--- /dev/null
+*.o
+cyclabile
+cyclabile.service
--- /dev/null
+# Add a /dev/projector alias for the Acer C110 in display mode.
+# This makes it easier to execute systemd units when the device shows up.
+ACTION=="add", SUBSYSTEM=="usb", ATTRS{idVendor}=="1de1", ATTRS{idProduct}=="c101", TAG+="systemd", ENV{SYSTEMD_ALIAS}="/dev/projector"
--- /dev/null
+CFLAGS = -std=c99 -pedantic -pedantic-errors -Wall -g3 -O2 -D_ANSI_SOURCE_
+CFLAGS += -fno-common \
+ -Wall \
+ -Wdeclaration-after-statement \
+ -Wextra \
+ -Wformat=2 \
+ -Winit-self \
+ -Winline \
+ -Wpacked \
+ -Wp,-D_FORTIFY_SOURCE=2 \
+ -Wpointer-arith \
+ -Wlarger-than-65500 \
+ -Wmissing-declarations \
+ -Wmissing-format-attribute \
+ -Wmissing-noreturn \
+ -Wmissing-prototypes \
+ -Wnested-externs \
+ -Wold-style-definition \
+ -Wredundant-decls \
+ -Wsign-compare \
+ -Wstrict-aliasing=2 \
+ -Wstrict-prototypes \
+ -Wundef \
+ -Wunreachable-code \
+ -Wunsafe-loop-optimizations \
+ -Wunused-but-set-variable \
+ -Wwrite-strings
+
+LDLIBS = -llept -lturbojpeg -lam7xxx
+
+# For clock_nanosleep()
+CFLAGS += -D_POSIX_C_SOURCE=200112L
+
+# for clock_gettime()
+LDLIBS += -lrt
+
+# Some compiler optimizations
+CFLAGS += -O3 \
+ -fno-strict-aliasing \
+ -ftree-vectorize \
+ -ffast-math \
+ -funroll-loops \
+ -funsafe-math-optimizations \
+ -fsingle-precision-constant
+
+# NEON optimizations
+ifeq ($(NEON), 1)
+ CFLAGS += -march=armv7-a \
+ -mtune=cortex-a8 \
+ -mfpu=neon \
+ -mfloat-abi=hard \
+ -DUSE_NEON
+endif
+
+# Use the BBB eQEP unit
+ifeq ($(EQEP), 1)
+ CFLAGS += -DUSE_EQEP
+endif
+
+
+cyclabile: cyclabile.o projective_split.o
+
+clean:
+ rm -rf *~ *.o cyclabile cyclabile.service
+
+run:
+ ./cyclabile -P 2 -f images/bike_lane.png -e /dev/input/event1
+
+install_service:
+ cp 90-projector.rules $(DESTDIR)/lib/udev/rules.d/
+ sed -e 's!@@CYCLABILE_SOURCE_PATH@@!$(shell pwd)!' < cyclabile.service.in > cyclabile.service
+ cp cyclabile.service $(DESTIR)/lib/systemd/system/
+
+uninstall_service:
+ systemctl enable cyclabile.service
+ rm $(DESTIR)/lib/systemd/system/cyclabile.service
+ rm $(DESTDIR)/lib/udev/rules.d/90-projector.rules
+ udevadm control --reload
+
+enable_service: install_service
+ udevadm control --reload
+ systemctl enable cyclabile.service
+
+test: cyclabile
+ valgrind --suppressions=contrib/libusb-udev.supp \
+ --leak-check=full --show-reachable=yes \
+ ./cyclabile -f images/bumpy_road.png -e /dev/input/event1
--- /dev/null
+# Cyclabile, a light augmented bike lane emitter
+
+Cyclabile is an experiment about projecting a moving bike lane on the road: the
+lane moves when the bike moves, producing the effect of riding on an actual bike
+lane, even when there isn't one.
+
+Dependencies:
+
+* `libam7xxx0.1` - a library to use USB pico-projector based on the am7xxx chip.
+* `libturbojpeg0` - a library for fast JPEG encoding
+* `liblept5` - a library for image processing, used to calculate a perspective
+ projection.
+
+## Limitations
+
+The effectiveness of projecting on the paving instead of signaling the presence
+with a traditional light can be argued.
+
+For now the project purpose is more about making a statement (there should be
+more bike lanes) than to build an actual product.
+
+## Instruction
+
+The prototype has been developed on a BeagleBone Black.
+
+A keypad is needed to adjust the perspective projection parameters, see
+http://ao2.it/137 for instructions about how a device-tree overlay can be used
+for that.
+
+A precise rotary encoder is needed to detect movement at very low speed,
+something like the one at https://ao2.it/135 can be used.
+
+The instructions at https://ao2.it/138 show an example of how to build a support
+to mount a magnet ring on the front wheel of the bike.
+
+The device-tree overlay at https://git.ao2.it/experiments/bbb-eqep2b-ao2.git/
+enables the BBB hardware support for rotary encoders.
+
+To build the project for the BeagleBone Black execute the following command:
+
+ $ make NEON=1 EQEP=1
+
+And install the systemd unit to launch the program automatically when the USB
+projector gets connected:
+
+ $ sudo make enable_service
+
+The software can also be tested on a normal desktop PC, emulating the encoder
+with the mouse wheel, with the following command:
+
+ $ make && sudo make run
+
+
+## Similar projects
+
+### Safety First
+
+"*Safety First*" is an art installation by Vladimír Turner and Ondřej Mladý very
+much in the spirit of Cyclabile.
