Generic video module¶
Overview¶
ALGenericVideoModule is an example showing how to use various functions from ALVideoDevice.
This is a local module, it must be cross-compiled and sent to the robot.
Downloads¶
Whole module¶
Header: genericvideomodule.h¶
/**
* @author Pierre-Emmanuel VIEL
* Copyright (c) 2011 Aldebaran Robotics
*
*/
#ifndef GenericVideoModule_H
#define GenericVideoModule_H
#include <boost/shared_ptr.hpp>
#include <string>
#include <opencv2/core/core.hpp>
#include <alproxies/alvideodeviceproxy.h>
#include <alcommon/almodule.h>
namespace AL
{
/**
* This class shows how to use the ALVideoDevice module to save images on disk.
* It internally uses OpenCv's cvSaveImage function.
*/
class GenericVideoModule : public AL::ALModule
{
public:
GenericVideoModule( boost::shared_ptr<ALBroker> pBroker, const std::string& pName );
virtual ~GenericVideoModule();
void exit();
/**
* registerToVIM : Register to the V.I.M.
*/
void registerToVideoDevice(const int &pResolution, const int &pColorSpace);
/**
* unRegisterFromVIM : Unregister from the V.I.M.
*/
void unRegisterFromVideoDevice();
/**
* saveImage : save the last image received.
* @param pName name of the file
*/
void saveImageLocal(const std::string& pName, const std::string& imageFormat);
/**
* saveImageRemote : save the last image received.
* To be used if genericvideomodule is a remote module.
* @param pName name of the file
*/
void saveImageRemote(const std::string& pName, const std::string& imageFormat);
// Automatically called right after the module is created.
virtual void init();
private:
// Actually perform the cvSaveImage operation.
void xSaveIplImage(const cv::Mat& img, const std::string& name,
const std::string& format, int seconds);
// Proxy to the video input module.
boost::shared_ptr<AL::ALVideoDeviceProxy> fCamProxy;
// Client name that is used to talk to the Video Device.
std::string fVideoClientName;
// This is set to true when we have subscribed one module to the VideoDevice.
bool fRegisteredToVideoDevice;
// Just a IplImage header to wrap around our camera image buffer.
// This object doesn't own the image buffer.
cv::Mat fIplImageHeader;
};
} // namespace AL
#endif // GenericVideoModule_H
Source: genericvideomodule.cpp¶
/**
* @author Pierre-Emmanuel VIEL
* Copyright (c) 2011 Aldebaran Robotics
*
*/
#include <iostream>
#include "genericvideomodule.h"
// For resolution and colorspace definitions + utility functions.
#include <alvision/alvisiondefinitions.h>
#include <alvision/alimage.h>
#include <alcommon/albroker.h>
#include <opencv2/highgui/highgui.hpp>
#include <qi/log.hpp>
using namespace std;
namespace AL
{
GenericVideoModule::GenericVideoModule( boost::shared_ptr<ALBroker> pBroker, const std::string& pName ):
ALModule(pBroker , pName),
fRegisteredToVideoDevice(false),
fIplImageHeader(cv::Mat())
{
// Describe the module here.
setModuleDescription( "This is an example of a generic video module. "
"It can be used to save images returned by the camera. "
"It internally uses OpenCv's cvSaveImage function. "
"Refer to the Example codes section below for an example of use.");
// Define the module example.
addModuleExample( "Python",
" # Create a proxy to the module \n"
" sampleProxy = ALProxy('GenericVideoModule', '127.0.0.1', 9559)\n\n"
" # Register our module to the Video Input Module. \n"
" sampleProxy.registerToVideoDevice(1, 13)\n\n"
" # Save image in remote mode. \n"
" sampleProxy.saveImageRemote('/home/nao/img', 'jpg') \n\n"
" # Unregister.\n"
" sampleProxy.unRegisterFromVideoDevice()\n"
);
// Define bound methods with their description.
