Utils.C

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// ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////
//
// JeVois Smart Embedded Machine Vision Toolkit - Copyright (C) 2016 by Laurent Itti, the University of Southern
// California (USC), and iLab at USC. See http://iLab.usc.edu and http://jevois.org for information about this project.
//
// This file is part of the JeVois Smart Embedded Machine Vision Toolkit.  This program is free software; you can
// redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software
// Foundation, version 2.  This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY;
// without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public
// License for more details.  You should have received a copy of the GNU General Public License along with this program;
// if not, write to the Free Software Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
//
// Contact information: Laurent Itti - 3641 Watt Way, HNB-07A - Los Angeles, CA 90089-2520 - USA.
// Tel: +1 213 740 3527 - itti@pollux.usc.edu - http://iLab.usc.edu - http://jevois.org
// ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////
/*! \file */
 
#include <jevois/Util/Utils.H>
#include <jevois/Debug/Log.H>
 
#include <linux/videodev2.h>
#include <string>
#include <vector>
#include <regex>
 
#include <string.h> // for strncmp
#include <fstream>
#include <cstdarg> // for va_start, etc
#include <cstdio>
#include <iostream>
#include <memory>
#include <stdexcept>
#include <array>
#include <cctype> // for std::isspace()
#include <cmath> // for std::sqrt()
 
#include <opencv2/core/hal/interface.h> // for CV_MAT_DEPTH_MASK
 
// For ""s std::string literals:
using namespace std::literals;
using namespace std::string_literals;
using namespace std::literals::string_literals;
  
// ####################################################################################################
std::string jevois::fccstr(unsigned int fcc)
{
  if (fcc == 0) return "NONE"; // for no video over USB output
  
  std::string ret("    ");
  ret[0] = static_cast<char>(fcc & 0xff);
  ret[1] = static_cast<char>((fcc >> 8) & 0xff);
  ret[2] = static_cast<char>((fcc >> 16) & 0xff);
  ret[3] = static_cast<char>((fcc >> 24) & 0xff);
  return ret;
}
 
// ####################################################################################################
std::string jevois::cvtypestr(unsigned int cvtype)
{
  // From: https://gist.github.com/rummanwaqar/cdaddd5a175f617c0b107d353fd33695
  std::string r;
 
  uchar depth = cvtype & CV_MAT_DEPTH_MASK;
  uchar chans = 1 + (cvtype >> CV_CN_SHIFT);
 
  switch (depth)
  {
  case CV_8U:  r = "8U"; break;
  case CV_8S:  r = "8S"; break;
  case CV_16U: r = "16U"; break;
  case CV_16S: r = "16S"; break;
  case CV_16F: r = "16F"; break;
  case CV_32S: r = "32S"; break;
  case CV_32F: r = "32F"; break;
  case CV_64F: r = "64F"; break;
  default:     r = "User"; break;
  }
 
  if (chans > 1)
  {
    r += 'C';
    if (chans < 10) r += (chans + '0'); else r += std::to_string(chans);
  }
 
  return r;
}
 
// ####################################################################################################
unsigned int jevois::cvBytesPerPix(unsigned int cvtype)
{
  uchar depth = cvtype & CV_MAT_DEPTH_MASK;
  uchar chans = 1 + (cvtype >> CV_CN_SHIFT);
  int r = 0;
  switch (depth)
  {
  case CV_8U:  r = 1; break;
  case CV_8S:  r = 1; break;
  case CV_16U: r = 2; break;
  case CV_16S: r = 2; break;
  case CV_16F: r = 2; break;
  case CV_32S: r = 4; break;
  case CV_32F: r = 4; break;
  case CV_64F: r = 4; break;
  default: LFATAL("Unsupported OpenCV type " << cvtype);
  }
 
  return r * chans;
}
 
// ####################################################################################################
unsigned int jevois::strfcc(std::string const & str)
{
  if (str == "BAYER") return V4L2_PIX_FMT_SRGGB8;
  else if (str == "YUYV") return V4L2_PIX_FMT_YUYV;
  else if (str == "GREY" || str == "GRAY") return V4L2_PIX_FMT_GREY;
  else if (str == "MJPG") return V4L2_PIX_FMT_MJPEG;
  else if (str == "RGB565") return V4L2_PIX_FMT_RGB565;
  else if (str == "BGR24") return V4L2_PIX_FMT_BGR24;
  else if (str == "RGB3") return V4L2_PIX_FMT_RGB24;
  else if (str == "BGR3") return V4L2_PIX_FMT_BGR24;
 