+
+* <http://sgnlr.com/works/outside/safety-first2011-prague/>
+* <http://vimeo.com/23469752>
+
+The difference is that Cyclabile is more portable and more interactive, the bike
+lane moves depending on the bike movement while "*Safety First*" used a video
+recording in a fixed loop.
+
+
+### Bike Projector Headlight
+
+This is more generic, it's used to display info on the road, not specifically
+a bike lane.
+
+* <https://makezine.com/bike-projector-heads-down-display-stationary/>
+* <http://www.reddit.com/r/technology/comments/1anmip/guy_builds_a_speedometer_built_from_a_raspberry/>
+* <http://www.youtube.com/watch?v=Nfk1-XMASrk>
+
+
+### Lightlane
+
+A laser bike lane, it projects a static image.
+
+* <https://www.wired.com/2009/02/lightlanes-lase/>
--- /dev/null
+- Initialize the output device before the input image and derive the viewport
+ height from the output device native resolution.
+
+- Check if the image height is at least two times the viewport height.
+
+- For width, check if the image width less than or equal to the viewport
+ width.
--- /dev/null
+# NOTE: this script is provided just as a template for systems without systemd.
+
+# Execute cyclabile when the projector is plugged in,
+ACTION=="add", SUBSYSTEM=="usb", ATTRS{idVendor}=="1de1", ATTRS{idProduct}=="c101", MODE="0660", GROUP="plugdev", RUN+="/usr/bin/make -C /home/debian/cyclabile run"
+# Kill it when the projector is unplugged.
+ACTION=="remove", SUBSYSTEM=="usb", ENV{ID_VENDOR_ID}=="1de1", ENV{ID_MODEL_ID}=="c101", RUN+="killall cyclabile"
--- /dev/null
+{
+ Suppress a false positive about the udev allocation cache, see https://github.com/libusb/libusb/issues/231
+ Memcheck:Leak
+ match-leak-kinds: reachable
+ fun:malloc
+ obj:/lib/x86_64-linux-gnu/libudev.so.1.6.*
+ obj:/lib/x86_64-linux-gnu/libudev.so.1.6.*
+ obj:/lib/x86_64-linux-gnu/libusb-1.0.so.0.1.*
+ obj:/lib/x86_64-linux-gnu/libusb-1.0.so.0.1.*
+ fun:libusb_init
+}
+
+{
+ Suppress a false positive about the udev allocation cache, see https://github.com/libusb/libusb/issues/231
+ Memcheck:Leak
+ match-leak-kinds: reachable
+ fun:malloc
+ obj:/lib/x86_64-linux-gnu/libudev.so.1.6.*
+ obj:/lib/x86_64-linux-gnu/libudev.so.1.6.*
+ obj:/lib/x86_64-linux-gnu/libudev.so.1.6.*
+ obj:/lib/x86_64-linux-gnu/libudev.so.1.6.*
+ obj:/lib/x86_64-linux-gnu/libudev.so.1.6.*
+ obj:/lib/x86_64-linux-gnu/libudev.so.1.6.*
+ fun:udev_enumerate_scan_devices
+ obj:/lib/x86_64-linux-gnu/libusb-1.0.so.0.1.*
+ obj:/lib/x86_64-linux-gnu/libusb-1.0.so.0.1.*
+ fun:libusb_init
+}
--- /dev/null
+/*
+ * cyclabile - CYC Light Augmented Bike Light Emitter
+ *
+ * Copyright (C) 2018 Antonio Ospite <ao2@ao2.it>
+ *
+ * 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, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * 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, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdio.h>
+#include <sys/types.h>
+#include <sys/stat.h>
+#include <fcntl.h>
+#include <unistd.h>
+#include <errno.h>
+#include <signal.h>
+#include <linux/input.h>
+#include <leptonica/allheaders.h>
+#include <turbojpeg.h>
+#include <am7xxx.h>
+
+#include "projective_split.h"
+
+#include "fps-meter.h"
+
+#define M_PI 3.14159265358979323846 /* pi */
+
+/* Rotary encoder properties. */
+#define PULSES_PER_REVOLUTION 120
+
+/* Video projector property. */
+#define HEIGHT_IN_PIXELS 480
+
+/* Bike setup properties */
+#define WHEEL_RADIUS_IN_METERS 0.33
+#define HEIGHT_IN_METERS 0.92
+
+#define PIXELS_PER_METER (HEIGHT_IN_PIXELS / HEIGHT_IN_METERS)
+
+
+static unsigned int run = 1;
+
+static struct {
+ char *image_file;
+ char *event_device;
+ unsigned int width;
+ unsigned int height;
+ unsigned int x_correction;
+ unsigned int y_correction;
+ unsigned int zoom_mode;
+ unsigned int power_mode;
+} config = {
+ .image_file = NULL,
+ .event_device = NULL,
+ .width = 800,
+ .height = 480,
+ .x_correction = 200,
+ .y_correction = 0,
+ .zoom_mode = AM7XXX_ZOOM_ORIGINAL,
+ .power_mode = AM7XXX_POWER_LOW,
+};
+
+#ifdef USE_EQEP
+#define POSITION_FILE "/sys/devices/platform/ocp/48304000.epwmss/48304180.eqep/position"
+static int read_position(int *position)
+{
+ FILE *file;
+ int ret = 0;
+
+ file = fopen(POSITION_FILE, "r");
+ if (file == NULL) {
