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00027 #include "libport/cstdio"
00028 #include <csignal>
00029
00030 #include "urbi/usyncclient.hh"
00031 #include "monitor.h"
00032
00033 int imcount;
00034 int format;
00035 Monitor *mon=0;
00036 unsigned char * buffer=NULL;
00037
00038
00039
00040 urbi::UCallbackAction
00041 showImage(const urbi::UMessage &msg)
00042 {
00043 if (msg.type != urbi::MESSAGE_DATA
00044 || msg.value->type != urbi::DATA_BINARY
00045 || msg.value->binary->type != urbi::BINARY_IMAGE)
00046 return urbi::URBI_CONTINUE;
00047
00048 urbi::UImage& img = msg.value->binary->image;
00049
00050 static unsigned char* buffer = static_cast<unsigned char*> (malloc (3*400*400));
00051 int sz = 500000;
00052 static int tme = 0;
00053
00054 if (!(imcount % 20))
00055 {
00056 if (tme)
00057 {
00058 float it = msg.client.getCurrentTime() - tme;
00059 it = 20000.0 / it;
00060 printf("***Framerate: %f fps***\n", it);
00061 }
00062 tme = msg.client.getCurrentTime();
00063 }
00064
00065 if (!mon)
00066 mon = new Monitor(img.width, img.height, "image");
00067
00068 switch (img.imageFormat)
00069 {
00070 case urbi::IMAGE_JPEG:
00071 urbi::convertJPEGtoRGB((const urbi::byte *) img.data, img.size,
00072 (urbi::byte *) buffer, sz);
00073 break;
00074 case urbi::IMAGE_YCbCr:
00075 sz = img.size;
00076 urbi::convertYCrCbtoRGB((const urbi::byte *) img.data, img.size,
00077 (urbi::byte *) buffer);
00078 break;
00079 case urbi::IMAGE_RGB:
00080 case urbi::IMAGE_PPM:
00081 case urbi::IMAGE_UNKNOWN:
00082 break;
00083 }
00084
00085 mon->setImage((bits8 *) buffer, sz);
00086 ++imcount;
00087 return urbi::URBI_CONTINUE;
00088 }
00089
00090 void
00091 closeandquit (int)
00092 {
00093 delete urbi::getDefaultClient();
00094 urbi::exit(0);
00095 }
00096
00097
00098 int
00099 main (int argc, char *argv[])
00100 {
00101 signal(SIGINT, closeandquit);
00102 mon = NULL;
00103
00104 if (argc != 3)
00105 {
00106 fprintf(stderr,
00107 "Missing argument\n"
00108 "usage: urbiimage format robotname [reconstruct]: display images\n"
00109 "\tFormat : jpeg=transfer jpeg, raw=transfer raw\n"
00110 "usage: urbiimage -tofile format filename robotname [reconstruct]: save 1 image.\n"
00111 "\t Format: rgb: RGB ycrcb:YCrCb jpeg: JPEG ppm:PPM\n");
00112 urbi::exit(1);
00113 }
00114
00115 int mode = 0;
00116 if (argc >=5)
00117 mode = 1;
00118
00119 urbi::USyncClient client (argv[2+mode*2]);
00120 if (client.error())
00121 urbi::exit(1);
00122
00123 client.setCallback(showImage, "uimg");
00124
00125 client.send("camera.resolution = 0;");
00126 client.send("camera.jpegfactor = 70;");
00127
00128 client << "camera.reconstruct = " << ((argc>3+mode*2)? 1:0)
00129 << urbi::semicolon;
00130
00131 if (mode == 0)
00132 {
00133 imcount = 0;
00134 format = (argv[1][0]=='r')?0:1;
00135 client.send("camera.format = %d;", format);
00136 client.send("loop {uimg: camera.val; noop},");
00137 urbi::execute();
00138 }
00139 else
00140 {
00141
00142 char buff[1000000];
00143 int sz = 1000000;
00144 int w, h;
00145 switch (argv[2][0])
00146 {
00147 case 'r':
00148 format = urbi::IMAGE_RGB;
00149 break;
00150 case 'y':
00151 format = urbi::IMAGE_YCbCr;
00152 break;
00153 case 'p':
00154 format = urbi::IMAGE_PPM;
00155 break;
00156 case 'j':
00157 format = urbi::IMAGE_JPEG;
00158 break;
00159 };
00160
00161 client.syncGetImage("camera", buff, sz,
00162 format,
00163 (format == urbi::IMAGE_JPEG
00164 ? urbi::URBI_TRANSMIT_JPEG
00165 : urbi::URBI_TRANSMIT_YCbCr),
00166 w, h);
00167
00168 FILE *f = fopen(argv[3], "w");
00169
00170 if (!f)
00171 urbi::exit(2);
00172
00173 fwrite(buff, 1, sz, f);
00174 fclose(f);
00175 }
00176
00177 return 0;
00178 }