  // Additional modes supported by JeVois-Pro ISP. We do not necessarily support all but we can name them:
  else if (str == "RGB24") return V4L2_PIX_FMT_RGB24;
  else if (str == "RGB32") return V4L2_PIX_FMT_RGB32;
  else if (str == "UYVY") return V4L2_PIX_FMT_UYVY;
#ifdef JEVOIS_PRO
  else if (str == "BGGR16") return V4L2_PIX_FMT_SBGGR16;
  else if (str == "GRBG16") return V4L2_PIX_FMT_SGRBG16;
#endif
  else if (str == "NV12") return V4L2_PIX_FMT_NV12;
  else if (str == "YUV444") return V4L2_PIX_FMT_YUV444;
  else if (str == "META") return ISP_V4L2_PIX_FMT_META;
 
  else if (str == "JVUI") return JEVOISPRO_FMT_GUI;
 
  else if (str == "NONE") return 0;
  else throw std::runtime_error("Invalid pixel format " + str);
}
 
// ####################################################################################################
unsigned int jevois::v4l2BytesPerPix(unsigned int fcc)
{
  switch (fcc)
  {
  case V4L2_PIX_FMT_YUYV: return 2U;
  case V4L2_PIX_FMT_GREY: return 1U;
  case V4L2_PIX_FMT_SRGGB8: return 1U;
  case V4L2_PIX_FMT_RGB565: return 2U;
  case V4L2_PIX_FMT_MJPEG: return 2U; // at most??
  case V4L2_PIX_FMT_BGR24: return 3U;
  case V4L2_PIX_FMT_RGB24: return 3U;
  case V4L2_PIX_FMT_RGB32: return 4U;
  case V4L2_PIX_FMT_UYVY: return 2U;
#ifdef JEVOIS_PRO
  case V4L2_PIX_FMT_SBGGR16: return 2U;
  case V4L2_PIX_FMT_SGRBG16: return 2U;
#endif
  case V4L2_PIX_FMT_NV12: return 2U; // actually, it has 4:2:0 sampling so 1.5 bytes/pix
  case V4L2_PIX_FMT_YUV444: return 3U;
  case ISP_V4L2_PIX_FMT_META: return 1U;
  case JEVOISPRO_FMT_GUI: return 4U; // RGBA
  case 0: return 0U; // for NONE output to USB mode
  default: LFATAL("Unsupported pixel format " << jevois::fccstr(fcc));
  }
}
 
// ####################################################################################################
unsigned int jevois::v4l2ImageSize(unsigned int fcc, unsigned int width, unsigned int height)
{ return width * height * jevois::v4l2BytesPerPix(fcc); }
 
// ####################################################################################################
unsigned int jevois::blackColor(unsigned int fcc)
{
  switch (fcc)
  {
  case V4L2_PIX_FMT_YUYV: return 0x8000;
  case V4L2_PIX_FMT_GREY: return 0;
  case V4L2_PIX_FMT_SRGGB8: return 0;
  case V4L2_PIX_FMT_RGB565: return 0;
  case V4L2_PIX_FMT_MJPEG: return 0;
  case V4L2_PIX_FMT_BGR24: return 0;
  case V4L2_PIX_FMT_RGB24: return 0;
  case V4L2_PIX_FMT_RGB32: return 0;
  case V4L2_PIX_FMT_UYVY: return 0x8000;
#ifdef JEVOIS_PRO
  case V4L2_PIX_FMT_SBGGR16: return 0;
  case V4L2_PIX_FMT_SGRBG16: return 0;
#endif
  case V4L2_PIX_FMT_NV12: return 0;
  case V4L2_PIX_FMT_YUV444: return 0x008080;
  case JEVOISPRO_FMT_GUI: return 0;
  default: LFATAL("Unsupported pixel format " << jevois::fccstr(fcc));
  }
}
 
