Create sensor_msgs.Image in Android

asked 2013-06-20 02:12:14 -0600

paulofinseca
18 ●2 ●3 ●7

updated 2014-01-28 17:16:59 -0600

ngrennan
1 ●1 ●1

Hello all.

I'm trying to implement an application in Android. What Android needs to do is take a photo, and publish it. My problem is to convert the information for type sensor_msgs.Image. The information is in a Bitmap.

I'm trying to convert this:

public void updateMessage(Bitmap object_data){
    Image image = node.getTopicMessageFactory().newFromType(Image._TYPE);
    image.setHeight(object_data.getHeight());
    image.setWidth(object_data.getWidth());
    image.setStep(object_data.getRowBytes());
    image.setEncoding("rgb8");

    ByteArrayOutputStream stream = new ByteArrayOutputStream();
    object_data.compress(Bitmap.CompressFormat.PNG, 100, stream);
    image.setData(ChannelBuffers.copiedBuffer(stream.toByteArray()));

    msg = image;
}

For now the Header is not necessary. The problem is in the setData method of sensor_msgs.Image:

06-20 12:40:04.869: E/AndroidRuntime(9550): FATAL EXCEPTION: main
06-20 12:40:04.869: E/AndroidRuntime(9550): java.lang.RuntimeException: Failure delivering result ResultInfo{who=null, request=102, result=-1, data=Intent { (has extras) }} to activity {org.ros.android.android_tutorial_pubsub/org.ros.android.android_tutorial_pubsub.RaceMain}: java.lang.IllegalArgumentException
06-20 12:40:04.869: E/AndroidRuntime(9550):     at android.app.ActivityThread.deliverResults(ActivityThread.java:3182)
06-20 12:40:04.869: E/AndroidRuntime(9550):     at android.app.ActivityThread.handleSendResult(ActivityThread.java:3225)
06-20 12:40:04.869: E/AndroidRuntime(9550):     at android.app.ActivityThread.access$1100(ActivityThread.java:140)
06-20 12:40:04.869: E/AndroidRuntime(9550):     at android.app.ActivityThread$H.handleMessage(ActivityThread.java:1275)
06-20 12:40:04.869: E/AndroidRuntime(9550):     at android.os.Handler.dispatchMessage(Handler.java:99)
06-20 12:40:04.869: E/AndroidRuntime(9550):     at android.os.Looper.loop(Looper.java:137)
06-20 12:40:04.869: E/AndroidRuntime(9550):     at android.app.ActivityThread.main(ActivityThread.java:4898)
06-20 12:40:04.869: E/AndroidRuntime(9550):     at java.lang.reflect.Method.invokeNative(Native Method)
06-20 12:40:04.869: E/AndroidRuntime(9550):     at java.lang.reflect.Method.invoke(Method.java:511)
06-20 12:40:04.869: E/AndroidRuntime(9550):     at com.android.internal.os.ZygoteInit$MethodAndArgsCaller.run(ZygoteInit.java:1006)
06-20 12:40:04.869: E/AndroidRuntime(9550):     at com.android.internal.os.ZygoteInit.main(ZygoteInit.java:773)
06-20 12:40:04.869: E/AndroidRuntime(9550):     at dalvik.system.NativeStart.main(Native Method)
06-20 12:40:04.869: E/AndroidRuntime(9550): Caused by: java.lang.IllegalArgumentException
06-20 12:40:04.869: E/AndroidRuntime(9550):     at com.google.common.base.Preconditions.checkArgument(Preconditions.java:76)
06-20 12:40:04.869: E/AndroidRuntime(9550):     at org.ros.internal.message.field.ChannelBufferField.setValue(ChannelBufferField.java:55)
06-20 12:40:04.869: E/AndroidRuntime(9550):     at org.ros.internal.message.MessageProxyInvocationHandler.invoke(MessageProxyInvocationHandler.java:46)
06-20 12:40:04.869: E/AndroidRuntime(9550):     at org.ros.internal.message.$Proxy3.setData(Native Method)
06-20 12:40:04.869: E/AndroidRuntime(9550):     at org.ros.android.android_tutorial_pubsub.services.ImagePublisher.updateMessage(ImagePublisher.java:70)
06-20 12:40:04.869: E/AndroidRuntime(9550):     at org.ros.android.android_tutorial_pubsub.RaceMain.onActivityResult(RaceMain.java:178)
06-20 12:40:04.869: E/AndroidRuntime(9550):     at android.app.Activity.dispatchActivityResult(Activity.java:5390)
06-20 12:40:04 ...

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public void updateCompressedImage(byte[] data, int w, int h, ImageView i){ Preconditions.checkNotNull(data); Time currentTime = node.getCurrentTime(); String frameId = "camera"; CompressedImage image = node.getTopicMessageFactory().newFromType(CompressedImage._TYPE); image.setFormat("jpeg"); image.getHeader().setStamp(currentTime); image.getHeader().setFrameId(frameId); try { stream.write(data); } catch (IOException e) { e.printStackTrace(); } image.setData(stream.buffer().copy()); i.setImageBitmap(BitmapFactory.decodeByteArray(stream.buffer().array(), 0, stream.buffer().array().length)); stream.buffer().clear(); publisher.publish(image); } public void updateImage(byte[] data, int w, int h, int s, ImageView i){ Preconditions.checkNotNull(data); Image image = node.getTopicMessageFactory().newFromType(Image._TYPE); image.setHeight(h); image.setWidth(w); image.setStep(s); image.setEncoding("rgb8"); Time currentTime = node.getCurrentTime(); String frameId = "android_camera"; image.getHeader().setStamp(currentTime); image.getHeader().setFrameId(frameId); try { stream.write(data); } catch (IOException e) { e.printStackTrace(); throw new RosRuntimeException(e); } image.setData(stream.buffer().copy()); i.setImageBitmap(BitmapFactory.decodeByteArray(stream.buffer().array(), 0, stream.buffer().array().length)); stream.buffer().clear(); publisher.publish(image); }

Create sensor_msgs.Image in Android

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Create sensor_msgs.Image in Android