int sortCallback(const void * aa, const void * bb)
{
const struct dirent ** a = (const struct dirent **)aa;
const struct dirent ** b = (const struct dirent **)bb;
return uStrNumCmp((*a)->d_name, (*b)->d_name);
}
cv::Mat CameraImages::captureImage()
{
UDEBUG("");
cv::Mat img;
if(_dir->isValid())
{
if(_refreshDir)
{
_dir->update();
}
if(_startAt == 0)
{
const std::list<std::string> & fileNames = _dir->getFileNames();
if(fileNames.size())
{
if(_lastFileName.empty() || uStrNumCmp(_lastFileName,*fileNames.rbegin()) < 0)
{
_lastFileName = *fileNames.rbegin();
std::string fullPath = _path + _lastFileName;
img = cv::imread(fullPath.c_str());
}
}
}
else
{
std::string fileName;
std::string fullPath;
fileName = _dir->getNextFileName();
if(fileName.size())
{
fullPath = _path + fileName;
while(++_count < _startAt && (fileName = _dir->getNextFileName()).size())
{
fullPath = _path + fileName;
}
if(fileName.size())
{
ULOGGER_DEBUG("Loading image : %s", fullPath.c_str());
#if CV_MAJOR_VERSION >=2 and CV_MINOR_VERSION >=4
img = cv::imread(fullPath.c_str(), cv::IMREAD_UNCHANGED);
#else
img = cv::imread(fullPath.c_str(), -1);
#endif
UDEBUG("width=%d, height=%d, channels=%d, elementSize=%d, total=%d", img.cols, img.rows, img.channels(), img.elemSize(), img.total());
// FIXME : it seems that some png are incorrectly loaded with opencv c++ interface, where c interface works...
if(img.depth() != CV_8U)
{
// The depth should be 8U
UWARN("Cannot read the image correctly, falling back to old OpenCV C interface...");
IplImage * i = cvLoadImage(fullPath.c_str());
img = cv::Mat(i, true);
cvReleaseImage(&i);
}
}
}
}
}
else
{
UWARN("Directory is not set, camera must be initialized.");
}
unsigned int w;
unsigned int h;
this->getImageSize(w, h);
if(!img.empty() &&
w &&
h &&
w != (unsigned int)img.cols &&
h != (unsigned int)img.rows)
{
cv::Mat resampled;
cv::resize(img, resampled, cv::Size(w, h));
img = resampled;
}
return img;
}
int sortCallback( const dirent ** a, const dirent ** b)
{
return uStrNumCmp((*a)->d_name, (*b)->d_name);
}
bool sortCallback(const std::string & a, const std::string & b)
{
return uStrNumCmp(a,b) < 0;
}