// ####################################################################################################
unsigned int jevois::whiteColor(unsigned int fcc)
{
  switch (fcc)
  {
  case V4L2_PIX_FMT_YUYV: return 0x80ff;
  case V4L2_PIX_FMT_GREY: return 0xff;
  case V4L2_PIX_FMT_SRGGB8: return 0xff;
  case V4L2_PIX_FMT_RGB565: return 0xffff;
  case V4L2_PIX_FMT_MJPEG: return 0xff;
  case V4L2_PIX_FMT_BGR24: return 0xffffff;
  case V4L2_PIX_FMT_RGB24: return 0xffffff;
  case V4L2_PIX_FMT_RGB32: return 0xffffffff;
  case V4L2_PIX_FMT_UYVY: return 0xff80;
#ifdef JEVOIS_PRO
  case V4L2_PIX_FMT_SBGGR16: return 0xffff;
  case V4L2_PIX_FMT_SGRBG16: return 0xffff;
#endif
  case V4L2_PIX_FMT_NV12: return 0xffff; // probably wrong
  case V4L2_PIX_FMT_YUV444: return 0xff8080;
  case JEVOISPRO_FMT_GUI: return 0xffffffff;
  default: LFATAL("Unsupported pixel format " << jevois::fccstr(fcc));
  }
}
 
// ####################################################################################################
void jevois::applyLetterBox(unsigned int & imw, unsigned int & imh,
                            unsigned int const winw, unsigned int const winh, bool noalias)
{
  if (imw == 0 || imh == 0 || winw == 0 || winh == 0) LFATAL("Cannot handle zero width or height");
 
  if (noalias)
  {
    // We want an integer scaling factor to avoid aliasing:
    double const facw = double(winw) / imw, fach = double(winh) / imh;
    double const minfac = std::min(facw, fach);
    if (minfac >= 1.0)
    {
      // Image is smaller than window: scale image up by integer part of fac:
      unsigned int const ifac = minfac;
      imw *= ifac; imh *= ifac;
    }
    else
    {
      // Image is larger than window: scale image down by integer part of 1/fac:
      double const maxfac = std::max(facw, fach);
      unsigned int const ifac = 1.0 / maxfac;
      imw /= ifac; imh /= ifac;
    }
  }
  else
  {
    // Slightly different algo here to make sure we exactly hit the window width or height with no rounding errors:
    double const ia = double(imw) / double (imh);
    double const wa = double(winw) / double (winh);
    
    if (ia >= wa)
    {
      // Image aspect ratio is wider than window aspect ratio. Thus, resize image width to window width, then resize
      // image height accordingly using the image aspect ratio:
      imw = winw;
      imh = (unsigned int)(imw / ia + 0.4999999);
    }
    else
    {
      // Image aspect ratio is taller than window aspect ratio. Thus, resize image height to window height, then resize
      // image width accordingly using the image aspect ratio:
      imh = winh;
      imw = (unsigned int)(imh * ia + 0.4999999);
    }
  }
}
 
// ####################################################################################################
std::vector<std::string> jevois::split(std::string const & input, std::string const & regex)
{
  // This code is from: http://stackoverflow.com/questions/9435385/split-a-string-using-c11
  // passing -1 as the submatch index parameter performs splitting
  std::regex re(regex);
  std::sregex_token_iterator first{input.begin(), input.end(), re, -1}, last;
  return { first, last };
}
 
// ####################################################################################################
template <>
std::string jevois::join<std::string>(std::vector<std::string> const & tokens, std::string const & delimiter)
{
  if (tokens.empty()) return "";
  if (tokens.size() == 1) return tokens[0];
 
  std::string ret; size_t const szm1 = tokens.size() - 1;
 
  for (size_t i = 0; i < szm1; ++i) ret += tokens[i] + delimiter;
  ret += tokens[szm1];
 
  return ret;
}
 
// ####################################################################################################
bool jevois::stringStartsWith(std::string const & str, std::string const & prefix)
{
  return (strncmp(str.c_str(), prefix.c_str(), prefix.length()) == 0);
}
 
// ####################################################################################################
std::string jevois::replaceWhitespace(std::string const & str, char rep)
{
  std::string ret = str;
  for (char & c : ret) if (std::isspace(c)) c = rep;
  return ret;
}
 
// ####################################################################################################
std::string jevois::strip(std::string const & str)
{
  int idx = str.length() - 1;
  while (idx >= 0 && std::isspace(str[idx])) --idx;
  return str.substr(0, idx + 1);
}
 
// ####################################################################################################
std::string jevois::extractString(std::string const & str, std::string const & startsep, std::string const & endsep)
{
  size_t idx = str.find(startsep);
  if (idx == std::string::npos) return std::string();
  idx += startsep.size();
 
  if (endsep.empty()) return str.substr(idx);
  
  size_t idx2 = str.find(endsep, idx);
  if (idx2 == std::string::npos) return std::string();
  return str.substr(idx, idx2 - idx);
}
 
