Question

我正在尝试在Android中实现一个应用程序。 Android需要做的是拍照并发布。我的问题是转换sensor_msgs.Image类型的信息。信息位于位图中。

我正在尝试转换它：

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;
}

目前没有必要使用标题。问题出在sensor_msgs.Image的setData方法中：

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 12:40:04.869: E/AndroidRuntime(9550):     at android.app.ActivityThread.deliverResults(ActivityThread.java:3178)
06-20 12:40:04.869: E/AndroidRuntime(9550):     ... 11 more

任何人都知道为什么我不能这样做，或者我该怎么做？

谢谢。

圣保罗

Answer 1

已经解决了运输问题。在这一刻，我已经可以携带一张照片并在另一个节点中看到它。为此，我在Android中使用了两个ROS节点（发布/订阅者）。我通过两种方法解决了：CompressedImage和Image：

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);
}

i.setImageBitmap（...）用于比较图像是否相等。使用sensor_msgs.CompressImage图像是相同的。但是使用sensor_msgs.Image不是。我怀疑问题在于图像的编码。

如果有人可以提供帮助，我将不胜感激。

祝你好运

圣保罗

在Android中创建sensor_msgs.Image

1 个答案: