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cleanup
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@danrauch
danrauch committed Mar 26, 2023
1 parent 1498411 commit d46af43
Showing 1 changed file with 91 additions and 80 deletions.
171 changes: 91 additions & 80 deletions src/main.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -129,68 +129,33 @@ fn main() -> std::io::Result<()> {
dev.set_format(&fmt).expect("Failed to write format");

fmt = dev.format().expect("Failed to read format");
let camera_image_shape = (fmt.width, fmt.height);
let cam_image_shape = (fmt.width, fmt.height);
let fourcc = fmt.fourcc;
println!("After change: Camera shape {camera_image_shape:?} + {fourcc}");

let mut stream = Stream::with_buffers(&mut dev, Type::VideoCapture, 4).expect("Failed to create buffer stream");

loop {
let (buf, meta) = stream.next().unwrap();
let (cam_data_buffer, meta) = stream.next().unwrap();

println!(
"Buffer size: {}, seq: {}, timestamp: {}, width: {}, height: {}, format: {}",
buf.len(),
cam_data_buffer.len(),
meta.sequence,
meta.timestamp,
camera_image_shape.0,
camera_image_shape.1,
cam_image_shape.0,
cam_image_shape.1,
fourcc
);

// convert 10-bit bayer to 16 bit bayer
let bayer_in_buf_size = (camera_image_shape.0 * camera_image_shape.1) as f32 * 1.25;
let mut convert_buf = vec![0u8; bayer_in_buf_size as usize]; // 10-bit depth
let mut convert_buf_idx = 0;
for i in (0..bayer_in_buf_size as usize).step_by(5) {
let pix1 = (buf[i + 0] << 2 | ((buf[i + 4] >> 0) & 3)) as u16;
let pix2 = (buf[i + 1] << 2 | ((buf[i + 4] >> 2) & 3)) as u16;
let pix3 = (buf[i + 2] << 2 | ((buf[i + 4] >> 4) & 3)) as u16;
let pix4 = (buf[i + 3] << 2 | ((buf[i + 4] >> 6) & 3)) as u16;

convert_buf[convert_buf_idx + 0] = pix1 as u8;
convert_buf[convert_buf_idx + 1] = pix2 as u8;
convert_buf[convert_buf_idx + 2] = pix3 as u8;
convert_buf[convert_buf_idx + 3] = pix4 as u8;

convert_buf_idx += 4;
}

// debayer
let bayer_out_buf_size = camera_image_shape.0 as usize * camera_image_shape.1 as usize;
let mut cam_rgb_raw_buf = vec![0u8; bayer_out_buf_size * 3];
let depth = bayer::RasterDepth::Depth8;
let mut dst = bayer::RasterMut::new(
camera_image_shape.0 as usize,
camera_image_shape.1 as usize,
depth,
&mut cam_rgb_raw_buf,
);
let cfa = bayer::CFA::GRBG; // SGRBG10P
let alg = bayer::Demosaic::Linear;

bayer::run_demosaic(
&mut convert_buf.as_slice(),
bayer::BayerDepth::Depth8,
cfa,
alg,
&mut dst,
)
.unwrap();
let rgb_buffer_size = 3 * cam_image_shape.0 as usize * cam_image_shape.1 as usize;
let mut cam_rgb_raw_buf = vec![0u8; rgb_buffer_size];

let cam_rgb =
image::RgbImage::from_raw(camera_image_shape.0, camera_image_shape.1, cam_rgb_raw_buf).unwrap();
// decode camera data
sgrbg10p_to_rgb(cam_data_buffer, cam_image_shape, &mut cam_rgb_raw_buf);
let cam_rgb = image::RgbImage::from_raw(cam_image_shape.0, cam_image_shape.1, cam_rgb_raw_buf).unwrap();

// flip image horizontally
let cam_rgb_flipped = image::DynamicImage::ImageRgb8(cam_rgb).fliph();

get_thermo_image_raw_data(
Expand Down Expand Up @@ -221,52 +186,22 @@ fn main() -> std::io::Result<()> {
}
}

let blended_img = blend_images_of_different_sizes(cam_rgb_flipped, upscaled_thermo_image, foreground_alpha);

let min_pixel_formatted = format!("Min: {:.2}°C", min_pixel.value);
let mean_pixel_formatted = format!("Mean: {:.2}°C", mean_temperature);
let max_pixel_formatted = format!("Max: {:.2}°C", max_pixel.value);

let min_scale_pixel_formatted = format!("{:.0}°C", min_manual_scale_temp);
let max_scale_pixel_formatted = format!("{:.0}°C", max_manual_scale_temp);

let mut blended_img = image::RgbImage::new(cam_rgb_flipped.width(), cam_rgb_flipped.height());
for ((x, y, pxo), pxi) in blended_img
.enumerate_pixels_mut()
.zip(cam_rgb_flipped.as_rgb8().unwrap().pixels())
{
let sample_thermo_x =
((x as f32 / cam_rgb_flipped.width() as f32) * upscaled_thermo_image.width() as f32) as u32;
let sample_thermo_y =
((y as f32 / cam_rgb_flipped.height() as f32) * upscaled_thermo_image.height() as f32) as u32;

let thermo_sample = upscaled_thermo_image.get_pixel(sample_thermo_x, sample_thermo_y);

