Example #1
0
void vision::saveImageRaw(){

  //First you have to declare an ALVisionImage to get the video buffer.
  // ( definition included in alvisiondefinitions.h and alvisiondefinitions.cpp )
  ALVisionImage* imageIn;

  //Now you can get the pointer to the video structure.
  try
  {
    imageIn = ( ALVisionImage* ) ( camera->call<int>( "getDirectRawImageLocal", name ) );
  }catch( ALError& e)
  {
    log->error( "vision", "could not call the getImageLocal method of the NaoCam module" );
  }

  std::cout<< imageIn->toString();

    static int saved_frames = 0;
    int MAX_FRAMES = 150;
    if (saved_frames > MAX_FRAMES)
        return;

    string EXT(".NFRM");
    string BASE("/");
    int NUMBER = saved_frames;
    string FOLDER("/home/root/frames");
    stringstream FRAME_PATH;

    FRAME_PATH << FOLDER << BASE << NUMBER << EXT;
    fstream fout(FRAME_PATH.str().c_str(), fstream::out);

    // Retrive joints
    //vector<float> joints = getVisionBodyAngles();

    // Lock and write image
    fout.write(reinterpret_cast<const char*>(imageIn->getFrame()), IMAGE_BYTE_SIZE);

    // Write joints
    //for (vector<float>::const_iterator i = joints.begin(); i < joints.end();
    //     i++) {
    //    fout << *i << " ";
    //}

    // Write sensors
    //vector<float> sensor_data = getAllSensors();
    //for (vector<float>::const_iterator i = sensor_data.begin();
    //     i != sensor_data.end(); i++) {
    //    fout << *i << " ";
    //}

    fout.close();
    cout << "Saved frame #" << saved_frames++ << endl;

    //Now you have finished with the image, you have to release it in the V.I.M.
    try {
        camera->call<int>( "releaseDirectRawImage", name );
    } catch (ALError& e) {
        log->error( "vision", "could not call the releaseImage method of the NaoCam module" );
    }
}
Example #2
0
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());
  }
}
Example #3
0
/**
 * saveImage : save the last image received.
 * @param pName path of the file
 */
void vision::saveImage( std::string pName ){

  //First you have to declare an ALVisionImage to get the video buffer.
  // ( definition included in alvisiondefinitions.h and alvisiondefinitions.cpp )
  ALVisionImage* imageIn;

  //Now you can get the pointer to the video structure.
  try
  {
    imageIn = ( ALVisionImage* ) ( camera->call<int>( "getImageLocal", name ) );
  }catch( ALError& e)
  {
    log->error( "vision", "could not call the getImageLocal method of the NaoCam module" );
  }

  std::cout<< imageIn->toString();

  //You can get some informations of the image.
  int width = imageIn->fWidth;
  int height = imageIn->fHeight;
  int nbLayers = imageIn->fNbLayers;
  int colorSpace = imageIn->fColorSpace;
  long long timeStamp = imageIn->fTimeStamp;
  int seconds = (int)(timeStamp/1000000LL);

  //You can get the pointer of the image.
  uInt8 *dataPointerIn = imageIn->getFrame();

  // now you create an openCV image and you save it in a file.
  IplImage* image = cvCreateImage( cvSize( width, height ), 8, nbLayers );

//  image->imageData = ( char* ) imageIn->getFrame();
  image->imageData = ( char* ) dataPointerIn;

  const char* imageName = ( pName + DecToString(seconds) + ".jpg" ).c_str();

  cvSaveImage( imageName, image );
  cvReleaseImage( &image );

  //Now you have finished with the image, you have to release it in the V.I.M.
  try
  {
    camera->call<int>( "releaseImage", name );
  }catch( ALError& e)
  {
    log->error( "vision", "could not call the releaseImage method of the NaoCam module" );
  }

}
Example #4
0
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());
    }
}
Example #5
0
ALValue vision::getBalls() {

	ALValue resultBallRect;
	resultBallRect.arraySetSize(4);

	resultBallRect[0] = 0;
	resultBallRect[1] = 0;
	resultBallRect[2] = 0;
	resultBallRect[3] = 0;

	//First you have to declare an ALVisionImage to get the video buffer.
	// ( definition included in alvisiondefinitions.h and alvisiondefinitions.cpp )
	ALVisionImage* imageIn;