+ fprintf(stderr, "Cannot open %s\n", POSITION_FILE);
+ return -errno;
+ }
+
+ ret = fscanf(file, "%d", position);
+ if (ret != 1)
+ ret = -EINVAL;
+ else
+ ret = 0;
+
+ fclose(file);
+ return ret;
+}
+#else
+static int read_position(int *position)
+{
+ (void)position;
+ return 0;
+}
+#endif
+
+static int mod(int a, int b)
+{
+ int c = a % b;
+ return (c < 0) ? c + b : c;
+}
+
+static int projector_device_init(am7xxx_context **ctx, am7xxx_device **dev, unsigned int device_index)
+{
+ int log_level = AM7XXX_LOG_INFO;
+ int ret;
+
+ ret = am7xxx_init(ctx);
+ if (ret < 0) {
+ perror("am7xxx_init");
+ goto err;
+ }
+
+ am7xxx_set_log_level(*ctx, log_level);
+
+ ret = am7xxx_open_device(*ctx, dev, device_index);
+ if (ret < 0) {
+ perror("am7xxx_open_device");
+ goto err;
+ }
+
+ ret = am7xxx_set_zoom_mode(*dev, config.zoom_mode);
+ if (ret < 0) {
+ perror("am7xxx_set_zoom_mode");
+ goto err_close_device;
+ }
+
+ ret = am7xxx_set_power_mode(*dev, config.power_mode);
+ if (ret < 0) {
+ perror("am7xxx_set_power_mode");
+ goto err_close_device;
+ }
+
+ return 0;
+
+err_close_device:
+ am7xxx_close_device(*dev);
+err:
+ am7xxx_shutdown(*ctx);
+ return ret;
+}
+
+static void unset_run(int signo)
+{
+ (void) signo;
+ run = 0;
+}
+
+static int set_signal_handler(int signum, void (*signal_handler)(int))
+{
+ struct sigaction new_action;
+ struct sigaction old_action;
+ int ret;
+
+ new_action.sa_handler = signal_handler;
+ sigemptyset(&new_action.sa_mask);
+ new_action.sa_flags = 0;
+
+ ret = sigaction(signum, NULL, &old_action);
+ if (ret < 0) {
+ perror("sigaction on old_action");
+ goto out;
+ }
+
+ if (old_action.sa_handler != SIG_IGN) {
+ ret = sigaction(signum, &new_action, NULL);
+ if (ret < 0) {
+ perror("sigaction on new_action");
+ goto out;
+ }
+ }
+
+out:
+ return ret;
+}
+
+static struct p *calc_perspective_map(void)
+{
+ PTA *src;
+ PTA *dst;
+ BOX *viewport;
+ l_float32 *transform_coeffs;
+ struct p *perspective_map = NULL;
+ int ret;
+
+ src = ptaCreate(4);
+ if (src == NULL)
+ return NULL;
+
+ ptaAddPt(src, 0, 0);
+ ptaAddPt(src, config.width, 0);
+ ptaAddPt(src, config.width, config.height);
+ ptaAddPt(src, 0, config.height);
+
+ dst = ptaCreate(4);
+ if (dst == NULL)
+ goto out_destroy_pta_src;
+
+ ptaAddPt(dst, config.x_correction, config.y_correction);
+ ptaAddPt(dst, config.width - config.x_correction, config.y_correction);
+ ptaAddPt(dst, config.width, config.height);
+ ptaAddPt(dst, 0, config.height);
+
+ transform_coeffs = NULL;
+ ret = getProjectiveXformCoeffs(dst, src, &transform_coeffs);
+ if (ret != 0)
+ goto out_destroy_pta_dst;
+
+ viewport = boxCreateValid(0, 0, config.width, config.height);
+ if (viewport == NULL)
+ goto out_free_transform_coeffs;
+
+ perspective_map = _pixProjectiveSampled_precalc_map(viewport, transform_coeffs);
+
+ boxDestroy(&viewport);
+
+out_free_transform_coeffs:
+ LEPT_FREE(transform_coeffs);
+out_destroy_pta_dst:
+ ptaDestroy(&dst);
+out_destroy_pta_src:
+ ptaDestroy(&src);
+
+ return perspective_map;
+}
+
+static void usage(char *name)
+{
+ printf("usage: %s [OPTIONS]\n\n", name);
+ printf("OPTIONS:\n");
+ printf("\t-f <image_file>\t\tthe image file to upload\n");
+ printf("\t-e <event device>\t\tthe event device to get input from\n");
+ printf("\t-x <X correction>\t\tthe perspective correction in the X direction, in pixels (default 200)\n");
+ printf("\t-y <Y correction>\t\tthe perspective correction in the Y direction, in pixels (default 50)\n");
+ printf("\t-Z <zoom mode>\t\tthe display zoom mode, between %d (original) and %d (test)\n",
+ AM7XXX_ZOOM_ORIGINAL, AM7XXX_ZOOM_TEST);
+ printf("\t-h \t\t\tthis help message\n");
+ printf("\n\nEXAMPLES OF USE:\n");
+ printf("\t%s -f road.png -e /dev/input/event5\n", name);
+ printf("\t%s -f narrow-road.png -e /dev/input/event0 -x 130 -Z 1\n", name);
+}
+
+int main(int argc, char *argv[])
+{
+ PIX *image;
+ PIX *transformed_image;
+ BOX *viewport;
+ struct p *perspective_map;
+
+ tjhandle jpeg_compressor;
+ unsigned char *out_buf;
+ unsigned long out_buf_size;
+
+ am7xxx_context *projector_ctx = NULL;
+ am7xxx_device *projector_dev = NULL;
+
+ int input_fd;
+ struct input_event ev[64];
+ unsigned int i;
+
+ int position = 0;
+ int old_position = 0;
+ int position_delta;
