* Initial code to playback and visualize recordings from our CaroloCu…

…p miniature car using OpenDaVINCI and OpenCV.

.gitignore

@@ -1,28 +1 @@
-# Compiled Object files
-*.slo
-*.lo
-*.o
-*.obj
-
-# Precompiled Headers
-*.gch
-*.pch
-
-# Compiled Dynamic libraries
-*.so
-*.dylib
-*.dll
-
-# Fortran module files
-*.mod
-
-# Compiled Static libraries
-*.lai
-*.la
-*.a
-*.lib
-
-# Executables
-*.exe
-*.out
-*.app
+CaroloCup-CameraPlayback

CaroloCup-CameraPlayback.cpp

@@ -0,0 +1,132 @@
+/**
+ * Simple application realized with OpenDaVINCI to playback
+ * recordings captured from our CaroloCup miniature cars.
+ *
+ * Copyright (C) 2015 Hugo Andrade, Christian Berger, Federico Giaimo.
+ *
+ * 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 2
+ * 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, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
+ */
+
+
+#include <opencv/cv.h>
+#include <opencv/highgui.h>
+
+#include <core/SharedPointer.h>
+#include <core/data/Container.h>
+#include <core/data/image/SharedImage.h>
+#include <core/io/URL.h>
+#include <core/wrapper/SharedMemory.h>
+#include <core/wrapper/SharedMemoryFactory.h>
+#include <tools/player/Player.h>
+
+using namespace std;
+
+// We add some of OpenDaVINCI's namespaces for the sake of readability.
+using namespace core;
+using namespace core::data;
+using namespace core::data::image;
+using namespace core::io;
+using namespace core::wrapper;
+using namespace tools::player;
+
+int32_t main(int32_t argc, char **argv) {
+    // Location of the recording file.
+    URL url("file://example.rec");
+
+    // Do we want to rewind the stream on EOF?
+    const bool AUTO_REWIND = false;
+
+    // Size of the memory buffer that should fit at least the size of one frame.
+    const uint32_t MEMORY_SEGMENT_SIZE = 1024 * 768;
+
+    // Number of memory segments (one is enough as we are running sychronously).
+    const uint32_t NUMBER_OF_SEGMENTS = 1;
+
+    // Run player in synchronous mode without data caching in background.
+    const bool THREADING = false;
+
+    // Construct the player.
+    Player player(url, AUTO_REWIND, MEMORY_SEGMENT_SIZE, NUMBER_OF_SEGMENTS, THREADING);
+
+    // The next container from the recording.
+    Container nextContainer;
+
+    // Using OpenCV's IplImage data structure to simply playback the data.
+    IplImage *image = NULL;
+
+    // Create the OpenCV playback window.
+    cvNamedWindow("CaroloCup-CameraPlayback", CV_WINDOW_AUTOSIZE);
+
+    // This flag indicates whether we have attached already to the shared
+    // memory containing the sequence of captured images.
+    bool hasAttachedToSharedImageMemory = false;
+
+    // Using this variable, we will access the captured images while
+    // also having convenient automated system resource management.
+    SharedPointer<SharedMemory> sharedImageMemory;
+
+    // Main data processing loop.
+    while (player.hasMoreData()) {
+        // Read next entry from recording.
+        nextContainer = player.getNextContainerToBeSent();
+
+        // Data type SHARED_IMAGE contains a SharedImage data structure that
+        // provides meta-information about the captured image.
+        if (nextContainer.getDataType() == Container::SHARED_IMAGE) {
+            // Read the data structure to retrieve information about the image.
+            SharedImage si = nextContainer.getData<SharedImage>();
+
+            // Check if we have already attached to the shared memory.
+            if (!hasAttachedToSharedImageMemory) {
+                sharedImageMemory = SharedMemoryFactory::attachToSharedMemory(si.getName());
+
+                // Toggle the flag as we have now attached to the shared memory.
+                hasAttachedToSharedImageMemory = true;
+            }
+
+            // Check if we could successfully attach to the shared memory.
+            if (sharedImageMemory->isValid()) {
+                // Lock the memory region to get exclusive access.
+                sharedImageMemory->lock();
+                {
+                    if (image == NULL) {
+                        // Create the IplImage header data and access the shared memory for the actual image data. 
+                        image = cvCreateImageHeader(cvSize(si.getWidth(), si.getHeight()), IPL_DEPTH_8U, si.getBytesPerPixel());
+
+                        // Let the IplImage point to the shared memory containing the captured image.
+                        image->imageData = static_cast<char*>(sharedImageMemory->getSharedMemory());
+                    }
+
+                    // Show the image using OpenCV.
+                    cvShowImage("CaroloCup-CameraPlayback", image);
+
+                    // Let the image render before proceeding to the next image.
+                    cvWaitKey(10);
+                }
+                // Release the memory region so that the player can provide the next raw image data.
+                sharedImageMemory->unlock();
+            }
+        }
+    }
+
+    // Release IplImage data structure.
+    cvReleaseImage(&image);
+
+    // Close playback window.
+    cvDestroyWindow("CaroloCup-CameraPlayback");
+
+    // The shared memory will be automatically released.
+}
+

Makefile

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+CXX=g++
+RM=rm -f
+INCLUDES=-I/usr/include/opendavinci
+CPPFLAGS=-Wall $(INCLUDES)
+LDLIBS=-lopendavinci -lpthread -lopencv_core -lopencv_highgui
+
+BIN=CaroloCup-CameraPlayback
+SRCS=CaroloCup-CameraPlayback.cpp
+OBJS=$(subst .cpp,.o,$(SRCS))
+
+all: $(BIN)
+
+$(BIN): $(OBJS)
+	$(CXX) -o $(BIN) $(OBJS) $(LDLIBS) 
+
+depend: .depend
+
+.depend: $(SRCS)
+	rm -f ./.depend
+	$(CXX) $(CPPFLAGS) -MM $^>>./.depend;
+
+clean:
+	$(RM) $(OBJS)
+
+dist-clean: clean
+	$(RM) $(BIN)
+	$(RM) *~ .depend
+
+include .depend

README.rst

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+Playing back recordings from our CaroloCup miniature car
+========================================================
+