    double sc = (mo.a*4.0 + (m2.a+m3.a+m4.a+m5.a)*2.0 + (m2b.a+m3b.a+m4b.a+m5b.a))/16.0;
     mo = (mo*4.0 + (m2+m3+m4+m5)*2.0 + (m2b+m3b+m4b+m5b))/16.0;
+    if (sc > 0.0001) {
+      mo.postblend(sc);
+    } else {
+      mo.r = mo.g = mo.b = mo.a = 0.0;
+    }
+ 
     m.r = mo.r;
     m.g = mo.g;
     m.b = mo.b;
     m.a = mo.a;
-    //} else {
-    //m = in.get().safePixel((int)xx,(int)yy);
-    //}
 
-    //const PixelBgra& m = in.get().safePixel((int)xx,(int)yy);
     PixelBgra result;
     if (d && act>25) {
       result.r = darkPixel.r + ((lightPixel.r-darkPixel.r)*m.r)/255;

src/reanimator.cpp

@@ -16,6 +16,10 @@
 #include "VidAnim.h"
 #include "Dbg.h"
 
+#include <json/json.h>
+#include <fstream>
+#include <iostream>
+
 using namespace std;
 using namespace yarp::os;
 using namespace yarp::sig;
@@ -33,9 +37,10 @@ int main(int argc, char *argv[]) {
 
   Repository repo;
 
-  if (!options.check("zip")) {
+  if (!options.check("zip") && !options.check("json")) {
     fprintf(stderr, "reanimator --zip foo.zip --in layer1.png layer2.png\n");
     fprintf(stderr, "reanimator --zip foo.zip --in layer1.png layer2.png +layer2_more.png\n");
+    fprintf(stderr, "reanimator --json setup.json\n");
     fprintf(stderr, "reanimator ... --w 200 --h 150\n");
     fprintf(stderr, "reanimator ... --first 2\n");
     fprintf(stderr, "reanimator ... --last 4\n");
@@ -50,10 +55,36 @@ int main(int argc, char *argv[]) {
     exit(1);
   }
   
-  repo.load(options.find("zip").asString().c_str());
-
   Inputs ins;
 
+  if (options.check("json")) {
+    std::ifstream file(options.find("json").asString().c_str());
+    Json::Value root;
+    file >> root;
+    std::cout << root;
+    Json::Value inputs = root["inputs"];
+    for (int i=0; i<inputs.size(); i++) {
+      std::cout << i << std::endl;
+      Json::Value input = inputs[i];
+      std::string filename = input["filename"].asString();
+      std::cout << filename << std::endl;
+      Input& in = ins.add();
+      in.load(filename.c_str());
+      in.layer = input["layer"].asInt();
+      in.xs = input["xs"].asDouble();
+      in.ys = input["ys"].asDouble();
+      in.xo = input["xo"].asDouble();
+      in.yo = input["yo"].asDouble();
+      in.in_scale = input["in_scale"].asInt();
+      in.in_x0 = input["in_x0"].asDouble();
+      in.in_y0 = input["in_y0"].asDouble();
+      in.xa = input["in_xa"].asDouble();
+      in.ya = input["in_ya"].asDouble();
+    }
+  }
+  
+  repo.load(options.find("zip").asString().c_str());
+
   Bottle& lst = options.findGroup("in");
   int layer = 1;
   for (int i=1; i<lst.size(); i++) {