functionName( "registerToVideoDevice", getName(), "Register to the V.I.M." );
addParam("resolution", "Resolution requested.");
addParam("colorSpace", "Colorspace requested.");
BIND_METHOD( GenericVideoModule::registerToVideoDevice );
functionName( "unRegisterFromVideoDevice", getName(), "Unregister from the V.I.M." );
BIND_METHOD( GenericVideoModule::unRegisterFromVideoDevice );
functionName( "saveImageLocal", getName(), "Save an image received from the camera." );
addParam( "name", "name and path of the picture (without format extension)" );
addParam( "imageFormat", "format extension such as bmp, jpg, tiff, etc.)" );
BIND_METHOD( GenericVideoModule::saveImageLocal );
functionName( "saveImageRemote", getName(), "Save an image received from the camera. to be used if the genericvideomodule is a remote module." );
addParam( "name", "name and path of the picture (without format extension)" );
addParam( "imageFormat", "format extension such as bmp, jpg, tiff, etc.)" );
BIND_METHOD( GenericVideoModule::saveImageRemote );
}
void GenericVideoModule::exit()
{
AL::ALModule::exit();
}
void GenericVideoModule::init() {
// Create a proxy to the ALVideoDevice.
try {
fCamProxy = boost::shared_ptr<ALVideoDeviceProxy>(new ALVideoDeviceProxy(getParentBroker()));
} catch (const AL::ALError& e) {
qiLogError("vision.genericvideomodule") << "Error while getting proxy on ALVideoDevice. Error msg " << e.toString() << std::endl;
GenericVideoModule::exit();
return;
}
if(fCamProxy == NULL)
{
qiLogError("vision.genericvideomodule") << "Error while getting proxy on ALVideoDevice. Check ALVideoDevice is running." << std::endl;
GenericVideoModule::exit();
return;
}
qiLogInfo("vision.genericvideomodule") << "Use registerToVideoDevice + "
"saveImageLocal + unRegisterFromVideoDevice to save images." << std::endl;
}
GenericVideoModule::~GenericVideoModule() {
// Unregister the video module.
try
{
if(fCamProxy)
fCamProxy->unsubscribe(fVideoClientName);
fCamProxy.reset();
}
catch(const AL::ALError& e)
{
qiLogError("vision.genericvideomodule") << e.toString() << std::endl;
}
}
/**
* registerToVIM
*/
void GenericVideoModule::registerToVideoDevice(const int &pResolution, const int &pColorSpace) {
// If we've already registered a module, we need to unregister it first !
if (fRegisteredToVideoDevice) {
throw ALError(getName(), "registerToVideoDevice()", "A video module has already been "
"registered. Call unRegisterFromVideoDevice() before trying to register a new module.");
}
// GVM Name that we're going to use to register.
const std::string kOriginalName = "genericvideomodule";
int imgWidth = 0;
int imgHeight = 0;
int imgNbLayers = 0;
const int kImgDepth = 8;
const int kFps = 5;
// Release Image Header if it has been allocated before.
if (!fIplImageHeader.empty())
fIplImageHeader.release();
setSizeFromResolution(pResolution, imgWidth, imgHeight);
imgNbLayers = getNumLayersInColorSpace(pColorSpace);
if (imgWidth == -1 || imgWidth == -1 || imgNbLayers == -1) {
throw ALError(getName(), "registerToVideoDevice()", "Invalid resolution or color space.");
}
// Allocate our Image header.
int type;
type = (imgNbLayers) == 3 ? CV_8UC3 : CV_8UC1;
fIplImageHeader = cv::Mat(cv::Size(imgWidth, imgHeight), type);
if (fIplImageHeader.empty()) {
throw ALError(getName(), "registerToVideoDevice()", "Fail to allocate OpenCv image header.");
}
// Call the "subscribe" function with the given parameters.