+ float distance;
+
+ struct fps_meter_stats fps_stats;
+
+ int y = 0;
+ int lastframe_limit;
+
+ int ret;
+ int opt;
+
+ while ((opt = getopt(argc, argv, "e:f:x:y:P:Z:h")) != -1) {
+ switch (opt) {
+ case 'e':
+ if (config.event_device != NULL)
+ fprintf(stderr, "Warning: event device already specified\n");
+ config.event_device = optarg;
+ break;
+ case 'f':
+ if (config.image_file != NULL)
+ fprintf(stderr, "Warning: image file already specified\n");
+ config.image_file = optarg;
+ break;
+ case 'x':
+ config.x_correction = atoi(optarg); /* atoi() is as nasty as it is easy */
+ break;
+ case 'y':
+ config.y_correction = atoi(optarg); /* atoi() is as nasty as it is easy */
+ break;
+ case 'Z':
+ config.zoom_mode = atoi(optarg); /* atoi() is as nasty as it is easy */
+ switch(config.zoom_mode) {
+ case AM7XXX_ZOOM_ORIGINAL:
+ case AM7XXX_ZOOM_H:
+ case AM7XXX_ZOOM_H_V:
+ case AM7XXX_ZOOM_TEST:
+ break;
+ default:
+ fprintf(stderr, "Invalid zoom mode value, must be between %d and %d\n",
+ AM7XXX_ZOOM_ORIGINAL, AM7XXX_ZOOM_TEST);
+ ret = -EINVAL;
+ goto out;
+ }
+ break;
+ case 'P':
+ config.power_mode = atoi(optarg); /* atoi() is as nasty as it is easy */
+ switch(config.power_mode) {
+ case AM7XXX_POWER_OFF:
+ case AM7XXX_POWER_LOW:
+ case AM7XXX_POWER_MIDDLE:
+ case AM7XXX_POWER_HIGH:
+ case AM7XXX_POWER_TURBO:
+ break;
+ default:
+ fprintf(stderr, "Invalid power mode value, must be between %d and %d\n",
+ AM7XXX_POWER_OFF, AM7XXX_POWER_TURBO);
+ ret = -EINVAL;
+ goto out;
+ }
+ break;
+ case 'h':
+ usage(argv[0]);
+ ret = 0;
+ goto out;
+ default: /* '?' */
+ usage(argv[0]);
+ ret = -EINVAL;
+ goto out;
+ }
+ }
+
+ if (config.image_file == NULL) {
+ fprintf(stderr, "An image file MUST be specified with the -f option.\n\n");
+ usage(argv[0]);
+ ret = -EINVAL;
+ goto out;
+ }
+
+ if (config.event_device == NULL) {
+ fprintf(stderr, "An event device MUST be specified with the -e option.\n\n");
+ usage(argv[0]);
+ ret = -EINVAL;
+ goto out;
+ }
+
+ ret = set_signal_handler(SIGINT, unset_run);
+ if (ret < 0) {
+ perror("setting SIGINT");
+ goto out;
+ }
+
+ ret = set_signal_handler(SIGTERM, unset_run);
+ if (ret < 0) {
+ perror("setting SIGTERM");
+ goto out;
+ }
+
+ image = pixRead(config.image_file);
+ if (image == NULL) {
+ fprintf(stderr, "Cannot load image\n");
+ ret = -EINVAL;
+ goto out;
+ }
+ lastframe_limit = (pixGetHeight(image) - config.height);
+
+ config.width = pixGetWidth(image);
+
+ transformed_image = pixCreate(config.width, config.height, pixGetDepth(image));
+ if (transformed_image == NULL) {
+ fprintf(stderr, "Cannot create image\n");
+ ret = -EINVAL;
+ goto out_destroy_image;
+ }
+
+ /* Transform only a part of the whole image */
+ viewport = boxCreateValid(0, y, config.width, config.height);
+ if (viewport == NULL) {
+ ret = -EINVAL;
+ goto out_destroy_transformed_image;
+ }
+
+ perspective_map = calc_perspective_map();
+ if (perspective_map == NULL) {
+ ret = -ENOMEM;
+ goto out_destroy_viewport;
+ }
+
+ /* jpeg encoder init */
+ jpeg_compressor = tjInitCompress();
+ if (jpeg_compressor == NULL) {
+ fprintf(stderr, "tjInitCompress failed: %s\n", tjGetErrorStr());
+ ret = -ENOMEM;
+ goto out_free_perspective_map;
+ }
+
+ out_buf_size = tjBufSize(config.width, config.height, TJSAMP_420);
+ ret = (int) out_buf_size;
+ if (ret < 0) {
+ fprintf(stderr, "tjBufSize failed: %s\n", tjGetErrorStr());
+ goto out_jpeg_destroy;
+ }
+ out_buf = malloc(out_buf_size);
+ if (out_buf == NULL) {
+ ret = -ENOMEM;
+ goto out_jpeg_destroy;
+ }
+
+ /* output init */
+ ret = projector_device_init(&projector_ctx, &projector_dev, 0);
+ if (ret < 0)
+ goto out_free_out_buf;
+
+ /* input event init */
+ input_fd = open(config.event_device, O_RDONLY | O_NONBLOCK);
+ if (input_fd < 0) {
+ perror("open");
+ ret = input_fd;
+ goto out_am7xxx_shutdown;
+ }
+
+ ret = read_position(&old_position);
+ if (ret < 0)
+ goto out_cleanup;
+
+
+ fps_meter_init(&fps_stats);
+ while (run) {
+
+ fps_meter_update(&fps_stats);
+
+ errno = 0;
+ ret = read(input_fd, ev, sizeof(ev));
+ if (ret < (int)sizeof(ev[0]) && errno != EAGAIN && errno != EWOULDBLOCK) {
+ perror("read");
+ ret = -errno;
+ goto out_cleanup;
+ }
+
+ /*
+ * Handle keypad input to adjust the perspective map.
