void UsbCam::grab_image(sensor_msgs::Image* msg)
{
// grab the image
image_ = (camera_image_t *)calloc(1, sizeof(camera_image_t));
image_->width = RAW_IMAGE_WIDTH;
image_->height = RAW_IMAGE_HEIGHT;
image_->bytes_per_pixel = 3;
image_->image_size = RAW_IMAGE_HEIGHT*RAW_IMAGE_WIDTH*3;
image_->is_new = 0;
image_->image = (char *)calloc(image_->image_size, sizeof(char));
memset(image_->image, 0, image_->image_size * sizeof(char));
grab_image();
// stamp the image
msg->header.stamp = ros::Time::now();
// fill the info
//if (monochrome_)
//{
// fillImage(*msg, "mono8", image_->height, image_->width, image_->width,
// image_->image);
//}
//else
//{
fillImage(*msg, "rgb8", image_->height, image_->width, 3 * image_->width,
image_->image);
//}
}
void send_image_info(struct pico_socket *s)
{
IplImage* temp= grab_image(config.scale_factor, config.color_disable);
int bytes=-1;
uint16_t image_attrib[NUMBER_OF_ATTRIB];
image_attrib[0]= temp->width;
image_attrib[1]= temp->height;
image_attrib[2]= temp->nChannels;
image_attrib[3]= temp->depth;
bytes= pico_socket_sendto(s, (void*)image_attrib, NUMBER_OF_ATTRIB*sizeof(image_attrib[0]), &peer, port);
if(bytes < 0) {
printf("Pico socket write failed. error = %i\n", pico_err);
exit(-1);
}
printf("\n\nimg WIDTH: %i\n", temp->width);
printf("img HEIGHT: %i\n", temp->height);
printf("img nchannels: %i\n", temp->nChannels);
printf("img depth: %i\n\n", temp->depth);
printf("info about img sent\n");
}
unsigned char*
grab_raw_data(const double scale, const int convert_grayscale, int* imagesize)
{
IplImage *image = grab_image(scale, convert_grayscale);
if(!image) {
printf("Grab image failed.\n");
return NULL;
}
*imagesize = image->imageSize;
cvGetRawData(image, &raw_data, NULL, NULL);
return raw_data;
}
