[Jderobot-admin] jderobot-r923 - in trunk: . src/components/calibratorKinect src/components/kinectViewer src/components/replayController src/libs src/libs/jderobotice
frivas en jderobot.org
frivas en jderobot.org
Jue Mayo 30 16:49:41 CEST 2013
Author: frivas
Date: 2013-05-30 16:48:41 +0200 (Thu, 30 May 2013)
New Revision: 923
Added:
trunk/src/libs/jderobotice/cameraClient.cpp
trunk/src/libs/jderobotice/cameraClient.h
trunk/src/libs/jderobotice/pointcloudClient.cpp
trunk/src/libs/jderobotice/pointcloudClient.h
Removed:
trunk/src/libs/parallelIce/
Modified:
trunk/CMakeLists.txt
trunk/src/components/calibratorKinect/CMakeLists.txt
trunk/src/components/calibratorKinect/common.h
trunk/src/components/kinectViewer/CMakeLists.txt
trunk/src/components/kinectViewer/kinectViewer.cpp
trunk/src/components/replayController/CMakeLists.txt
trunk/src/libs/jderobotice/CMakeLists.txt
Log:
modificados los componentes de parallelIce con los logs adecuados, y a?\195?\177adido dentro de la librer?\195?\173a jderobotice
Modified: trunk/CMakeLists.txt
===================================================================
--- trunk/CMakeLists.txt 2013-05-28 05:57:43 UTC (rev 922)
+++ trunk/CMakeLists.txt 2013-05-30 14:48:41 UTC (rev 923)
@@ -8,7 +8,7 @@
SET( INTERFACES_CPP_DIR ${CMAKE_CURRENT_SOURCE_DIR}/src/interfaces/cpp) # Directorio con las interfaces ICE en C++
SET( LIBS_DIR ${CMAKE_CURRENT_SOURCE_DIR}/src/libs) # Directorio donde se encuentran las librerias propias de jderobot
SET( SLICE_DIR ${CMAKE_CURRENT_SOURCE_DIR}/src/interfaces/slice) # Directorio donde se encuentran las interfaces ICE
-SET( LIBS_NEEDED bgfgsegmentation jderobotice colorspaces jderobotutil progeo pioneer fuzzylib visionlib parallelIce ) # Librerias de las que depende el componente
+SET( LIBS_NEEDED bgfgsegmentation colorspaces jderobotice jderobotutil progeo pioneer fuzzylib visionlib ) # Librerias de las que depende el componente
SET( DEPS_DIR ${CMAKE_CURRENT_SOURCE_DIR}/Deps) # Directorio donde se encuentran las dependencias
SET( COMPONENTS calibrator calibratorKinect openniServer-kinect naooperator basic_component
Modified: trunk/src/components/calibratorKinect/CMakeLists.txt
===================================================================
--- trunk/src/components/calibratorKinect/CMakeLists.txt 2013-05-28 05:57:43 UTC (rev 922)
+++ trunk/src/components/calibratorKinect/CMakeLists.txt 2013-05-30 14:48:41 UTC (rev 923)
@@ -28,6 +28,6 @@
${LIBS_DIR}/colorspaces/libcolorspacesmm.so
${INTERFACES_CPP_DIR}/jderobot/libJderobotInterfaces.so
${LIBS_DIR}/progeo/libprogeo.so
- ${LIBS_DIR}/parallelIce/libparallelIce.so
+ ${LIBS_DIR}/jderobotice/libparallelIce.so
#-lxerces-c
)
Modified: trunk/src/components/calibratorKinect/common.h
===================================================================
--- trunk/src/components/calibratorKinect/common.h 2013-05-28 05:57:43 UTC (rev 922)
+++ trunk/src/components/calibratorKinect/common.h 2013-05-30 14:48:41 UTC (rev 923)
@@ -19,7 +19,7 @@
* Jose María Cañas Plaza <jmplaza en gsyc.es>
*
*/
-#include <parallelIce/cameraClient.h>
+#include <jderobotice/cameraClient.h>
#ifndef calibrator_COMMON_H
#define calibrator_COMMON_H
