void
MultiCameraReader::readFromFile( std::ifstream *file,
const std::string &format,
orcaice::Context context,
orca::MultiCameraDescriptionPtr &obj )
{
descr_ = new orca::MultiCameraDescription();
if ( format=="ice" )
{
orcalog::IceReadHelper helper( context.communicator(), file );
ice_readMultiCameraDescription( helper.stream_, obj );
helper.read();
}
else if ( format=="jpeg" || format=="bmp" || format=="avi")
{
#ifndef OPENCV_FOUND
std::stringstream infostring;
infostring << "Images can only be replayed in '" << format << "' format if you have OpenCV.";
context.tracer().info( infostring.str() );
context.tracer().info( "Please have a look at the documentation for installing OpenCV." );
std::stringstream errorstring;
errorstring << "Logger: '"<< format <<"' format not supported because OpenCV is not installed.";
throw orcalog::FormatNotSupportedException( ERROR_INFO, errorstring.str() );
#endif
// Populate the description with data from the file
std::string line;
std::getline( *file, line );
std::stringstream ss( line );
fromLogString( ss, descr_ );
// Point the descriptor pointer to our copy of it
obj = descr_;
}
else
{
stringstream ss;
ss << "can't handle format: " << format;
throw orcalog::FormatNotSupportedException( ERROR_INFO, ss.str() );
}
// Now that we know the size, initialise the data storage
initDataStorage();
}
void
MultiCameraWriter::logToFile( std::ofstream *file, const std::string &format, orcaice::Context context, const orca::MultiCameraDescriptionPtr &obj)
{
if ( format=="ice" ){
orcalog::IceWriteHelper helper( context.communicator() );
ice_writeMultiCameraDescription( helper.stream_, obj );
helper.write( file );
}
else if ( format=="jpeg" || format == "bmp" || format=="avi") {
//Log the MultiCamera Description to an ascii file
(*file) << toLogString(obj) << endl;
}
else{
stringstream ss;
ss << "can't handle format: " << format;
throw orcalog::FormatNotSupportedException( ERROR_INFO, ss.str() );
}
}
Ice::ObjectPrx
getComponentAdmin( const orcaice::Context& context, const orca::FQComponentName& fqName )
{
orca::FQComponentName resolvedFqname = orcaice::resolveLocalPlatform( context, fqName );
Ice::CommunicatorPtr ic = context.communicator();
assert( ic );
Ice::LocatorPrx locatorPrx = ic->getDefaultLocator();
Ice::Identity adminId = toAdminIdentity( resolvedFqname );
Ice::ObjectPrx adminPrx;
try {
adminPrx = locatorPrx->findObjectById( adminId );
}
catch ( const Ice::Exception& ) {
// what do we do?
}
return adminPrx;
}
IceGrid::QueryPrx
getDefaultQuery( const orcaice::Context& context )
{
Ice::CommunicatorPtr ic = context.communicator();
assert( ic );
Ice::ObjectPrx locatorPrx = ic->getDefaultLocator();
Ice::Identity locatorId = locatorPrx->ice_getIdentity();
Ice::Identity queryId;
queryId.category = locatorId.category;
queryId.name = "Query";
Ice::ObjectPrx objPrx = ic->stringToProxy( ic->identityToString( queryId ) );
IceGrid::QueryPrx queryPrx;
try {
// objPrx->ice_ping();
// string address = orcacm::connectionToRemoteAddress( queryPrx->ice_getConnection()->toString() );
// std::ostringstream os;
// os<<"Registry ping successful: "<<data.address;
// context.tracer().debug( os.str() );
queryPrx = IceGrid::QueryPrx::checkedCast( objPrx );
}
catch ( const Ice::Exception& e ) {
// what do we do?