+ * This can go in a preliminar "setup" stage instead of the
+ * main loop.
+ */
+ if (ret >= (int)sizeof(ev[0])) {
+ for (i = 0; i < ret / sizeof(ev[0]); i++) {
+ /*
+ * This is for testing the software with the
+ * mouse wheel...
+ */
+ if (ev[i].type == EV_REL && ev[i].code == REL_WHEEL) {
+ position += ev[i].value;
+ }
+ else if (ev[i].type == EV_KEY && ev[i].value > 0) {
+ switch(ev[i].code) {
+ case KEY_UP:
+ if (config.y_correction < config.height)
+ config.y_correction += 1;
+ break;
+ case KEY_DOWN:
+ if (config.y_correction > 0)
+ config.y_correction -= 1;
+ break;
+ case KEY_LEFT:
+ if (config.x_correction > 0)
+ config.x_correction -= 1;
+ break;
+ case KEY_RIGHT:
+ if (config.x_correction < config.width)
+ config.x_correction += 1;
+ break;
+ default:
+ break;
+
+ }
+ free(perspective_map);
+ perspective_map = calc_perspective_map();
+ if (perspective_map == NULL) {
+ ret = -ENOMEM;
+ goto out_cleanup;
+ }
+ pixClearAll(transformed_image);
+ break;
+ }
+ }
+ }
+
+ ret = read_position(&position);
+ if (ret < 0)
+ break;
+ position_delta = old_position - position;
+ old_position = position;
+
+ /* distance in meters */
+ distance = 2 * WHEEL_RADIUS_IN_METERS * M_PI / PULSES_PER_REVOLUTION * position_delta;
+#ifdef DEBUG
+ fprintf(stderr, "position_delta: %d distance: %f pixels: %d\n", position_delta, distance, (int) (distance * PIXELS_PER_METER));
+#endif
+
+ /* convert distance to pixels */
+ y += distance * PIXELS_PER_METER;
+ y = mod(y, lastframe_limit);
+
+ boxSetGeometry(viewport, -1, y, -1, -1);
+
+ /* Apply the perspective transformation */
+ transformed_image = _pixProjectiveSampled_apply_map_dest_roi(image,
+ perspective_map,
+ L_BRING_IN_BLACK,
+ transformed_image,
+ viewport);
+ ret = tjCompress2(jpeg_compressor, (unsigned char *)pixGetData(transformed_image),
+ config.width, 0, config.height, TJPF_XBGR, &out_buf, &out_buf_size,
+ TJSAMP_420, 70, TJFLAG_NOREALLOC | TJFLAG_FASTDCT);
+ if (ret < 0) {
+ tjGetErrorStr();
+ fprintf(stderr, "tjCompress2 failed: %s\n", tjGetErrorStr());
+ break;
+ }
+
+ ret = am7xxx_send_image_async(projector_dev,
+ AM7XXX_IMAGE_FORMAT_JPEG,
+ config.width,
+ config.height,
+ out_buf,
+ out_buf_size);
+
+ if (ret < 0) {
+ perror("am7xxx_send_image");
+ break;
+ }
+
+ }
+
+ ret = 0;
+
+out_cleanup:
+ close(input_fd);
+out_am7xxx_shutdown:
+ am7xxx_set_zoom_mode(projector_dev, AM7XXX_ZOOM_TEST);
+ am7xxx_set_power_mode(projector_dev, AM7XXX_POWER_OFF);
+ am7xxx_close_device(projector_dev);
+ am7xxx_shutdown(projector_ctx);
+out_free_out_buf:
+ free(out_buf);
+out_jpeg_destroy:
+ tjDestroy(jpeg_compressor);
+out_free_perspective_map:
+ free(perspective_map);
+out_destroy_viewport:
+ boxDestroy(&viewport);
+out_destroy_transformed_image:
+ pixDestroy(&transformed_image);
+out_destroy_image:
+ pixDestroy(&image);
+out:
+ return ret;
+}
--- /dev/null
+[Unit]
+Description=Start CYCLABILE
+
+BindsTo=dev-projector.device
+After=dev-projector.device
+
+[Service]
+# For the time being run the program from its source directory
+ExecStart=/usr/bin/make -C "@@CYCLABILE_SOURCE_PATH@@" run
+
+[Install]
+# This ensures that the unit is run when the device shows up
+WantedBy=dev-projector.device
--- /dev/null
+/*
+ * fps-meter - Example program about how to measure frames per seconds
+ *
+ * Copyright (C) 2013 Antonio Ospite <ospite@studenti.unina.it>
+ *
+ * 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, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * 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, see <http://www.gnu.org/licenses/>.