Modified: trunk/src/components/kinectViewer/CMakeLists.txt
===================================================================
--- trunk/src/components/kinectViewer/CMakeLists.txt 2013-05-28 05:57:43 UTC (rev 922)
+++ trunk/src/components/kinectViewer/CMakeLists.txt 2013-05-30 14:48:41 UTC (rev 923)
@@ -26,6 +26,6 @@
${LIBS_DIR}/jderobotutil/libjderobotutil.so
${LIBS_DIR}/progeo/libprogeo.so
${LIBS_DIR}/pioneer/libpioneer.so
- ${LIBS_DIR}/parallelIce/libparallelIce.so
+ ${LIBS_DIR}/jderobotice/libparallelIce.so
${ZeroCIce_LIBRARIES}
)
Modified: trunk/src/components/kinectViewer/kinectViewer.cpp
===================================================================
--- trunk/src/components/kinectViewer/kinectViewer.cpp 2013-05-28 05:57:43 UTC (rev 922)
+++ trunk/src/components/kinectViewer/kinectViewer.cpp 2013-05-30 14:48:41 UTC (rev 923)
@@ -29,8 +29,8 @@
#include <jderobot/pointcloud.h>
#include "kinectViewergui.h"
#include "pthread.h"
-#include "parallelIce/cameraClient.h"
-#include "parallelIce/pointcloudClient.h"
+#include "jderobotice/cameraClient.h"
+#include "jderobotice/pointcloudClient.h"
Modified: trunk/src/components/replayController/CMakeLists.txt
===================================================================
--- trunk/src/components/replayController/CMakeLists.txt 2013-05-28 05:57:43 UTC (rev 922)
+++ trunk/src/components/replayController/CMakeLists.txt 2013-05-30 14:48:41 UTC (rev 923)
@@ -29,6 +29,5 @@
${LIBS_DIR}/jderobotutil/libjderobotutil.so
${LIBS_DIR}/progeo/libprogeo.so
${LIBS_DIR}/pioneer/libpioneer.so
- ${LIBS_DIR}/parallelIce/libparallelIce.so
${ZeroCIce_LIBRARIES}
)
Modified: trunk/src/libs/jderobotice/CMakeLists.txt
===================================================================
--- trunk/src/libs/jderobotice/CMakeLists.txt 2013-05-28 05:57:43 UTC (rev 922)
+++ trunk/src/libs/jderobotice/CMakeLists.txt 2013-05-30 14:48:41 UTC (rev 923)
@@ -14,3 +14,28 @@
set_target_properties(jderoboticeshare PROPERTIES OUTPUT_NAME jderobotice)
+
+include_directories(
+ ${INTERFACES_CPP_DIR}
+ ${LIBS_DIR}/
+ ${CMAKE_CURRENT_SOURCE_DIR}
+ ${CMAKE_CURRENT_SOURCE_DIR}/cameras
+)
+
+add_library (parallelIce STATIC cameraClient.cpp cameraClient.h pointcloudClient.cpp pointcloudClient.h)
+TARGET_LINK_LIBRARIES(parallelIce
+ ${OpenCV_LIBRARIES}
+ ${LIBS_DIR}/colorspaces/libcolorspacesmm.so
+ ${ZeroCIce_LIBRARIES}
+)
+
+add_library (parallelIceshare SHARED cameraClient.cpp cameraClient.h pointcloudClient.cpp pointcloudClient.h)
+TARGET_LINK_LIBRARIES(parallelIceshare
+ ${OpenCV_LIBRARIES}
+ ${LIBS_DIR}/colorspaces/libcolorspacesmm.so
+ ${ZeroCIce_LIBRARIES}
+)
+
+
+set_target_properties(parallelIceshare PROPERTIES OUTPUT_NAME parallelIce)
+
Copied: trunk/src/libs/jderobotice/cameraClient.cpp (from rev 919, trunk/src/libs/parallelIce/cameraClient.cpp)
===================================================================
--- trunk/src/libs/jderobotice/cameraClient.cpp (rev 0)
+++ trunk/src/libs/jderobotice/cameraClient.cpp 2013-05-30 14:48:41 UTC (rev 923)
@@ -0,0 +1,106 @@
+/*
+ * Copyright (C) 1997-2013 JDE Developers TeamkinectViewer.camRGB
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see http://www.gnu.org/licenses/.