if(fCamProxy)
fVideoClientName = fCamProxy->subscribe(kOriginalName, pResolution, pColorSpace, kFps );
qiLogInfo("vision.genericvideomodule") << "Module registered as " << fVideoClientName << std::endl;
// Registration is successful, set fRegisteredToVim to true.
fRegisteredToVideoDevice = true;
}
/**
* unRegisterFromVIM
*/
void GenericVideoModule::unRegisterFromVideoDevice() {
if (!fRegisteredToVideoDevice) {
throw ALError(getName(), "unRegisterFromVideoDevice()", "No video module is currently "
"registered! Call registerToVideoDevice first.");
}
// Release Image Header if it has been allocated.
if (!fIplImageHeader.empty())
fIplImageHeader.release();
qiLogInfo("vision.genericvideomodule") << "try to unregister " << fVideoClientName << " module." << std::endl;
if(fCamProxy)
fCamProxy->unsubscribe(fVideoClientName);
qiLogInfo("vision.genericvideomodule") << "Done." << std::endl;
// UnRegistration is successful, set fRegisteredToVim to false.
fRegisteredToVideoDevice = false;
}
/**
* saveImage : save the last image received.
* @param pName name of the file
*/
void GenericVideoModule::saveImageLocal(const std::string& pName, const std::string& pImageFormat) {
// Check that a video module has been registered.
if (!fRegisteredToVideoDevice) {
throw ALError(getName(), "saveImageLocal()", "No video module is currently "
"registered! Call registerToVideoDevice() first.");
}
#ifdef GENERICVIDEOMODULE_IS_REMOTE
// If this module is running in remote mode, we shouldn't use saveImageLocal.
throw ALError(getName(), "saveImageLocal()", "Module is run in remote mode, "
"use saveImageRemote instead !");
#else
ALImage* imageIn = NULL;
// Now you can get the pointer to the video structure.
imageIn = (ALImage*)fCamProxy->getImageLocal(fVideoClientName);
if (!imageIn) {
throw ALError(getName(), "saveImageLocal", "Invalid image returned.");
}
// You can get some image information that you may find useful.
//const int width = imageIn->fWidth;
//const int height = imageIn->fHeight;
//const int nbLayers = imageIn->fNbLayers;
//const int colorSpace = imageIn->fColorSpace;
const long long timeStamp = imageIn->getTimeStamp();
const int seconds = (int)(timeStamp/1000000LL);
// Set the buffer we received to our IplImage header.
fIplImageHeader.data = imageIn->getData();
xSaveIplImage(fIplImageHeader, pName, pImageFormat, seconds);
// Now that you're done with the (local) image, you have to release it from the V.I.M.
fCamProxy->releaseImage(fVideoClientName);
#endif
}
/**
* saveImageRemote : save the last image received. To be used if genericvideomodule is a remote module.
* @param pName name of the file
*/
void GenericVideoModule::saveImageRemote(const std::string& pName, const std::string& pImageFormat ) {
// Check that a video module has been registered.
if (!fRegisteredToVideoDevice) {
throw ALError(getName(), "saveImageRemote()", "No video module is currently "
"registered! Call registerToVideoDevice() first.");
}
ALValue results;
results = (fCamProxy->getImageRemote(fVideoClientName ));
if (results.getType()!= ALValue::TypeArray && results.getSize() != 7) {
throw ALError(getName(), "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.data = (uchar*) (results[6].GetBinary());
xSaveIplImage(fIplImageHeader, pName, pImageFormat, seconds);
}
// Actually perform the cvSaveImage operation.
void GenericVideoModule::xSaveIplImage(const cv::Mat &img,
const std::string& pName,
const std::string& pImageFormat,
int seconds) {
std::stringstream ss;
ss << pName << seconds << "." << pImageFormat;
const std::string kImageNameFull = ss.str();
try {
cv::imwrite(kImageNameFull, fIplImageHeader);
qiLogInfo("vision.genericvideomodule") << "Image saved as " << kImageNameFull << std::endl;
}
catch(const cv::Exception& e) {
qiLogError("vision.genericvideomodule") << "OpenCV can't save the image "
<< "with this format. (e.g. "
<< "incompatible file format"
<< " / no space left) Error msg "
<< e.err << std::endl;
}
}
} // namespace AL
Main: genericvideomodule.cpp¶
/**
* @author Pierre-Emmanuel VIEL
* Copyright (c) 2011 Aldebaran Robotics
*
*/
#include <iostream>
#include "genericvideomodule.h"
// For resolution and colorspace definitions + utility functions.