// ####################################################################################################
// Code from https://stackoverflow.com/questions/3418231/replace-part-of-a-string-with-another-string
size_t jevois::replaceStringFirst(std::string & str, std::string const & from, std::string const & to)
{
  if (from.empty()) return 0;
 
  size_t start_pos = str.find(from);
  if (start_pos == std::string::npos) return 0;
 
  str.replace(start_pos, from.length(), to);
  return 1;
}
 
// ####################################################################################################
// Code from https://stackoverflow.com/questions/3418231/replace-part-of-a-string-with-another-string
size_t jevois::replaceStringAll(std::string & str, std::string const & from, std::string const & to)
{
  if (from.empty()) return 0;
 
  size_t start_pos = 0, n = 0;
  while((start_pos = str.find(from, start_pos)) != std::string::npos)
  {
    str.replace(start_pos, from.length(), to);
    start_pos += to.length(); // In case 'to' contains 'from', like replacing 'x' with 'yx'
    ++n;
  }
 
  return n;
}
 
// ####################################################################################################
// Code from https://stackoverflow.com/questions/3418231/replace-part-of-a-string-with-another-string
std::string jevois::replaceAll(std::string const & str, std::string const & from, std::string const & to)
{
  if (from.empty()) return str;
  std::string ret = str;
  
  size_t start_pos = 0;
  while((start_pos = ret.find(from, start_pos)) != std::string::npos)
  {
    ret.replace(start_pos, from.length(), to);
    start_pos += to.length(); // In case 'to' contains 'from', like replacing 'x' with 'yx'
  }
 
  return ret;
}
 
// ####################################################################################################
std::string jevois::tolower(std::string const & str)
{
  std::string ret = str;
  std::transform(ret.begin(), ret.end(), ret.begin(), [](unsigned char c) { return std::tolower(c); });
  return ret;
}
 
// ####################################################################################################
std::filesystem::path jevois::absolutePath(std::filesystem::path const & root, std::filesystem::path const & path)
{
  // If path is empty, return root (be it empty of not):
  if (path.empty()) return root;
 
  // no-op if the given path is already absolute:
  if (path.is_absolute()) return path;
 
  // no-op if root is empty:
  if (root.empty()) return path;
 
  // We know root is not empty and path does not start with a / and is not empty; concatenate both:
  return root / path;
}
 
// ####################################################################################################
namespace
{
  // This code is from NRT, and before that from the iLab C++ neuromorphic vision toolkit
  std::string vsformat(char const * fmt, va_list ap)
  {
    // if we have a null pointer or an empty string, then just return an empty std::string
    if (fmt == nullptr || fmt[0] == '\0') return std::string();
 
    int bufsize = 1024;
    while (true)
    {
      char buf[bufsize];
      
      int const nchars = vsnprintf(buf, bufsize, fmt, ap);
      
      if (nchars < 0)
      {
        // Better leave this as LFATAL() rather than LERROR(), otherwise we have to return a bogus std::string (e.g. an
        // empty string, or "none", or...), which might be dangerous if it is later used as a filename, for example.
        LFATAL("vsnprintf failed for format '" << fmt << "' with bufsize = " << bufsize);
      }
      else if (nchars >= bufsize)
      {
        // buffer was too small, so let's double the bufsize and try again:
        bufsize *= 2;
        continue;
      }
      else
      {
        // OK, the vsnprintf() succeeded:
        return std::string(&buf[0], nchars);
      }
    }
    return std::string(); // can't happen, but placate the compiler
  }
}
 
// ####################################################################################################
std::string jevois::sformat(char const * fmt, ...)
{
  va_list a;
  va_start(a, fmt);
  std::string result = vsformat(fmt, a);
  va_end(a);
  return result;
}
 
// ####################################################################################################
void jevois::flushcache()
{
#ifdef JEVOIS_PLATFORM_A33
  std::ofstream ofs("/proc/sys/vm/drop_caches");
  if (ofs.is_open()) ofs << "3" << std::endl;
  else LERROR("Failed to flush cache -- ignored");
#endif
}
 
// ####################################################################################################
// This code modified from here: https://stackoverflow.com/questions/478898/how-to-execute-a-command-and-get-
// output-of-command-within-c-using-posix
std::string jevois::system(std::string const & cmd, bool errtoo)
{
  std::array<char, 128> buffer; std::string result;
 