+ *
+ * Author : Jose María Cañas <jmplaza en gsyc.es>
+ Francisco Miguel Rivas Montero <franciscomiguel.rivas en urjc.es>
+
+ */
+
+#include "cameraClient.h"
+
+
+namespace jderobot {
+
+cameraClient::cameraClient(Ice::CommunicatorPtr ic, std::string prefix) {
+ // TODO Auto-generated constructor stubcameraClient* client = new cameraClient;
+ this->prefix=prefix;
+ Ice::PropertiesPtr prop;
+ prop = ic->getProperties();
+ Ice::ObjectPrx baseCamera;
+
+
+ int fps=prop->getPropertyAsIntWithDefault(prefix+"Fps",10);
+ this->cycle=(float)(1/(float)fps)*1000000;
+ try{
+ baseCamera = ic->propertyToProxy(prefix+"Proxy");
+ if (0==baseCamera){
+ throw prefix + "Could not create proxy with Camera";
+ }
+ else {
+ this->prx= jderobot::CameraPrx::checkedCast(baseCamera);
+ if (0==this->prx)
+ throw "Invalid " + prefix + ".Proxy";
+ }
+ }catch (const Ice::Exception& ex) {
+ std::cerr << ex << std::endl;
+ }
+ catch (const char* msg) {
+ std::cerr << msg << std::endl;
+ std::cout << prefix + " Not camera provided" << std::endl;
+ }
+}
+
+cameraClient::~cameraClient() {
+ // TODO Auto-generated destructor stub
+}
+
+void
+cameraClient::run(){
+ jderobot::ImageDataPtr dataPtr;
+ colorspaces::Image::FormatPtr fmt;
+ struct timeval post;
+ long long int totalpre=0;
+ long long int totalpost=0;
+ while (this->isAlive()){
+ gettimeofday(&post,NULL);
+ totalpost=post.tv_sec*1000000+post.tv_usec;
+
+ dataPtr = this->prx->getImageData();
+ fmt = colorspaces::Image::Format::searchFormat(dataPtr->description->format);
+ if (!fmt)
+ throw "Format not supported";
+ colorspaces::Image imageRGB(dataPtr->description->width,dataPtr->description->height,fmt,&(dataPtr->pixelData[0]));
+ colorspaces::ImageRGB8 img_rgb888(imageRGB);//conversion will happen if needed
+ cv::Mat localDataPtr = cv::Mat(cvSize(img_rgb888.width,img_rgb888.height), CV_8UC3, img_rgb888.data);
+ cv::Mat localData;
+ localDataPtr.copyTo(localData);
+ this->controlMutex.lock();
+ this->data.release();
+ localData.copyTo(this->data);
+ this->controlMutex.unlock();
+
+ if (totalpre !=0){
+ if ((totalpost - totalpre) > this->cycle ){
+ std::cout<<"--------" << prefix << " adquisition timeout-" << std::endl;
+ }
+ else{
+ usleep(this->cycle - (totalpost - totalpre));
+ }
+ }
+ totalpre=totalpost;
+ }
+}
+
+cv::Mat cameraClient::getImage(){
+ cv::Mat local;
+ this->controlMutex.lock();
+ this->data.copyTo(local);
+ this->controlMutex.unlock();
+ return local;
+
+}
+
+} /* namespace jderobot */
Copied: trunk/src/libs/jderobotice/cameraClient.h (from rev 919, trunk/src/libs/parallelIce/cameraClient.h)
===================================================================
--- trunk/src/libs/jderobotice/cameraClient.h (rev 0)
+++ trunk/src/libs/jderobotice/cameraClient.h 2013-05-30 14:48:41 UTC (rev 923)
@@ -0,0 +1,56 @@
+/*
+ * Copyright (C) 1997-2013 JDE Developers TeamkinectViewer.camRGB
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see http://www.gnu.org/licenses/.
+ *
+ * Author : Jose María Cañas <jmplaza en gsyc.es>
+ Francisco Miguel Rivas Montero <franciscomiguel.rivas en urjc.es>
+
+ */
+
+#ifndef CAMERACLIENT_H_
+#define CAMERACLIENT_H_
+
+#include <IceUtil/IceUtil.h>
+#include <iostream>
+#include <Ice/Ice.h>
+#include <colorspaces/colorspacesmm.h>
+#include <jderobot/camera.h>
+#include <cv.h>
+#include <sstream>
+#include <fstream>
+
+
+namespace jderobot {
+
+class cameraClient: public IceUtil::Thread {
+public:
+ cameraClient(Ice::CommunicatorPtr ic, std::string prefix);
+ virtual ~cameraClient();
+ virtual void run();
+
+ //callbacks
+ cv::Mat getImage();
+private:
+ cv::Mat data;
+ jderobot::CameraPrx prx;
+ long long int cycle;
+ //int type; //0 color 1 depth
+ IceUtil::Mutex controlMutex;
+ std::string prefix;
+
+};
+
+} /* namespace jderobot */
+#endif /* CAMERACLIENT_H_ */
Copied: trunk/src/libs/jderobotice/pointcloudClient.cpp (from rev 919, trunk/src/libs/parallelIce/pointcloudClient.cpp)
===================================================================
--- trunk/src/libs/jderobotice/pointcloudClient.cpp (rev 0)
+++ trunk/src/libs/jderobotice/pointcloudClient.cpp 2013-05-30 14:48:41 UTC (rev 923)
@@ -0,0 +1,96 @@
+/*
+ * Copyright (C) 1997-2013 JDE Developers TeamkinectViewer.camRGB
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see http://www.gnu.org/licenses/.