	//Now you can get the pointer to the video structure.
	try
	{
	imageIn = ( ALVisionImage* ) ( camera->call<int>( "getImageLocal", name ) );
	}catch( ALError& e)
	{
	log->error( "vision", "could not call the getImageLocal method of the NaoCam module" );
	}

	//You can get some informations of the image.
	int width = imageIn->fWidth;
	int height = imageIn->fHeight;
	int nbLayers = imageIn->fNbLayers;
	int colorSpace = imageIn->fColorSpace;
	long long timeStamp = imageIn->fTimeStamp;
	int seconds = (int)(timeStamp/1000000LL);

//	log->info( "vision", "Creating OpenCV image" );

	//You can get the pointer of the image.
	uInt8 *dataPointerIn = imageIn->getFrame();

	// now you create an openCV image and you save it in a file.
	IplImage* src = cvCreateImage( cvSize( width, height ), 8, nbLayers );

	//  src->imageData = ( char* ) imageIn->getFrame();
	src->imageData = ( char* ) dataPointerIn;

//log->info( "vision", "Searching field" );

	IplImage* mask = 0;
	IplImage* imageClipped = 0;

	// Get field
	CvRect* fieldRect = new CvRect[1];

//printf("before getLargestColoredContour\n");
	// Green field
	// parameters for pan/tilt camera
	//CvSeq* field = getLargestColoredContour(src, 155, 5, 100, 300, fieldRect);
	// parameters for Nao camera in lab
//    CvSeq* field = getLargestColoredContour(src, 175, 30, 25, 1000, fieldRect);
    // Params for WEBOTS
    CvSeq* field = getLargestColoredContour(src, 125, 30, 25, 100, &fieldRect, 1)[0];

    if (field != NULL) {
//    	printf("Field: %d, %d, %d, %d\n", fieldRect.x, fieldRect.y, fieldRect.width, fieldRect.height);

//log->info( "vision", "Searching ball1" );

		CvSize imageSize = cvSize(src->width, src->height);
		mask = cvCreateImage( imageSize, 8, 1 );
		cvZero(mask);

		CvScalar colorWHITE = CV_RGB(255, 255, 255);

		int elementCount = field->total;
		CvPoint* temp = new CvPoint[elementCount];
		CvPoint pt0 = **CV_GET_SEQ_ELEM( CvPoint*, field, elementCount - 1 );
		for (int i = 0; i < elementCount; i++) {
			CvPoint pt = **CV_GET_SEQ_ELEM( CvPoint*, field, i );
			temp[i].x = pt.x;
			temp[i].y = pt.y;
		}
		cvFillConvexPoly(mask, temp, elementCount, colorWHITE, 8, 0);

		imageClipped = cvCreateImage( imageSize, 8, 3 );
		cvZero(imageClipped);
		cvCopy(src, imageClipped, mask);

		// Get ball
		CvRect* ballRect= new CvRect[10];

//log->info( "vision", "Searching ball2" );
	    // parameters for pan/tilt camera
	    //getLargestColoredContour(imageClipped, 17, 10, 100, 50, ballRect);
	    // parameters for Nao camera in lab
//		CvSeq* ballHull = getLargestColoredContour(imageClipped, 40, 25, 50, 30, ballRect);
		// Params for webots
		CvSeq** ballHull = getLargestColoredContour(imageClipped, 55, 125, 50, 30, &ballRect, 0);

//log->info( "vision", "Searching ball3" );
        int* X_Arr= new int[10];
        int* Y_Arr= new int[10];
        int* Width_Arr= new int[10];
        int* Height_Arr= new int[10];

        for(int i=0; ballHull[i] != NULL; i++) {
            X_Arr[i]= ballRect[i].x;
            Y_Arr[i]= ballRect[i].y;
            Width_Arr[i]= ballRect[i].width;
            Height_Arr[i]= ballRect[i].height;
        }
		if (ballHull != NULL) {
//			printf("ballrect: %d, %d, %d, %d\n", ballRect.x, ballRect.y, ballRect.width, ballRect.height);
			resultBallRect[0] = X_Arr;
			resultBallRect[1] = Y_Arr;
			resultBallRect[2] = Width_Arr;
			resultBallRect[3] = Height_Arr;

//			printf("Clearing ball Hull\n");
//			cvClearSeq(ballHull);
//			printf("Ball Hull cleared\n");
		} else {
//	    	printf("Ball not found!\n");
			resultBallRect[0] = -2;
			resultBallRect[1] = -2;
			resultBallRect[2] = -2;
			resultBallRect[3] = -2;
		}
    } else {