void vision::saveImageRaw(){
//First you have to declare an ALVisionImage to get the video buffer.
// ( definition included in alvisiondefinitions.h and alvisiondefinitions.cpp )
ALVisionImage* imageIn;
//Now you can get the pointer to the video structure.
try
{
imageIn = ( ALVisionImage* ) ( camera->call<int>( "getDirectRawImageLocal", name ) );
}catch( ALError& e)
{
log->error( "vision", "could not call the getImageLocal method of the NaoCam module" );
}
std::cout<< imageIn->toString();
static int saved_frames = 0;
int MAX_FRAMES = 150;
if (saved_frames > MAX_FRAMES)
return;
string EXT(".NFRM");
string BASE("/");
int NUMBER = saved_frames;
string FOLDER("/home/root/frames");
stringstream FRAME_PATH;
FRAME_PATH << FOLDER << BASE << NUMBER << EXT;
fstream fout(FRAME_PATH.str().c_str(), fstream::out);
// Retrive joints
//vector<float> joints = getVisionBodyAngles();
// Lock and write image
fout.write(reinterpret_cast<const char*>(imageIn->getFrame()), IMAGE_BYTE_SIZE);
// Write joints
//for (vector<float>::const_iterator i = joints.begin(); i < joints.end();
// i++) {
// fout << *i << " ";
//}
// Write sensors
//vector<float> sensor_data = getAllSensors();
//for (vector<float>::const_iterator i = sensor_data.begin();
// i != sensor_data.end(); i++) {
// fout << *i << " ";
//}
fout.close();
cout << "Saved frame #" << saved_frames++ << endl;
//Now you have finished with the image, you have to release it in the V.I.M.
try {
camera->call<int>( "releaseDirectRawImage", name );
} catch (ALError& e) {
log->error( "vision", "could not call the releaseImage method of the NaoCam module" );
}
}
/**
* saveImage : save the last image received.
* @param pName path of the file
*/
void vision::saveImage( std::string pName ){
//First you have to declare an ALVisionImage to get the video buffer.
// ( definition included in alvisiondefinitions.h and alvisiondefinitions.cpp )
ALVisionImage* imageIn;
//Now you can get the pointer to the video structure.
try
{
imageIn = ( ALVisionImage* ) ( camera->call<int>( "getImageLocal", name ) );
}catch( ALError& e)
{
log->error( "vision", "could not call the getImageLocal method of the NaoCam module" );
}
std::cout<< imageIn->toString();
//You can get some informations of the image.
int width = imageIn->fWidth;
int height = imageIn->fHeight;
int nbLayers = imageIn->fNbLayers;
int colorSpace = imageIn->fColorSpace;
long long timeStamp = imageIn->fTimeStamp;
int seconds = (int)(timeStamp/1000000LL);
//You can get the pointer of the image.
uInt8 *dataPointerIn = imageIn->getFrame();
// now you create an openCV image and you save it in a file.
IplImage* image = cvCreateImage( cvSize( width, height ), 8, nbLayers );
// image->imageData = ( char* ) imageIn->getFrame();
image->imageData = ( char* ) dataPointerIn;
const char* imageName = ( pName + DecToString(seconds) + ".jpg" ).c_str();
cvSaveImage( imageName, image );
cvReleaseImage( &image );
//Now you have finished with the image, you have to release it in the V.I.M.
try
{
camera->call<int>( "releaseImage", name );
}catch( ALError& e)
{
log->error( "vision", "could not call the releaseImage method of the NaoCam module" );
}
}