void ALImageTranscriber::registerCamera(ALPtr<ALBroker> broker) {
try {
camera = broker->getProxy("NaoCam");
camera_active =true;
}catch (ALError &e) {
log->error("ALImageTranscriber",
"Could not create a proxy to NaoCam module");
camera_active =false;
return;
}
lem_name = "ALImageTranscriber_LEM";
int format = NAO_IMAGE_SIZE;
int colorSpace = NAO_COLOR_SPACE;
int fps = DEFAULT_CAMERA_FRAMERATE;
int resolution = format;
#ifdef DEBUG_MAN_INITIALIZATION
printf(" Registering LEM with format=%i colorSpace=%i fps=%i\n", format,
colorSpace, fps);
#endif
try {
lem_name = camera->call<std::string>("register", lem_name, format,
colorSpace, fps);
cout << "Registered Camera: " << lem_name << " successfully"<<endl;
} catch (ALError &e) {
cout << "Failed to register camera" << lem_name << endl;
camera_active = false;
// SleepMs(500);
// try {
// printf("LEM failed once, trying again\n");
// lem_name = camera->call<std::string>("register", lem_name, format,
// colorSpace, fps);
// }catch (ALError &e2) {
// log->error("ALImageTranscriber", "Could not call the register method of the NaoCam "
// "module\n" + e2.toString());
// return;
// }
}
}
void ALRosGatherer::init(ALPtr<ALBroker> broker) {
fDataGathererProxy = broker->getProxy("ALDataGatherer");
}