+ *
+ * Author : Jose María Cañas <jmplaza en gsyc.es>
+ Francisco Miguel Rivas Montero <franciscomiguel.rivas en urjc.es>
+
+ */
+#include "pointcloudClient.h"
+
+namespace jderobot {
+
+pointcloudClient::pointcloudClient(Ice::CommunicatorPtr ic, std::string prefix) {
+ // TODO Auto-generated constructor stub
+ this->prefix=prefix;
+
+ Ice::PropertiesPtr prop;
+ prop = ic->getProperties();
+
+ int fps=prop->getPropertyAsIntWithDefault(prefix+"Fps",10);
+ this->cycle=(float)(1/(float)fps)*1000000;
+ try{
+ Ice::ObjectPrx basePointCloud = ic->propertyToProxy(prefix+"Proxy");
+ if (0==basePointCloud){
+ throw prefix + " Could not create proxy";
+ }
+ else {
+ this->prx = jderobot::pointCloudPrx::checkedCast(basePointCloud);
+ if (0==this->prx)
+ throw "Invalid proxy" + prefix;
+
+ }
+ }catch (const Ice::Exception& ex) {
+ std::cerr << ex << std::endl;
+ }
+ catch (const char* msg) {
+ std::cerr << msg << std::endl;
+ std::cout << prefix + " Not camera provided" << std::endl;
+ }
+
+}
+
+pointcloudClient::~pointcloudClient() {
+ // TODO Auto-generated destructor stub
+}
+
+void pointcloudClient::run(){
+
+ struct timeval post;
+ long long int totalpre=0;
+ long long int totalpost=0;
+ while (1){
+ gettimeofday(&post,NULL);
+ totalpost=post.tv_sec*1000000+post.tv_usec;
+
+ jderobot::pointCloudDataPtr localCloud=this->prx->getCloudData();
+
+ this->controlMutex.lock();
+ this->data.resize(localCloud->p.size());
+ std::copy( localCloud->p.begin(), localCloud->p.end(), this->data.begin() );
+
+ this->controlMutex.unlock();
+ if (totalpre !=0){
+ if ((totalpost - totalpre) > this->cycle ){
+ std::cout<< prefix << ": pointCloud adquisition timeout-" << std::endl;
+ }
+ else{
+ usleep(this->cycle - (totalpost - totalpre));
+ }
+ }
+ totalpre=totalpost;
+ }
+}
+
+std::vector<jderobot::RGBPoint> pointcloudClient::getData(){
+ std::vector<jderobot::RGBPoint> cloud;
+ this->controlMutex.lock();
+ cloud.resize(this->data.size());
+ std::copy( this->data.begin(), this->data.end(), cloud.begin() );
+ this->controlMutex.unlock();
+ return cloud;
+}
+
+} /* namespace jderobot */
Copied: trunk/src/libs/jderobotice/pointcloudClient.h (from rev 919, trunk/src/libs/parallelIce/pointcloudClient.h)
===================================================================
--- trunk/src/libs/jderobotice/pointcloudClient.h (rev 0)
+++ trunk/src/libs/jderobotice/pointcloudClient.h 2013-05-30 14:48:41 UTC (rev 923)
@@ -0,0 +1,55 @@
+/*
+ * Copyright (C) 1997-2013 JDE Developers TeamkinectViewer.camRGB
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see http://www.gnu.org/licenses/.
+ *
+ * Author : Jose María Cañas <jmplaza en gsyc.es>
+ Francisco Miguel Rivas Montero <franciscomiguel.rivas en urjc.es>
+
+ */
+
+
+#ifndef POINTCLOUDCLIENT_H_
+#define POINTCLOUDCLIENT_H_
+
+#include <IceUtil/IceUtil.h>
+#include <iostream>
+#include <Ice/Ice.h>
+#include <jderobot/pointcloud.h>
+#include <cv.h>
+#include <sstream>
+#include <fstream>
+
+namespace jderobot {
+
+class pointcloudClient: public IceUtil::Thread {
+public:
+ pointcloudClient(Ice::CommunicatorPtr ic, std::string prefix);
+ virtual ~pointcloudClient();
+ virtual void run();
+
+ std::vector<jderobot::RGBPoint> getData();
+
+
+private:
+ std::string prefix;
+ std::vector<jderobot::RGBPoint> data;
+ jderobot::pointCloudPrx prx;
+ long long int cycle;
+ IceUtil::Mutex controlMutex;
+
+};
+
+} /* namespace jderobot */
+#endif /* POINTCLOUDCLIENT_H_ */
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