// luminance greyscale
let mut input_greyscale = 0.3 * pxi.0[0] as f32 + 0.59 * pxi.0[1] as f32 + 0.11 * pxi.0[2] as f32;
if input_greyscale < 0.0 {
input_greyscale = 255.0
} else if input_greyscale > 255.0 {
input_greyscale = 255.0
}

let blended_r =
(thermo_sample.0[0] as f32 * foreground_alpha) + (input_greyscale * (1.0 - foreground_alpha));
let blended_g =
(thermo_sample.0[1] as f32 * foreground_alpha) + (input_greyscale * (1.0 - foreground_alpha));
let blended_b =
(thermo_sample.0[2] as f32 * foreground_alpha) + (input_greyscale * (1.0 - foreground_alpha));

pxo[0] = blended_r as u8;
pxo[1] = blended_g as u8;
pxo[2] = blended_b as u8;
}

let handle_copy = handle_weak.clone();
slint::invoke_from_event_loop(move || {
let mw = handle_copy.unwrap();
let camera_image = slint::Image::from_rgb8(slint::SharedPixelBuffer::clone_from_slice(
&blended_img,
camera_image_shape.0,
camera_image_shape.1,
cam_image_shape.0,
cam_image_shape.1,
));

mw.set_camera_image(camera_image);
Expand All @@ -288,6 +223,82 @@ fn main() -> std::io::Result<()> {
Ok(())
}

fn blend_images_of_different_sizes(
image1: image::DynamicImage,
image2: image::ImageBuffer<image::Rgb<u8>, Vec<u8>>,
foreground_alpha: f32,
) -> image::ImageBuffer<image::Rgb<u8>, Vec<u8>> {
let mut blended_img = image::RgbImage::new(image1.width(), image1.height());
for ((x, y, pxo), pxi) in blended_img
.enumerate_pixels_mut()
.zip(image1.as_rgb8().unwrap().pixels())
{
let sample_image2_x = ((x as f32 / image1.width() as f32) * image2.width() as f32) as u32;
let sample_image2_y = ((y as f32 / image1.height() as f32) * image2.height() as f32) as u32;

let image2_sample = image2.get_pixel(sample_image2_x, sample_image2_y);

// luminance greyscale
let mut input_greyscale = 0.3 * pxi.0[0] as f32 + 0.59 * pxi.0[1] as f32 + 0.11 * pxi.0[2] as f32;
if input_greyscale < 0.0 {
input_greyscale = 255.0
} else if input_greyscale > 255.0 {
input_greyscale = 255.0
}

let blended_r = (image2_sample.0[0] as f32 * foreground_alpha) + (input_greyscale * (1.0 - foreground_alpha));
let blended_g = (image2_sample.0[1] as f32 * foreground_alpha) + (input_greyscale * (1.0 - foreground_alpha));
let blended_b = (image2_sample.0[2] as f32 * foreground_alpha) + (input_greyscale * (1.0 - foreground_alpha));

pxo[0] = blended_r as u8;
pxo[1] = blended_g as u8;
pxo[2] = blended_b as u8;
}
blended_img
}

fn sgrbg10p_to_rgb(buf: &[u8], camera_image_shape: (u32, u32), cam_rgb_raw_buf: &mut [u8]) {
// convert 10-bit bayer to 16 bit bayer
let bayer_in_buf_size = (camera_image_shape.0 * camera_image_shape.1) as f32 * 1.25;
let mut convert_buf = vec![0u8; bayer_in_buf_size as usize];
// 10-bit depth
let mut convert_buf_idx = 0;
for i in (0..bayer_in_buf_size as usize).step_by(5) {
let pix1 = (buf[i + 0] << 2 | ((buf[i + 4] >> 0) & 3)) as u16;
let pix2 = (buf[i + 1] << 2 | ((buf[i + 4] >> 2) & 3)) as u16;
let pix3 = (buf[i + 2] << 2 | ((buf[i + 4] >> 4) & 3)) as u16;
let pix4 = (buf[i + 3] << 2 | ((buf[i + 4] >> 6) & 3)) as u16;

convert_buf[convert_buf_idx + 0] = pix1 as u8;
convert_buf[convert_buf_idx + 1] = pix2 as u8;
convert_buf[convert_buf_idx + 2] = pix3 as u8;
convert_buf[convert_buf_idx + 3] = pix4 as u8;

convert_buf_idx += 4;
}

// debayer
let depth = bayer::RasterDepth::Depth8;
let mut dst = bayer::RasterMut::new(
camera_image_shape.0 as usize,
camera_image_shape.1 as usize,
depth,
cam_rgb_raw_buf,
);
let cfa = bayer::CFA::GRBG;
// SGRBG10P
let alg = bayer::Demosaic::Linear;

bayer::run_demosaic(
&mut convert_buf.as_slice(),
bayer::BayerDepth::Depth8,
cfa,
alg,
&mut dst,
)
.unwrap();
}

/* fn yuyv_to_rgb(yuyv_buffer: &[u8], yuyv_shape: (u32, u32), cam_rgb: &mut [u8]) {
// from https://gist.github.com/wlhe/fcad2999ceb4a826bd811e9fdb6fe652
let yuyv_buf_size: usize = yuyv_shape.0 as usize * yuyv_shape.1 as usize * 2;
Expand Down

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