void Gui::setCamara(const colorspaces::Image& image, int id) {
// Set image
IplImage src; // conversión a IplImage
src = image;
colorspaces::ImageRGB8 img_rgb888(image); // conversion will happen if needed
Glib::RefPtr<Gdk::Pixbuf> imgBuff = Gdk::Pixbuf::create_from_data((const guint8*) img_rgb888.data,
Gdk::COLORSPACE_RGB,
false,
8,
img_rgb888.width,
img_rgb888.height,
img_rgb888.step);
if (id == 1) {
gtk_image1->clear();
gtk_image1->set(imgBuff);
} else {
gtk_image2->clear();
gtk_image2->set(imgBuff);
}
}
cv::Mat CameraUtils::getImageFromCameraProxy(jderobot::ImageDataPtr dataPtr) {
cv::Mat outImage;
colorspaces::Image::FormatPtr fmt;
fmt = colorspaces::Image::Format::searchFormat(dataPtr->description->format);
if (!fmt)
throw "Format not supported";
if (dataPtr->description->format == colorspaces::ImageRGB8::FORMAT_RGB8_Z.get()->name ||
dataPtr->description->format == colorspaces::ImageRGB8::FORMAT_DEPTH8_16_Z.get()->name )
{
size_t dest_len = dataPtr->description->width*dataPtr->description->height*3;
size_t source_len = dataPtr->pixelData.size();
unsigned char* origin_buf = (uchar*) malloc(dest_len);
int r = uncompress((Bytef *) origin_buf, (uLongf *) &dest_len, (const Bytef *) &(dataPtr->pixelData[0]), (uLong)source_len);
if(r != Z_OK) {
fprintf(stderr, "[CMPR] Error:\n");
switch(r) {
case Z_MEM_ERROR:
fprintf(stderr, "[CMPR] Error: Not enough memory to compress.\n");
break;
case Z_BUF_ERROR:
fprintf(stderr, "[CMPR] Error: Target buffer too small.\n");
break;
case Z_STREAM_ERROR: // Invalid compression level
fprintf(stderr, "[CMPR] Error: Invalid compression level.\n");
break;
}
}
else
{
colorspaces::Image imageRGB(dataPtr->description->width,dataPtr->description->height,colorspaces::ImageRGB8::FORMAT_RGB8,&(origin_buf[0]));
colorspaces::ImageRGB8 img_rgb888(imageRGB);//conversion will happen if needed
cv::Mat(cvSize(img_rgb888.width,img_rgb888.height), CV_8UC3, img_rgb888.data).copyTo(outImage);
img_rgb888.release();
}
if (origin_buf)
free(origin_buf);
}
else if (dataPtr->description->format == colorspaces::ImageRGB8::FORMAT_RGB8.get()->name ||
dataPtr->description->format == colorspaces::ImageRGB8::FORMAT_DEPTH8_16.get()->name )
{
colorspaces::Image imageRGB(dataPtr->description->width,dataPtr->description->height,colorspaces::ImageRGB8::FORMAT_RGB8,&(dataPtr->pixelData[0]));
colorspaces::ImageRGB8 img_rgb888(imageRGB);//conversion will happen if needed
cv::Mat(cvSize(img_rgb888.width,img_rgb888.height), CV_8UC3, img_rgb888.data).copyTo(outImage);
img_rgb888.release();
}
else if (dataPtr->description->format == colorspaces::ImageGRAY8::FORMAT_GRAY8_Z.get()->name) {
//gay compressed
size_t dest_len = dataPtr->description->width*dataPtr->description->height;
size_t source_len = dataPtr->pixelData.size();
unsigned char* origin_buf = (uchar*) malloc(dest_len);
int r = uncompress((Bytef *) origin_buf, (uLongf *) &dest_len, (const Bytef *) &(dataPtr->pixelData[0]), (uLong)source_len);
if(r != Z_OK) {
fprintf(stderr, "[CMPR] Error:\n");
switch(r) {
case Z_MEM_ERROR:
fprintf(stderr, "[CMPR] Error: Not enough memory to compress.\n");
break;
case Z_BUF_ERROR:
fprintf(stderr, "[CMPR] Error: Target buffer too small.\n");
break;
case Z_STREAM_ERROR: // Invalid compression level
fprintf(stderr, "[CMPR] Error: Invalid compression level.\n");
break;
}
}
else
{
colorspaces::Image imageGray(dataPtr->description->width,dataPtr->description->height,colorspaces::ImageGRAY8::FORMAT_GRAY8,&(origin_buf[0]));
colorspaces::ImageGRAY8 img_gray8(imageGray);//conversion will happen if needed
cv::Mat(cvSize(img_gray8.width,img_gray8.height), CV_8UC1, img_gray8.data).copyTo(outImage);
img_gray8.release();
}
if (origin_buf)
free(origin_buf);
}
else if (dataPtr->description->format == colorspaces::ImageGRAY8::FORMAT_GRAY8.get()->name){
colorspaces::Image imageGray(dataPtr->description->width,dataPtr->description->height,colorspaces::ImageGRAY8::FORMAT_GRAY8,&(dataPtr->pixelData[0]));
colorspaces::ImageGRAY8 img_gray8(imageGray);//conversion will happen if needed
cv::Mat(cvSize(img_gray8.width,img_gray8.height), CV_8UC1, img_gray8.data).copyTo(outImage);
img_gray8.release();
}
else{
LOG(ERROR) << "Unkown image format";
}
return outImage;
}
