/**
* saveImageRemote : test remote image
* @param pName path of the file
*/
void vision::testRemote(){
//Now you can get the pointer to the video structure.
ALValue results;
results.arraySetSize(7);
try
{
results = ( camera->call<ALValue>( "getImageRemote", name ) );
}catch( ALError& e)
{
log->error( "vision", "could not call the getImageRemote method of the NaoCam module" );
}
if (results.getType()!= ALValue::TypeArray) return;
const char* dataPointerIn = static_cast<const char*>(results[6].GetBinary());
int size = results[6].getSize();
//You can get some informations of the image.
int width = (int) results[0];
int height = (int) results[1];
int nbLayers = (int) results[2];
int colorSpace = (int) results[3];
long long timeStamp = ((long long)(int)results[4])*1000000LL + ((long long)(int)results[5]);
// 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;
std::string pName = "aaa";
//const char* imageName = ( pName + DecToString(results[4]) + ".jpg").c_str();
const char* imageName = ( pName + "test" + ".jpg").c_str();
printf("imageName %s\n", imageName);
cvSaveImage( imageName, image );
printf("image saved\n");
try
{
results = ( camera->call<ALValue>( "releaseImage", name ) );
}catch( ALError& e)
{
log->error( "vision", "could not call the releaseImage method of the NaoCam module" );
}
printf("image memory released\n");
// cvReleaseImage( &image );
cvReleaseImageHeader(&image);
printf("image released\n");
printf("testRemote finished\n");
}
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;
};