#include <alvision/alvisiondefinitions.h>
#include <alvision/alimage.h>
#include <alcommon/albroker.h>
#include <opencv2/highgui/highgui.hpp>
#include <qi/log.hpp>
using namespace std;
namespace AL
{
GenericVideoModule::GenericVideoModule( boost::shared_ptr<ALBroker> pBroker, const std::string& pName ):
ALModule(pBroker , pName),
fRegisteredToVideoDevice(false),
fIplImageHeader(cv::Mat())
{
// Describe the module here.
setModuleDescription( "This is an example of a generic video module. "
"It can be used to save images returned by the camera. "
"It internally uses OpenCv's cvSaveImage function. "
"Refer to the Example codes section below for an example of use.");
// Define the module example.
addModuleExample( "Python",
" # Create a proxy to the module \n"
" sampleProxy = ALProxy('GenericVideoModule', '127.0.0.1', 9559)\n\n"
" # Register our module to the Video Input Module. \n"
" sampleProxy.registerToVideoDevice(1, 13)\n\n"
" # Save image in remote mode. \n"
" sampleProxy.saveImageRemote('/home/nao/img', 'jpg') \n\n"
" # Unregister.\n"
" sampleProxy.unRegisterFromVideoDevice()\n"
);
// Define bound methods with their description.
functionName( "registerToVideoDevice", getName(), "Register to the V.I.M." );
addParam("resolution", "Resolution requested.");
addParam("colorSpace", "Colorspace requested.");
BIND_METHOD( GenericVideoModule::registerToVideoDevice );
functionName( "unRegisterFromVideoDevice", getName(), "Unregister from the V.I.M." );
BIND_METHOD( GenericVideoModule::unRegisterFromVideoDevice );
functionName( "saveImageLocal", getName(), "Save an image received from the camera." );
addParam( "name", "name and path of the picture (without format extension)" );
addParam( "imageFormat", "format extension such as bmp, jpg, tiff, etc.)" );
BIND_METHOD( GenericVideoModule::saveImageLocal );
functionName( "saveImageRemote", getName(), "Save an image received from the camera. to be used if the genericvideomodule is a remote module." );
addParam( "name", "name and path of the picture (without format extension)" );
addParam( "imageFormat", "format extension such as bmp, jpg, tiff, etc.)" );
BIND_METHOD( GenericVideoModule::saveImageRemote );
}
void GenericVideoModule::exit()
{
AL::ALModule::exit();
}
void GenericVideoModule::init() {
// Create a proxy to the ALVideoDevice.
try {
fCamProxy = boost::shared_ptr<ALVideoDeviceProxy>(new ALVideoDeviceProxy(getParentBroker()));
} catch (const AL::ALError& e) {
qiLogError("vision.genericvideomodule") << "Error while getting proxy on ALVideoDevice. Error msg " << e.toString() << std::endl;
GenericVideoModule::exit();
return;
}
if(fCamProxy == NULL)
{
qiLogError("vision.genericvideomodule") << "Error while getting proxy on ALVideoDevice. Check ALVideoDevice is running." << std::endl;
GenericVideoModule::exit();
return;
}
qiLogInfo("vision.genericvideomodule") << "Use registerToVideoDevice + "
"saveImageLocal + unRegisterFromVideoDevice to save images." << std::endl;
}
GenericVideoModule::~GenericVideoModule() {
// Unregister the video module.