+ */
+
+#ifndef FPS_METER_H
+#define FPS_METER_H
+
+#include <stdio.h>
+#include <string.h>
+#include <time.h>
+
+#ifdef DEBUG
+#define dbg(...) \
+ do { \
+ printf(__VA_ARGS__); \
+ printf("\n"); \
+ fflush(stdout); \
+ } while(0)
+#else
+#define dbg(...) do {} while(0)
+#endif
+
+#define NSEC_PER_SEC 1000000000
+
+#define timespecsub(a, b, result) \
+ do { \
+ (result)->tv_sec = (a)->tv_sec - (b)->tv_sec; \
+ (result)->tv_nsec = (a)->tv_nsec - (b)->tv_nsec; \
+ if ((result)->tv_nsec < 0) { \
+ --(result)->tv_sec; \
+ (result)->tv_nsec += 1000000000; \
+ } \
+ } while(0)
+
+struct fps_meter_stats {
+ struct timespec time_start;
+ struct timespec time_end;
+
+ unsigned int frames;
+ double nsecs;
+};
+
+static void fps_meter_init(struct fps_meter_stats *stats)
+{
+ memset(stats, 0, sizeof(*stats));
+
+ clock_gettime(CLOCK_MONOTONIC, &stats->time_start);
+ dbg("Init time: s: %ld, ns: %ld", stats->time_start.tv_sec, stats->time_start.tv_nsec);
+}
+
+static void fps_meter_update(struct fps_meter_stats *stats)
+{
+ struct timespec elapsed;
+
+ dbg("Start time: s: %ld, ns: %ld", stats->time_start.tv_sec, stats->time_start.tv_nsec);
+
+ clock_gettime(CLOCK_MONOTONIC, &stats->time_end);
+ dbg("End time: s: %ld, ns: %ld", stats->time_end.tv_sec, stats->time_end.tv_nsec);
+
+ timespecsub(&stats->time_end, &stats->time_start, &elapsed);
+ dbg("Elapsed s: %ld ns: %ld", elapsed.tv_sec, elapsed.tv_nsec);
+
+ stats->frames++;
+ stats->nsecs += (elapsed.tv_sec * NSEC_PER_SEC + elapsed.tv_nsec);
+ if (stats->nsecs >= NSEC_PER_SEC) {
+ /*
+ * if we were garanteed that each frame took less than
+ * a second, then just printing 'frames' would be enough here,
+ * but if we want to cover the case when a frame may take more
+ * than a second, some calculations have to be done.
+ */
+ float fps = stats->frames / (stats->nsecs / NSEC_PER_SEC);
+ printf("(frames: %d, nsecs: %f) FPS: %.2f\n", stats->frames, stats->nsecs, fps);
+ stats->nsecs -= NSEC_PER_SEC;
+ stats->frames = 0;
+ }
+
+ /* update the stats for the next iteration */
+ clock_gettime(CLOCK_MONOTONIC, &stats->time_start);
+}
+#endif /* FPS_METER_H */
--- /dev/null
+WIDTH ?= 800
+
+SOURCES := $(wildcard *.svg)
+IMAGE_FILES := $(SOURCES:.svg=.png)
+
+all: $(IMAGE_FILES)
+
+clean:
+ rm -f $(IMAGE_FILES)
+
+%.png: %.svg
+ inkscape --export-png=$@ --export-width=$(WIDTH) $<
--- /dev/null
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<!-- Created with Inkscape (http://www.inkscape.org/) -->
+
+<svg
+ xmlns:dc="http://purl.org/dc/elements/1.1/"
+ xmlns:cc="http://creativecommons.org/ns#"
+ xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#"
+ xmlns:svg="http://www.w3.org/2000/svg"
+ xmlns="http://www.w3.org/2000/svg"
+ xmlns:sodipodi="http://sodipodi.sourceforge.net/DTD/sodipodi-0.dtd"
+ xmlns:inkscape="http://www.inkscape.org/namespaces/inkscape"
+ width="5492.126"
+ height="56444.879"
+ id="svg2"
+ version="1.1"
+ inkscape:version="0.92.3 (2405546, 2018-03-11)"
+ sodipodi:docname="bike_lane.svg"
+ inkscape:export-filename="/home/ao2/Proj/picoProjector/bike_lane/bike_lane.png"
+ inkscape:export-xdpi="7.8658066"
+ inkscape:export-ydpi="7.8658066">
+ <defs
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+ borderopacity="1.0"
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+ inkscape:document-units="px"
+ inkscape:current-layer="layer1"
+ showgrid="false"
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+ inkscape:window-height="911"
+ inkscape:window-x="0"
+ inkscape:window-y="28"
+ inkscape:window-maximized="1"
+ showguides="true"
+ inkscape:guide-bbox="true"
+ fit-margin-top="0"
+ fit-margin-left="0"
+ fit-margin-right="0"
+ fit-margin-bottom="0"
+ units="cm">
+ <sodipodi:guide
+ orientation="0,1"
+ position="2.8421709e-13,6377.9515"
+ id="guide4026"
+ inkscape:locked="false" />
+ <sodipodi:guide
+ orientation="0,1"
+ position="2.8421709e-13,6377.9515"
+ id="guide4028"
+ inkscape:locked="false" />
+ <sodipodi:guide
+ orientation="0,1"
+ position="2.8421709e-13,-0.001331875"
+ id="guide4030"
+ inkscape:locked="false" />
+ <sodipodi:guide
+ orientation="0,1"
+ position="2.8421709e-13,12755.905"
+ id="guide4032"
+ inkscape:locked="false" />
+ <sodipodi:guide
+ orientation="0,1"
+ position="2.8421709e-13,19133.857"
+ id="guide4046"
+ inkscape:locked="false" />
+ </sodipodi:namedview>
+ <metadata
+ id="metadata7">
+ <rdf:RDF>
+ <cc:Work
+ rdf:about="">
+ <dc:format>image/svg+xml</dc:format>
+ <dc:type
+ rdf:resource="http://purl.org/dc/dcmitype/StillImage" />
+ <dc:title />
+ </cc:Work>
+ </rdf:RDF>
+ </metadata>
+ <g
+ inkscape:groupmode="layer"
+ id="layer3"
+ inkscape:label="Background"
+ style="display:inline"
+ transform="translate(0,37311.023)"
+ sodipodi:insensitive="true">
+ <path
+ transform="translate(-164.82684,18492.735)"
+ style="color:#000000;fill:#000000;fill-opacity:1;fill-rule:nonzero;stroke:none;stroke-width:5.80000019;marker:none;visibility:visible;display:inline;overflow:visible;enable-background:accumulate"
+ d="m 164.82684,-55803.758 5492.12596,0 0,56444.87909 -5492.12596,0 z"
+ id="rect4044"
+ inkscape:connector-curvature="0"
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+ </g>
+ <g
+ inkscape:label="Lane"
+ inkscape:groupmode="layer"
+ id="layer1"
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+ style="display:inline">
+ <path
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+ style="display:none"
+ transform="translate(0,37311.023)">
+ <path
+ transform="translate(-164.82684,18492.735)"
+ style="color:#000000;fill:#000000;fill-opacity:0.5078125;stroke:none;stroke-width:354.33071899;marker:none;visibility:visible;display:inline;overflow:visible;enable-background:accumulate"
+ d="m 164.82684,-55803.758 5492.12596,0 0,3295.276 -5492.12596,0 z"
+ id="rect2997-5"
+ inkscape:connector-curvature="0"
+ sodipodi:nodetypes="ccccc" />
+ <rect
+ style="color:#000000;fill:#000000;fill-opacity:0.5078125;stroke:none;stroke-width:354.33071899;marker:none;visibility:visible;display:inline;overflow:visible;enable-background:accumulate"
+ id="rect2997"
+ width="5492.126"
+ height="3295.2756"
+ x="-2.2737368e-13"
+ y="15838.582" />
+ </g>
+</svg>
--- /dev/null
+/*
+ * Separate calculating projected coordinates and transforming the pixels.
