ALImageTranscriber::ALImageTranscriber(shared_ptr<Sensors> s,
ALPtr<ALBroker> broker)
: ThreadedImageTranscriber(s,"ALImageTranscriber"),
log(), camera(), lem_name(""), camera_active(false),
image(reinterpret_cast<uint16_t*>(new uint8_t[IMAGE_BYTE_SIZE])),
table(new unsigned char[yLimit * uLimit * vLimit]),
params(y0, u0, v0, y1, u1, v1, yLimit, uLimit, vLimit)
{
try {
log = broker->getLoggerProxy();
// Possible values are
// lowDebug, debug, lowInfo, info, warning, error, fatal
log->setVerbosity("error");
}catch (ALError &e) {
cout << "Could not create a proxy to ALLogger module" << endl;
}
#ifdef USE_VISION
registerCamera(broker);
if(camera_active) {
try{
initCameraSettings(BOTTOM_CAMERA);
}catch(ALError &e){
cout << "Failed to init the camera settings:"<<
e.toString()<< endl;
camera_active = false;
}
} else {
cout << "\tCamera is inactive!" << endl;
}
#endif
initTable("/home/nao/naoqi/lib/naoqi/table.mtb");
}
ALImageTranscriber::ALImageTranscriber(shared_ptr<Synchro> synchro,
shared_ptr<Sensors> s,
ALPtr<ALBroker> broker)
: ThreadedImageTranscriber(s,synchro,"ALImageTranscriber"),
log(), camera(), lem_name(""), camera_active(false),
image(new unsigned char[IMAGE_BYTE_SIZE])
{
try {
log = broker->getLoggerProxy();
// Possible values are
// lowDebug, debug, lowInfo, info, warning, error, fatal
log->setVerbosity("error");
}catch (ALError &e) {
std::cerr << "Could not create a proxy to ALLogger module" << std::endl;
}
#ifdef USE_VISION
registerCamera(broker);
if(camera_active) {
try{
initCameraSettings(BOTTOM_CAMERA);
}catch(ALError &e){
cout << "Failed to init the camera settings:"<<e.toString()<<endl;
camera_active = false;
}
}
else
cout << "\tCamera is inactive!" << endl;
#endif
}