void ALImageTranscriber::waitForImage ()
{
try {
#ifdef DEBUG_IMAGE_REQUESTS
printf("Requesting local image of size %ix%i, color space %i\n",
IMAGE_WIDTH, IMAGE_HEIGHT, NAO_COLOR_SPACE);
#endif
ALImage *ALimage = NULL;
// Attempt to retrieve the next image
try {
ALimage = (ALImage*) (camera->call<int>("getDirectRawImageLocal",lem_name));
}catch (ALError &e) {
log->error("NaoMain", "Could not call the getImageLocal method of the " VIDEO_MODULE
" module");
}
if (ALimage != NULL) {
memcpy(&image[0], ALimage->getFrame(), IMAGE_BYTE_SIZE);
//image = ALimage->getFrame();
}
else
cout << "\tALImage 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
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());
}
}
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
ALImage *ALimage = NULL;
// Attempt to retrieve the next image
try {
ALimage =
reinterpret_cast<ALImage*>(
camera->getDirectRawImageLocal( lem_name));
}catch (ALError &e) {
log->error("NaoMain",
"Could not call the getImageLocal method of the "
"NaoCam module");
}
if (ALimage != NULL){
// Synchronize noggin's information about joint angles with the motion
// thread's information
//we need to update the joint values before we copy the image
//since it takes a long time to copy it
sensors->updateVisionAngles();
sensors->lockImage();
#ifdef CAN_SAVE_FRAMES
// we make a local of the nao image for logging purposes
if (sensors->getWriteableNaoImage() != NULL) {
_copy_image(ALimage->getData(), sensors->getWriteableNaoImage());
ImageAcquisition::acquire_image_fast(table, params,
sensors->getNaoImage(), image);
} else {
ImageAcquisition::acquire_image_fast(table, params,
ALimage->getData(), image);
}
#else
ImageAcquisition::acquire_image_fast(table, params,
ALimage->getData(), image);
#endif
sensors->releaseImage();
//we're done with the aldebaran buffer
this->releaseImage();
} else {
cout << "\tALImage 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->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);
#ifdef CAN_SAVE_FRAMES
sensors->notifyNewNaoImage();
#endif
sensors->releaseImage();
}
}catch (ALError &e) {
log->error("NaoMain", "Caught an error in run():\n" + e.toString());
}
}
struct timespec KImageExtractor::fetchImage(IplImage *img)
{
struct timespec rt;//Timestamp
cout<<"KImageExtractor::fetchimage():"<<endl;
if (doneSubscribe==false)
{
cout<<"KImageExtractor: Warning! fetchImage() called although GVM Subscription has failed!"<<endl;
rt.tv_sec=0;
rt.tv_nsec=0;
return rt;
}
#ifdef REMOTE_ON
// cout << "Remote method on" << endl;
// sleep(1);
ALValue results;
#ifdef RAW
results = (c->call<ALValue> ("getDirectRawImageRemote", GVM_name));
#else
results = (c->call<ALValue> ("getImageRemote", GVM_name));
#endif
if (results.getType() != ALValue::TypeArray && results.getSize() != 7)
{
throw ALError("KImageExtractor", "saveImageRemote", "Invalid image returned.");
}
//const int size = results[6].getSize();
// You can get some image information that you may find useful.
// const int width = (int) results[0];
// const int height = (int) results[1];
// const int nbLayers = (int) results[2];
// const int colorSpace = (int) results[3];
//const long long timeStamp = ((long long) (int) results[4]) * 1000000LL + ((long long) (int) results[5]);
// const int seconds = (int) (timeStamp / 1000000LL);
// Set the buffer we received to our IplImage header.
//fIplImageHeader->imageData = (char*) (results[6].GetBinary());
//cout << "Size" << size << endl;
int width = (int) results[0];
int height = (int) results[1];
int nChannels = (int) results[2];
int colorSpace = (int) results[3];
int size =width*height*nChannels;
//Fetch TimeStamp;
rt.tv_sec=(time_t)((int) results[4]);
rt.tv_nsec=(int) results[5]*1000L;
//Change of image data size
assert(img!=NULL);
//cout<<img->imageSize<<" "<<size<<endl;
if (img->imageSize!=size )
{
//cout<<img->width<<" "<<img->height<<endl;
cout<<"KImageExtractor::fetchImage():allocating new imagedata"<<endl;
//cout<<"Delete old"<<endl;
//delete img->imageData;
//img->imageData=NULL;
cout<<"cvInitImage"<<endl;
cvInitImageHeader(img, cvSize(width,height),IPL_DEPTH_8U, nChannels);
//img->imageData=NULL;
cout<<" Done"<<endl;
//img->imageData=(char*)malloc(img->imageSize);
}
if (img->imageData != NULL)
{
//free( fIplImageHeader->imageData)
memcpy(img->imageData, (char*) (results[6].GetBinary()), results[6].getSize() * sizeof(unsigned char));
}
else
{
img->imageData = new char[img->imageSize];
memcpy(img->imageData, (char*) (results[6].GetBinary()), results[6].getSize() * sizeof(char));
}
#else
//cout << "Remote method off" << endl;
//sleep(1);
ALImage* imageIn = NULL;
// Now you can get the pointer to the video structure.
#ifdef RAW
imageIn = (ALImage*) (c->call<int> ("getDirectRawImage", GVM_name));
#else
imageIn = (ALImage*) (c->call<int> ("getImageLocal", GVM_name));
#endif
if (!imageIn)
{
throw ALError("KImageExtractor", "saveImageLocal", "Invalid image returned.");
}
//fLogProxy->info(getName(), imageIn->toString());
// You can get some image information that you may find useful.
int width = imageIn->fWidth;
int height = imageIn->fHeight;
const int nChannels = imageIn->fNbLayers;
// const int colorSpace = imageIn->fColorSpace;
const long long timeStamp = imageIn->fTimeStamp;
// const int seconds = (int) (timeStamp / 1000000LL);
const int size = width*height*nChannels;
// Set the buffer we received to our IplImage header.
//Fetch TimeStamp;
rt.tv_sec=(time_t) (timeStamp / 1000000LL);
rt.tv_nsec=(long) ((timeStamp-rt.tv_sec*1LL)*1000LL);
//Change of image data size
if (img->imageSize!=size*sizeof(char) )
{
free(img->imageData);
cvInitImageHeader(img, cvSize(width,height),IPL_DEPTH_8U, nChannels);
img->imageData=NULL;
//img->imageData=(char*)malloc(img->imageSize);
}
if (img->imageData!=NULL)
{
//free( fIplImageHeader->imageData);
memcpy ( img->imageData, (char*) imageIn->getFrame(), size*sizeof(char) );
}
else
{
img->imageData = new char[size];
memcpy ( img->imageData, (char*) imageIn->getFrame(), size*sizeof(char) );
}
//fIplImageHeader->imageData = (char*) imageIn->getFrame();
//saveIplImage(fIplImageHeader, name, pImageFormat, seconds);
// Now that you're done with the (local) image, you have to release it from the V.I.M.
c->call<int> ("releaseImage", GVM_name);
#endif
return rt;
};