try
{
if(fCamProxy)
fCamProxy->unsubscribe(fVideoClientName);
fCamProxy.reset();
}
catch(const AL::ALError& e)
{
qiLogError("vision.genericvideomodule") << e.toString() << std::endl;
}
}
/**
* registerToVIM
*/
void GenericVideoModule::registerToVideoDevice(const int &pResolution, const int &pColorSpace) {
// If we've already registered a module, we need to unregister it first !
if (fRegisteredToVideoDevice) {
throw ALError(getName(), "registerToVideoDevice()", "A video module has already been "
"registered. Call unRegisterFromVideoDevice() before trying to register a new module.");
}
// GVM Name that we're going to use to register.
const std::string kOriginalName = "genericvideomodule";
int imgWidth = 0;
int imgHeight = 0;
int imgNbLayers = 0;
const int kImgDepth = 8;
const int kFps = 5;
// Release Image Header if it has been allocated before.
if (!fIplImageHeader.empty())
fIplImageHeader.release();
setSizeFromResolution(pResolution, imgWidth, imgHeight);
imgNbLayers = getNumLayersInColorSpace(pColorSpace);
if (imgWidth == -1 || imgWidth == -1 || imgNbLayers == -1) {
throw ALError(getName(), "registerToVideoDevice()", "Invalid resolution or color space.");
}
// Allocate our Image header.
int type;
type = (imgNbLayers) == 3 ? CV_8UC3 : CV_8UC1;
fIplImageHeader = cv::Mat(cv::Size(imgWidth, imgHeight), type);
if (fIplImageHeader.empty()) {
throw ALError(getName(), "registerToVideoDevice()", "Fail to allocate OpenCv image header.");
}
// Call the "subscribe" function with the given parameters.
if(fCamProxy)
fVideoClientName = fCamProxy->subscribe(kOriginalName, pResolution, pColorSpace, kFps );
qiLogInfo("vision.genericvideomodule") << "Module registered as " << fVideoClientName << std::endl;
// Registration is successful, set fRegisteredToVim to true.
fRegisteredToVideoDevice = true;
}
/**
* unRegisterFromVIM
*/
void GenericVideoModule::unRegisterFromVideoDevice() {
if (!fRegisteredToVideoDevice) {
throw ALError(getName(), "unRegisterFromVideoDevice()", "No video module is currently "
"registered! Call registerToVideoDevice first.");
}
// Release Image Header if it has been allocated.
if (!fIplImageHeader.empty())
fIplImageHeader.release();
qiLogInfo("vision.genericvideomodule") << "try to unregister " << fVideoClientName << " module." << std::endl;
if(fCamProxy)
fCamProxy->unsubscribe(fVideoClientName);
qiLogInfo("vision.genericvideomodule") << "Done." << std::endl;
// UnRegistration is successful, set fRegisteredToVim to false.
fRegisteredToVideoDevice = false;
}
/**
* saveImage : save the last image received.
* @param pName name of the file
*/
void GenericVideoModule::saveImageLocal(const std::string& pName, const std::string& pImageFormat) {
// Check that a video module has been registered.
if (!fRegisteredToVideoDevice) {
throw ALError(getName(), "saveImageLocal()", "No video module is currently "
"registered! Call registerToVideoDevice() first.");
}
#ifdef GENERICVIDEOMODULE_IS_REMOTE
// If this module is running in remote mode, we shouldn't use saveImageLocal.
throw ALError(getName(), "saveImageLocal()", "Module is run in remote mode, "
"use saveImageRemote instead !");
#else
ALImage* imageIn = NULL;
// Now you can get the pointer to the video structure.
imageIn = (ALImage*)fCamProxy->getImageLocal(fVideoClientName);
if (!imageIn) {
throw ALError(getName(), "saveImageLocal", "Invalid image returned.");
}
// You can get some image information that you may find useful.