+ *
+ * Copyright (C) 2018 Antonio Ospite <ao2@ao2.it>
+ *
+ * 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, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * 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, see <http://www.gnu.org/licenses/>.
+ */
+
+/*
+ * The idea behind these functions is that in some use cases the perspective
+ * deformation does not change, it's only the projected data which changes, so
+ * there's no need to recalculate the projection parameters every time.
+ *
+ * It is enough to apply the pre-calculated projection to the new data,
+ * possibly using a region-of-interest, to avoid clipping the image in case
+ * it's larger than the viewport.
+ */
+
+#include "projective_split.h"
+
+/*
+ * Pre-calculate the transformation map.
+ *
+ * This can be useful if the transform mapping does not change but we want to
+ * apply the same transform to different data.
+ */
+struct p *
+_pixProjectiveSampled_precalc_map(BOX *viewport,
+ l_float32 *vc)
+{
+ l_int32 i, j, x, y;
+ struct p *map;
+
+ if (!vc)
+ return (struct p *)ERROR_PTR("vc not defined", __func__, NULL);
+
+ map = malloc(viewport->w * viewport->h * sizeof(*map));
+ if (map == NULL)
+ return (struct p *)ERROR_PTR("cannot allocate map", __func__, NULL);
+
+ for (i = 0; i < viewport->h; i++) {
+ for (j = 0; j < viewport->w; j++) {
+ /* XXX: transform i and j by considering the viewport origin */
+ projectiveXformSampledPt(vc, j, i, &x, &y);
+
+ /* XXX: This is a hack to avoid conditionals when
+ * applying the map.
+ * Basically we set all out of bound pixels to be the same
+ * as the pixel at 0,0.
+ *
+ * When applying the map make sure that the pixel at
+ * 0,0 is set to the desired "background" color.
+ */
+ if (x < 0 || y < 0 || x >= viewport->w || y >= viewport->h) {
+ x = 0;
+ y = 0;
+ }
+
+ map[i * viewport->w + j].x = x;
+ map[i * viewport->w + j].y = y;
+ }
+ }
+
+ return map;
+}
+
+#ifdef USE_NEON
+
+#include <arm_neon.h>
+
+/*
+ * Apply the map pre-calculated transformation map to an image, but only to
+ * a region of interest.
+ *
+ * This is a NEON optimized version, however the speedup is not that
+ * impressive because moving pixels around always means accessing uncontiguous
+ * memory.
+ */
+PIX *
+_pixProjectiveSampled_apply_map_dest_roi(PIX *pixs,
+ struct p *map,
+ l_int32 incolor,
+ PIX *pixd,
+ BOX *roi)
+{
+ int32_t i, j, w, h, d, wpls, wpld;
+ uint32_t *datas, *datad, *lined;
+ l_uint32 pixel0;
+
+ uint32_t stride;
+ uint32x4x2_t point;
+ uint32x4_t lines;
+ uint32x4_t roi_x;
+ uint32x4_t roi_y;
+ uint32x4_t x_offset;
+ uint32x4_t y_offset;
+ uint32x4_t wpls_v;
+
+ PROCNAME("pixProjectiveSampled_neon");
+
+ if (!pixs)
+ return (PIX *)ERROR_PTR("pixs not defined", procName, NULL);
+ if (!map)
+ return (PIX *)ERROR_PTR("map not defined", procName, NULL);
+ if (incolor != L_BRING_IN_WHITE && incolor != L_BRING_IN_BLACK)
+ return (PIX *)ERROR_PTR("invalid incolor", procName, NULL);
+ pixGetDimensions(pixs, &w, &h, &d);
+ if (d != 32)
+ return (PIX *)ERROR_PTR("depth not 32", procName, NULL);
+ if (!pixd)
+ return (PIX *)ERROR_PTR("pixd not defined", procName, NULL);
+
+ /* Scan over the dest pixels */
+ datas = pixGetData(pixs);
+ wpls = pixGetWpl(pixs);
+ datad = pixGetData(pixd);
+ wpld = pixGetWpl(pixd);
+
+ roi_x = vmovq_n_u32(roi->x);
+ roi_y = vmovq_n_u32(roi->y);
+ wpls_v = vmovq_n_u32(wpls);
+
+ /*
+ * Save the value of the pixel at 0,0 in the destination image,
+ * and set it to black, because the map uses the pixel at 0,0 for out
+ * of bounds pixels.