ostringstream os;
os << "(while looking for IceGrid Query interface) :"<<e.what();
context.tracer().warning( os.str() );
}
return queryPrx;
}
void
MultiCameraReader::readFromFile( std::ifstream *file,
const std::string &format,
orcaice::Context context,
orca::MultiCameraDataPtr &obj )
{
if ( format=="ice" )
{
orcalog::IceReadHelper helper( context.communicator(), file );
ice_readMultiCameraData( helper.stream_, obj );
helper.read();
}
else if ( format=="jpeg" || format == "bmp" )
{
#ifndef OPENCV_FOUND
std::stringstream infostring;
infostring << "Images can only be replayed in '"<< format <<"' format if you have OpenCV.";
context.tracer().info( infostring.str() );
context.tracer().info( "Please have a look at the documentation for installing OpenCV." );
std::stringstream errorstring;
errorstring << "Logger: '"<< format << "' format not supported because OpenCV is not installed.";
throw orcalog::FormatNotSupportedException( ERROR_INFO, errorstring.str() );
#endif
// Pull the next line from the data log file
std::string line;
std::getline( *file, line );
// Fill the MultiCameraDataObject with the data
std::stringstream ss( line );
fromLogString( ss, data_ );
// Load the correct images using the filenames provided
loadImageData( ss, data_);
// Point the descriptor pointer to our copy
obj = data_;
}
else if ( format=="avi" )
{
#ifndef OPENCV_FOUND
context.tracer().info( "Data can only be replayed in 'avi' format if you have OpenCV." );
context.tracer().info( "Please have a look at the documentation for installing OpenCV." );
throw orcalog::FormatNotSupportedException( ERROR_INFO, "Logger: 'avi' format not supported because OpenCV is not installed." );
#endif
// Pull the next line from the data log file
std::string line;
std::getline( *file, line );
// Fill the MultiCameraDataObject with the data
std::stringstream ss( line );
fromLogString( ss, data_ );
// Load the correct images using the filenames provided
loadVideoData( ss, data_ );
// Point the descriptor pointer to our copy
obj = data_;
}
else
{
stringstream ss;
ss << "can't handle format: " << format;
throw orcalog::FormatNotSupportedException( ERROR_INFO, ss.str() );
}
}
void
MultiCameraWriter::logToFile( std::ofstream *file, const std::string &format, orcaice::Context context, const orca::MultiCameraDataPtr &obj)
{
if ( format == "ice" ){
orcalog::IceWriteHelper helper( context.communicator() );
ice_writeMultiCameraData( helper.stream_, obj );
helper.write( file );
}
else if ( format=="jpeg" ){
// write object meta data into a ascii file
(*file) << toLogString(obj);
// For each image in MultiCameraDatPtr, write it to disk
for (unsigned int i = 0; i < obj->cameraDataVector.size(); ++i)
{
// generate image filename (different file for each image)
std::stringstream filename;
filename << ".//" << directoryPrefix_ << "//" << "cam" << i << "_image"
<< std::setw(5) << std::setfill('0') << dataCounter_ << ".jpeg";
std::string outputname;
outputname = filename.str();
// Write the outputted filename to the logfile as well
(*file) << " " << outputname;
// the images are saved as individual jpegs
writeCameraDataAsFile(obj, outputname, i);
}
// Make sure we put in a newline
(*file) << endl;
}
else if ( format=="bmp" ){
// write object meta data into a ascii file
(*file) << toLogString(obj);
// For each image in MultiCameraDatPtr, write it to disk
for (unsigned int i = 0; i < obj->cameraDataVector.size(); ++i)
{
// generate image filename (different file for each image)
std::stringstream filename;
filename << ".//" << directoryPrefix_ << "//" << "cam" << i << "_image"
<< std::setw(5) << std::setfill('0') << dataCounter_ << ".bmp";
std::string outputname;
outputname = filename.str();
// Write the outputted filename to the logfile as well
(*file) << " " <<outputname;
// the images are saved as individual bitmaps
writeCameraDataAsFile(obj, outputname, i);
}
// Make sure we put in a newline
(*file) << endl;
}
else if (format =="avi") {
// write object meta data into a ascii file
(*file) << toLogString(obj);
// For each image in MultiCameraDatPtr, write it to disk
for (unsigned int i = 0; i < obj->cameraDataVector.size(); ++i)
{
// generate image filename. This will be the same for each video,
// but is important for the logplayer to know what the filename is.
// Also allows for future enhancements to split the video file into
// manageable pieces
std::stringstream filename;
filename << ".//" << directoryPrefix_ << "//" << "cam" << i << "_avi_video.avi";
std::string outputname = filename.str();
// Write the outputted filename to the logfile as well
(*file) << " " << outputname;
// the images are saved as uncompressed video into separate files
writeCameraDataAsVideo(obj, i);
}
// Make sure we put in a newline
(*file) << endl;
}
else{
stringstream ss;
ss << "can't handle format: " << format;
throw orcalog::FormatNotSupportedException( ERROR_INFO, ss.str() );
}
// Increment output image number
dataCounter_++;
}