//const int width = imageIn->fWidth;
//const int height = imageIn->fHeight;
//const int nbLayers = imageIn->fNbLayers;
//const int colorSpace = imageIn->fColorSpace;
const long long timeStamp = imageIn->getTimeStamp();
const int seconds = (int)(timeStamp/1000000LL);
// Set the buffer we received to our IplImage header.
fIplImageHeader.data = imageIn->getData();
xSaveIplImage(fIplImageHeader, pName, pImageFormat, seconds);
// Now that you're done with the (local) image, you have to release it from the V.I.M.
fCamProxy->releaseImage(fVideoClientName);
#endif
}
/**
* saveImageRemote : save the last image received. To be used if genericvideomodule is a remote module.
* @param pName name of the file
*/
void GenericVideoModule::saveImageRemote(const std::string& pName, const std::string& pImageFormat ) {
// Check that a video module has been registered.
if (!fRegisteredToVideoDevice) {
throw ALError(getName(), "saveImageRemote()", "No video module is currently "
"registered! Call registerToVideoDevice() first.");
}
ALValue results;
results = (fCamProxy->getImageRemote(fVideoClientName ));
if (results.getType()!= ALValue::TypeArray && results.getSize() != 7) {
throw ALError(getName(), "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.data = (uchar*) (results[6].GetBinary());
xSaveIplImage(fIplImageHeader, pName, pImageFormat, seconds);
}
// Actually perform the cvSaveImage operation.
void GenericVideoModule::xSaveIplImage(const cv::Mat &img,
const std::string& pName,
const std::string& pImageFormat,
int seconds) {
std::stringstream ss;
ss << pName << seconds << "." << pImageFormat;
const std::string kImageNameFull = ss.str();
try {
cv::imwrite(kImageNameFull, fIplImageHeader);
qiLogInfo("vision.genericvideomodule") << "Image saved as " << kImageNameFull << std::endl;
}
catch(const cv::Exception& e) {
qiLogError("vision.genericvideomodule") << "OpenCV can't save the image "
<< "with this format. (e.g. "
<< "incompatible file format"
<< " / no space left) Error msg "
<< e.err << std::endl;
}
}
} // namespace AL
CMakeLists.txt¶
##
## Copyright (C) 2011 Aldebaran Robotics
##
cmake_minimum_required(VERSION 2.8)
project(genericvideomodule)
find_package(qibuild)
option(GENERICVIDEOMODULE_IS_REMOTE
"module is compiled as a remote module (ON or OFF)"
ON)
set(_srcs
main.cpp
genericvideomodule.cpp
genericvideomodule.h
)
if(GENERICVIDEOMODULE_IS_REMOTE)
add_definitions(" -DGENERICVIDEOMODULE_IS_REMOTE ")
qi_create_bin(genericvideomodule ${_srcs})
else()
qi_create_lib(genericvideomodule SHARED ${_srcs} SUBFOLDER naoqi)
endif()
qi_use_lib(genericvideomodule ALCOMMON ALPROXIES ALVISION OPENCV2_CORE OPENCV2_HIGHGUI)
##
## Copyright (C) 2011 Aldebaran Robotics
##
cmake_minimum_required(VERSION 2.8)
project(genericvideomodule)
find_package(qibuild)
option(GENERICVIDEOMODULE_IS_REMOTE
"module is compiled as a remote module (ON or OFF)"
ON)
set(_srcs
main.cpp
genericvideomodule.cpp
genericvideomodule.h
)
if(GENERICVIDEOMODULE_IS_REMOTE)
add_definitions(" -DGENERICVIDEOMODULE_IS_REMOTE ")
qi_create_bin(genericvideomodule ${_srcs})
else()
qi_create_lib(genericvideomodule SHARED ${_srcs} SUBFOLDER naoqi)
endif()
qi_use_lib(genericvideomodule ALCOMMON ALPROXIES ALVISION OPENCV2_CORE OPENCV2_HIGHGUI)
