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#include <RobotRaconteur.h>
#include "robotraconteur_generated.h"
#include <opencv2/highgui/highgui.hpp>
// Do not use aliases in header files!
namespace RR = RobotRaconteur;
namespace cam = ::experimental::simplewebcam3;
// Simple client to read images from a Webcam server
// and display the image. This example uses the "memory"
// member type
// This example expects the simple_webcam_service single camera service to be running
int main(int argc, char* argv[])
{
std::string url = "rr+tcp://localhost:22355?service=webcam";
if (argc > 1)
{
url = argv[1];
}
try
{
// Use node setup to help initialize client node
RR::ClientNodeSetup node_setup(ROBOTRACONTEUR_SERVICE_TYPES);
// Connect to the service
cam::WebcamPtr c1 = RR::rr_cast<cam::Webcam>(
RR::RobotRaconteurNode::s()->ConnectService(url, "", nullptr, NULL, "experimental.simplewebcam3.Webcam"));
// Capture an image to the "buffer" and "multidimbuffer"
cam::WebcamImage_sizePtr size = c1->capture_frame_to_buffer();
// Read the full image from the "buffer" memory
uint64_t l = c1->get_buffer()->Length();
RR::RRArrayPtr<uint8_t> data = RR::AllocateRRArray<uint8_t>(l);
c1->get_buffer()->Read(0, data, 0, l);
// Convert and show the image retrieved from the buffer memory
cv::Mat frame1(size->height, size->width, CV_8UC3);
memcpy(frame1.data, &data->at(0), data->size());
cv::imshow("buffer", frame1);
// Read the dimensions of the "multidimbuffer" member
std::vector<uint64_t> bufsize = c1->get_multidimbuffer()->Dimensions();
// Retrieve the data from the "multidimbuffer"
RR::RRMultiDimArrayPtr<uint8_t> segdata = RR::AllocateEmptyRRMultiDimArray<uint8_t>({100, 100, 1});
c1->get_multidimbuffer()->Read({10, 10, 0}, segdata, {0, 0, 0}, {100, 100, 1});
// Create a new image and copy data from the WebcamImage
cv::Mat frame2(100, 100, CV_8U);
memcpy(frame2.data, &segdata->Array->at(0), segdata->Array->size());
// Take the transpose because of array ordering difference
cv::Mat frame3 = frame2.t();
// Show the Image
cv::imshow("multidimbuffer", frame3);
// Wait for user and then close the window
cv::waitKey();
cv::destroyAllWindows();
return 0;
}
catch (std::exception& e)
{
std::cout << "Error occurred in client: " << std::string(e.what()) << std::endl;
return 1;
}
}
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