void
Man::waitForImage ()
{
try {
const unsigned char *data;
#ifndef MAN_IS_REMOTE
ALVisionImage *image = NULL;
#else
ALValue image;
image.arraySetSize(6);
#endif
SleepMs(100);
data = NULL;
#ifndef MAN_IS_REMOTE
#ifdef DEBUG_IMAGE_REQUESTS
printf("Requesting local image of size %ix%i, color space %i\n",
IMAGE_WIDTH, IMAGE_HEIGHT, NAO_COLOR_SPACE);
#endif
// Attempt to retrive the next image
try {
image = (ALVisionImage*) (lem->call<int>("fetchNextLocal"));
}catch (ALError &e) {
log->error("NaoMain", "Could not call the fetchNextLocal method of the "
"NaoCam module");
}
if (image != NULL)
data = image->getFrame();
#else
#ifdef DEBUG_IMAGE_REQUESTS
printf("Requesting remote image of size %ix%i, color space %i\n",
IMAGE_WIDTH, IMAGE_HEIGHT, NAO_COLOR_SPACE);
#endif
// Attempt to retrive the next image
try {
image = lem->call<ALValue>("fetchNextRemote");
}catch (ALError &e) {
log->error("NaoMain", "Could not call the fetchNextRemote method of the "
"NaoCam module");
}
data = static_cast<const unsigned char *>(image[5].GetBinary());
#endif
if (data != NULL) {
// Update Sensors image pointer
sensors.lockImage();
sensors.setImage(data);
sensors.releaseImage();
}
}catch (ALError &e) {
log->error("NaoMain", "Caught an error in run():\n" + e.toString());
}
}
void ALImageTranscriber::waitForImage ()
{
try {
#ifndef MAN_IS_REMOTE
#ifdef DEBUG_IMAGE_REQUESTS
printf("Requesting local image of size %ix%i, color space %i\n",
IMAGE_WIDTH, IMAGE_HEIGHT, NAO_COLOR_SPACE);
#endif
ALVisionImage *ALimage = NULL;
// Attempt to retrieve the next image
try {
ALimage = (ALVisionImage*) (camera->call<int>("getDirectRawImageLocal",lem_name));
}catch (ALError &e) {
log->error("NaoMain", "Could not call the getImageLocal method of the "
"NaoCam module");
}
if (ALimage != NULL) {
memcpy(&image[0], ALimage->getFrame(), IMAGE_BYTE_SIZE);
//image = ALimage->getFrame();
}
else
cout << "\tALVisionImage from camera was null!!" << endl;
#ifdef DEBUG_IMAGE_REQUESTS
//You can get some informations of the image.
int width = ALimage->fWidth;
int height = ALimage->fHeight;
int nbLayers = ALimage->fNbLayers;
int colorSpace = ALimage->fColorSpace;
long long timeStamp = ALimage->fTimeStamp;
int seconds = (int)(timeStamp/1000000LL);
printf("Retrieved an image of dimensions %ix%i, color space %i,"
"with %i layers and a time stamp of %is \n",
width, height, colorSpace,nbLayers,seconds);
#endif
#else//Frame is remote:
#ifdef DEBUG_IMAGE_REQUESTS
printf("Requesting remote image of size %ix%i, color space %i\n",
IMAGE_WIDTH, IMAGE_HEIGHT, NAO_COLOR_SPACE);
#endif
ALValue ALimage;
ALimage.arraySetSize(7);
// Attempt to retrive the next image
try {
ALimage = camera->call<ALValue>("getDirectRawImageRemote",
lem_name);
}catch (ALError &e) {
log->error("NaoMain", "Could not call the getImageRemote method of the "
"NaoCam module");
}
//image = static_cast<const unsigned char*>(ALimage[6].GetBinary());
memcpy(&image[0], ALimage[6].GetBinary(), IMAGE_BYTE_SIZE);
#ifdef DEBUG_IMAGE_REQUESTS
//You can get some informations of the image.
int width = (int) ALimage[0];
int height = (int) ALimage[1];
int nbLayers = (int) ALimage[2];
int colorSpace = (int) ALimage[3];
long long timeStamp = ((long long)(int)ALimage[4])*1000000LL +
((long long)(int)ALimage[5]);
int seconds = (int)(timeStamp/1000000LL);
printf("Retrieved an image of dimensions %ix%i, color space %i,"
"with %i layers and a time stamp of %is \n",
width, height, colorSpace,nbLayers,seconds);
#endif
#endif//IS_REMOTE
if (image != NULL) {
// Update Sensors image pointer
sensors->lockImage();
sensors->setImage(image);
sensors->releaseImage();
}
}catch (ALError &e) {
log->error("NaoMain", "Caught an error in run():\n" + e.toString());
}
}