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());
}
}
