static void video_thread_save_shot(struct image_t *img, struct image_t *img_jpeg)
{
// Search for a file where we can write to
char save_name[128];
for (; video_thread.shot_number < 99999; video_thread.shot_number++) {
sprintf(save_name, "%s/img_%05d.jpg", STRINGIFY(VIDEO_THREAD_SHOT_PATH), video_thread.shot_number);
// Check if file exists or not
if (access(save_name, F_OK) == -1) {
// Create a high quality image (99% JPEG encoded)
jpeg_encode_image(img, img_jpeg, 99, TRUE);
#if JPEG_WITH_EXIF_HEADER
write_exif_jpeg(save_name, img_jpeg->buf, img_jpeg->buf_size, img_jpeg->w, img_jpeg->h);
#else
FILE *fp = fopen(save_name, "w");
if (fp == NULL) {
printf("[video_thread-thread] Could not write shot %s.\n", save_name);
} else {
// Save it to the file and close it
fwrite(img_jpeg->buf, sizeof(uint8_t), img_jpeg->buf_size, fp);
fclose(fp);
}
#endif
// We don't need to seek for a next index anymore
break;
}
}
}
static void save_shot_on_disk(struct image_t *img, struct image_t *img_jpeg)
{
// Search for a file where we can write to
char save_name[128];
snprintf(save_name, sizeof(save_name), "%s/img_%05d.jpg", foldername, shotNumber);
shotNumber++;
// Check if file exists or not
if (access(save_name, F_OK) == -1) {
// Create a high quality image (99% JPEG encoded)
jpeg_encode_image(img, img_jpeg, 99, TRUE);
#if VIDEO_USB_LOGGER_JPEG_WITH_EXIF_HEADER
write_exif_jpeg(save_name, img_jpeg->buf, img_jpeg->buf_size, img_jpeg->w, img_jpeg->h);
#else
FILE *fp = fopen(save_name, "w");
if (fp == NULL) {
printf("[video_thread-thread] Could not write shot %s.\n", save_name);
} else {
// Save it to the file and close it
fwrite(img_jpeg->buf, sizeof(uint8_t), img_jpeg->buf_size, fp);
fclose(fp);
printf("Wrote image\n");
}
#endif
/** Log the values to a csv file */
if (video_usb_logger == NULL) {
return;
}
static uint32_t counter = 0;
struct pose_t pose = get_rotation_at_timestamp(img->pprz_ts);
struct NedCoor_i *ned = stateGetPositionNed_i();
struct NedCoor_i *accel = stateGetAccelNed_i();
static uint32_t sonar = 0;
// Save current information to a file
fprintf(video_usb_logger, "%d,%d,%f,%f,%f,%d,%d,%d,%d,%d,%d,%f,%f,%f,%d\n", counter,
shotNumber,
pose.eulers.phi, pose.eulers.theta, pose.eulers.psi,
ned->x, ned->y, ned->z,
accel->x, accel->y, accel->z,
pose.rates.p, pose.rates.q, pose.rates.r,
sonar);
counter++;
}
}