  FILE * pip;
  if (errtoo) pip = popen((cmd + " 2>&1").c_str(), "r"); else pip = popen(cmd.c_str(), "r");
  if (pip == nullptr) LFATAL("popen() failed for command [" << cmd << ']');
  while (!feof(pip)) if (fgets(buffer.data(), 128, pip) != NULL) result += buffer.data();
 
  int status = pclose(pip);
  if (status == -1 && errno == ECHILD) LFATAL("Could not start command: " << cmd);
  else if (status) LFATAL("Command [" << cmd << "] exited with status " << status << ":\n\n" << result);
  
  return result;
}
 
// ####################################################################################################
std::string jevois::secs2str(double secs)
{
  if (secs < 1.0e-6) return jevois::sformat("%.2fns", secs * 1.0e9);
  else if (secs < 1.0e-3) return jevois::sformat("%.2fus", secs * 1.0e6);
  else if (secs < 1.0) return jevois::sformat("%.2fms", secs * 1.0e3);
  else return jevois::sformat("%.2fs", secs);
}
 
// ####################################################################################################
std::string jevois::secs2str(std::vector<double> secs)
{
  if (secs.empty()) return "0.0 +/- 0.0s";
  double sum = 0.0, sumsq = 0.0;
  for (double s : secs) { sum += s; sumsq += s*s; }
  double const avg = sum / secs.size();
  double const std = std::sqrt(sumsq/secs.size() - avg*avg); // E[(X-E[X])^2] = E[X^2]-E[X]^2
  
  if (avg < 1.0e-6) return jevois::sformat("%.1f +/- %.1f ns", avg * 1.0e9, std * 1.0e9);
  else if (avg < 1.0e-3) return jevois::sformat("%.1f +/- %.1f us", avg * 1.0e6, std * 1.0e6);
  else if (avg < 1.0) return jevois::sformat("%.1f +/- %.1f ms", avg * 1.0e3, std * 1.0e3);
  else return jevois::sformat("%.1f +/- %.1f s", avg, std);
}
 
// ####################################################################################################
void jevois::secs2str(std::ostringstream & ss, double secs)
{
  if (secs < 1.0e-6) ss << secs * 1.0e9 << "ns";
  else if (secs < 1.0e-3) ss << secs * 1.0e6 << "us";
  else if (secs < 1.0) ss << secs * 1.0e3 << "ms";
  else ss << secs << 's';
}
 
// ####################################################################################################
std::string jevois::num2str(double n)
{
  if (n < 1.0e3) return jevois::sformat("%.2f", n);
  else if (n < 1.0e6) return jevois::sformat("%.2fK", n / 1.0e3);
  else if (n < 1.0e9) return jevois::sformat("%.2fM", n / 1.0e6);
  else if (n < 1.0e12) return jevois::sformat("%.2fG", n / 1.0e9);
  else if (n < 1.0e15) return jevois::sformat("%.2fT", n / 1.0e12);
  else if (n < 1.0e18) return jevois::sformat("%.2fP", n / 1.0e15);
  else if (n < 1.0e21) return jevois::sformat("%.2fE", n / 1.0e18);
  else if (n < 1.0e24) return jevois::sformat("%.2fZ", n / 1.0e21);
  else if (n < 1.0e27) return jevois::sformat("%.2fY", n / 1.0e24);
  else return jevois::sformat("%.2f", n);
}
 
// ####################################################################################################
void jevois::num2str(std::ostringstream & ss, double n)
{
  if (n < 1.0e3) ss << n;
  else if (n < 1.0e6) ss << n / 1.0e3 << 'K';
  else if (n < 1.0e9) ss << n / 1.0e6 << 'M';
  else if (n < 1.0e12) ss << n / 1.0e9 << 'G';
  else if (n < 1.0e15) ss << n / 1.0e12 << 'T';
  else if (n < 1.0e18) ss << n / 1.0e15 << 'P';
  else if (n < 1.0e21) ss << n / 1.0e18 << 'E';
  else if (n < 1.0e24) ss << n / 1.0e21 << 'Z';
  else if (n < 1.0e27) ss << n / 1.0e24 << 'Y';
  else ss << n;
}
 
// ####################################################################################################
std::string jevois::getFileString(char const * fname, int skip)
{
  std::ifstream ifs(fname);
  if (ifs.is_open() == false) throw std::runtime_error("Cannot read file: "s + fname);
  std::string str;
  while (skip-- >= 0) std::getline(ifs, str);
  ifs.close();
  
  return str;
}