+ */
+ pixGetPixel(pixs, roi->x, roi->y, &pixel0);
+ pixSetPixel(pixs, roi->x, roi->y, 0);
+
+ for (i = 0; i < roi->h; i++) {
+ lined = datad + i * wpld;
+ stride = i * roi->w;
+ for (j = 0; j < roi->w; j += 4) {
+ unsigned int map_index = stride + j;
+
+ point = vld2q_u32((uint32_t *)(map + map_index));
+
+ x_offset = vaddq_u32(point.val[0], roi_x);
+
+ y_offset = vaddq_u32(point.val[1], roi_y);
+
+ lines = vmlaq_u32(x_offset, y_offset, wpls_v);
+
+ lined[j + 0] = *(datas + lines[0]);
+ lined[j + 1] = *(datas + lines[1]);
+ lined[j + 2] = *(datas + lines[2]);
+ lined[j + 3] = *(datas + lines[3]);
+ }
+ }
+
+ /* restore the previous value */
+ pixSetPixel(pixs, roi->x, roi->y, pixel0);
+
+ return pixd;
+}
+
+#else
+
+/*
+ * Apply the map pre-calculated transformation map to an image, but only to
+ * a region of interest.
+ */
+PIX *
+_pixProjectiveSampled_apply_map_dest_roi(PIX *pixs,
+ struct p *map,
+ l_int32 incolor,
+ PIX *pixd,
+ BOX *roi)
+{
+ l_int32 i, j, w, h, d, wpls, wpld;
+ l_uint32 *datas, *datad, *lined;
+ l_uint32 datas_offset;
+ l_uint32 stride;
+ l_uint32 pixel0;
+ struct p *point;
+
+ PROCNAME("pixProjectiveSampled");
+
+ if (!pixs)
+ return (PIX *)ERROR_PTR("pixs not defined", procName, NULL);
+ if (!map)
+ return (PIX *)ERROR_PTR("map not defined", procName, NULL);
+ if (incolor != L_BRING_IN_WHITE && incolor != L_BRING_IN_BLACK)
+ return (PIX *)ERROR_PTR("invalid incolor", procName, NULL);
+
+ pixGetDimensions(pixs, &w, &h, &d);
+ if (d != 32)
+ return (PIX *)ERROR_PTR("depth not 32", procName, NULL);
+ if (!pixd)
+ return (PIX *)ERROR_PTR("pixd not defined", procName, NULL);
+
+ /* Scan over the dest pixels */
+ datas = pixGetData(pixs);
+ wpls = pixGetWpl(pixs);
+ datad = pixGetData(pixd);
+ wpld = pixGetWpl(pixd);
+
+ /*
+ * Save the value of the pixel at 0,0 in the destination image,
+ * and set it to black, because the map uses the pixel at 0,0 for out
+ * of bounds pixels.
+ *
+ * This is just a dirty trick to avoid a conditional deep in the loop
+ * below.
+ *
+ * A more general algorithm would check for out of bounds explicitly,
+ * with something like:
+ *
+ * if (point->x >= 0 && point->y >= 0 && point->x < roi->w && point->y < roi->h) {
+ * datas_offset = (point->x + roi->x) + (point->y + roi->y) * wpls;
+ * *(lined + j) = *(datas + datas_offset);
+ * }
+ */
+ pixGetPixel(pixs, roi->x, roi->y, &pixel0);
+ pixSetPixel(pixs, roi->x, roi->y, 0);
+
+ for (i = 0; i < roi->h; i++) {
+ lined = datad + i * wpld;
+ stride = i * roi->w;
+ for (j = 0; j < roi->w; j++) {
+ point = map + stride + j;
+
+ datas_offset = (point->x + roi->x) + (point->y + roi->y) * wpls;
+ *(lined + j) = *(datas + datas_offset);
+ }
+ }
+
+ /* restore the previous value */
+ pixSetPixel(pixs, roi->x, roi->y, pixel0);
+
+ return pixd;
+}
+
+
+#endif
--- /dev/null
+/*
+ * Separate calculating projected coordinates and transforming the pixels.
+ *
+ * Copyright (C) 2018 Antonio Ospite <ao2@ao2.it>
+ *
+ * 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, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * 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, see <http://www.gnu.org/licenses/>.
+ */
+
+#ifndef PROJECTIVE_SPLIT_H
+#define PROJECTIVE_SPLIT_H
+
+#include <leptonica/allheaders.h>
+
+struct p {
+ l_int32 x;
+ l_int32 y;
+};
+
+struct p *
+_pixProjectiveSampled_precalc_map(BOX *viewport,
+ l_float32 *vc);
+
+PIX *
+_pixProjectiveSampled_apply_map_dest_roi(PIX *pixs,
+ struct p *map,
+ l_int32 incolor,
+ PIX *pixd,
+ BOX *roi);
+
+#ifdef USE_NEON
+PIX *
+_pixProjectiveSampled_apply_map_dest_roi_neon(PIX *pixs,
+ struct p *map,
+ l_int32 incolor,
+ PIX *pixd,
+ BOX *roi);
+#endif
+
+#endif /* PROJECTIVE_SPLIT_H */
projects / experiments / cyclabile.git / commitdiff
