C++ Stamp::getCount方法代码示例

    void onRead(T &obj) override
    {
        if (++cnt==dwnsample)
        {
            if (firstIncomingData)
            {
                yInfo() << "Incoming data detected";
                firstIncomingData=false;
            }

            DumpItem item;
            Stamp info;

            BufferedPort<T>::getEnvelope(info);
            item.seqNumber=info.getCount();

            if (txTime || (info.isValid() && !rxTime))
                item.timeStamp.setTxStamp(info.getTime());

            if (rxTime || !info.isValid())
                item.timeStamp.setRxStamp(Time::now());

            item.obj=factory(obj);

            buf.lock();
            buf.push_back(item);
            buf.unlock();

            cnt=0;
        }
    }

bool GBSegmModule::updateModule()
{
    ImageOf<PixelRgb> *yrpImgIn;
    static int cycles = 0;

    yrpImgIn = _imgPort.read();
    if (yrpImgIn == NULL)   // this is the case if module is requested to quit while waiting for image
        return true;

    bool use_private_stamp;
    Stamp s;
    if(!_imgPort.getEnvelope(s))
    {
            cout << "No stamp found in input image. Will use private stamp" << endl;
            use_private_stamp = true;
    }
    else
    {
            cout << "Received image #" << s.getCount() << " generated at time " << s.getTime() << endl;
            use_private_stamp = false;
    }

    if(cycles == 0)
            _timestart = yarp::os::Time::now();
    cycles++;

    //IplImage *iplimg = (IplImage*)yrpImgIn->getIplImage();
 cout << "converting image of size " << yrpImgIn->width() << yrpImgIn->height() <<" to size" << input->width() << input->height() << endl;
    YarpImageToRGBImage(input, yrpImgIn);
    cout << "converted" << endl;
    segMutex.wait();
    if(seg)
        delete seg;
    seg=segment_image(input, sigma, k, min_size, &num_components);
    segMutex.post();
    
    cout << "processed" << endl;
    //prepare timestamps
    if(use_private_stamp)
    {
        _stamp.update();
        _viewPort.setEnvelope(_stamp);
    }
    else
    {
        _viewPort.setEnvelope(s);
    }



    ImageOf<PixelRgb> &yrpImgView = _viewPort.prepare();
    //Rescale image if required

    yrpImgView.resize(seg->width(), seg->height());
    RGBImageToYarpImage(seg, &yrpImgView);
    _viewPort.write();


    //report the frame rate
    if(cycles % 100 == 0)
    {
            double cps = ((double)cycles)/(yarp::os::Time::now() - _timestart);
            printf("fps: %02.2f\n", cps);
    }
    return true;
}

bool EdisonSegmModule::updateModule()
{
    ImageOf<PixelRgb> *yrpImgIn;
    static int cycles = 0;

    yrpImgIn = _imgPort.read();
    if (yrpImgIn == NULL)   // this is the case if module is requested to quit while waiting for image
        return true;

    bool use_private_stamp;
    Stamp s;
    if(!_imgPort.getEnvelope(s))
    {
            cout << "No stamp found in input image. Will use private stamp" << endl;
            use_private_stamp = true;
    }
    else
    {
            cout << "Received image #" << s.getCount() << " generated at time " << s.getTime() << endl;
            use_private_stamp = false;
    }

    if(cycles == 0)
            _timestart = yarp::os::Time::now();
    cycles++;

    IplImage *iplimg = (IplImage*)yrpImgIn->getIplImage();

    //computing the ROI to crop the image
	/*struct _IplROI roi;
	roi.coi = 0; // all channels are selected
	roi.height = height_;
	roi.width = width_;
	roi.xOffset = ( orig_width_ - width_ ) / 2;
	roi.yOffset = ( orig_height_ - height_ ) / 2;*/
	
	//copying roi data to buffer
	/*iplimg->roi = &roi;
	cvCopy( iplimg, inputImage.getIplImage());*/

    //Rescale image if required
    if( (width_ != orig_width_) || (height_ != orig_height_ ) )
            cvResize(iplimg, inputImage.getIplImage(), CV_INTER_NN);
    else
            cvCopy( iplimg, inputImage.getIplImage());

    double edgetime = yarp::os::Time::now();
    //compute gradient and confidence maps
    BgEdgeDetect edgeDetector(gradWindRad);
    BgImage bgImage;
    bgImage.SetImage(inputImage_, width_, height_, true);
    edgeDetector.ComputeEdgeInfo(&bgImage, confMap_, gradMap_);
    //compute the weigth map
    for(int i = 0; i < width_*height_; i++) {
      if(gradMap_[i] > 0.02) {
		weightMap_[i] = mixture*gradMap_[i] + (1 - mixture)*confMap_[i];
      } else {
		weightMap_[i] = 0;
      }
    }
	///////////////////////////// This block can be parallelized
	cout << "Edge computation Time (ms): " << (yarp::os::Time::now() - edgetime)*1000.0 << endl;

	msImageProcessor iProc;
	if( dim_ == 3 )
		iProc.DefineImage(inputImage_, COLOR, height_, width_);
	else
	{	
		cvCvtColor(inputImage.getIplImage(), inputHsv.getIplImage(), CV_RGB2HSV);
		cvSplit(inputHsv.getIplImage(), inputHue.getIplImage(), 0, 0, 0);
		iProc.DefineImage(inputHue_, GRAYSCALE, height_, width_);
	}
	if(iProc.ErrorStatus) {
		cout << "MeanShift Error" << endl;
		return false;
	}
	iProc.SetWeightMap(weightMap_, threshold);
	if(iProc.ErrorStatus) {
		cout << "MeanShift Error" << endl;
		return false;
	}


	double filtertime = yarp::os::Time::now();
	iProc.Filter(sigmaS, sigmaR, speedup);
        if(iProc.ErrorStatus) {
		cout << "MeanShift Error" << endl;
		return false;
	}
	cout << "Mean Shift Filter Computation Time (ms): " << (yarp::os::Time::now() - filtertime)*1000.0 << endl;


    //obtain the filtered image
    iProc.GetResults(filtImage_);
	if(iProc.ErrorStatus) {
		cout << "MeanShift Error" << endl;
		return false;
	}
    
    //fuse regions
//.........这里部分代码省略.........