tami/MYNT-EYE-S-SDK
6
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

support RGB

Browse Source
This commit is contained in:
Kalman
2018-08-06 02:23:27 +08:00
parent 00aa72166d
commit 26d95ec0ac
5 changed files with 78 additions and 36 deletions
Download Patch File Download Diff File Expand all files Collapse all files

44
samples/device/camera.cc
View File

@@ -48,10 +48,11 @@ int main(int argc, char *argv[]) {
*/
// device->LogOptionInfos();
// device->RunOptionAction(Option::ZERO_DRIFT_CALIBRATION);
// device->RunOptionAction(Option::ERASE_CHIP);
std::size_t left_count = 0;
device->SetStreamRequest(
Resolution::RES_2560x800, Format::YUYV, FrameRate::RATE_30_FPS);
Resolution::RES_1280x400, Format::RGB888, FrameRate::RATE_30_FPS);
device->SetStreamCallback(
Stream::LEFT, [&left_count](const device::StreamData &data) {
CHECK_NOTNULL(data.img);
@@ -114,17 +115,38 @@ int main(int argc, char *argv[]) {
<< ", temperature: " << data.imu->temperature;
}
cv::Mat left_img(
left_data.frame->height(), left_data.frame->width(), CV_8UC2,
left_data.frame->data());
cv::Mat right_img(
right_data.frame->height(), right_data.frame->width(), CV_8UC2,
right_data.frame->data());
cv::Mat img;
cv::cvtColor(left_img, left_img, cv::COLOR_YUV2BGR_YUY2);
cv::cvtColor(right_img, right_img, cv::COLOR_YUV2BGR_YUY2);
cv::hconcat(left_img, right_img, img);
if (left_data.frame->format() == Format::GREY) {
cv::Mat left_img(
left_data.frame->height(), left_data.frame->width(), CV_8UC1,
left_data.frame->data());
cv::Mat right_img(
right_data.frame->height(), right_data.frame->width(), CV_8UC1,
right_data.frame->data());
cv::hconcat(left_img, right_img, img);
} else if (left_data.frame->format() == Format::YUYV) {
cv::Mat left_img(
left_data.frame->height(), left_data.frame->width(), CV_8UC2,
left_data.frame->data());
cv::Mat right_img(
right_data.frame->height(), right_data.frame->width(), CV_8UC2,
right_data.frame->data());
cv::cvtColor(left_img, left_img, cv::COLOR_YUV2BGR_YUY2);
cv::cvtColor(right_img, right_img, cv::COLOR_YUV2BGR_YUY2);
cv::hconcat(left_img, right_img, img);
} else if (left_data.frame->format() == Format::RGB888) {
cv::Mat left_img(
left_data.frame->height(), left_data.frame->width(), CV_8UC3,
left_data.frame->data());
cv::Mat right_img(
right_data.frame->height(), right_data.frame->width(), CV_8UC3,
right_data.frame->data());
cv::hconcat(left_img, right_img, img);
} else {
return -1;
}
cv::imshow("frame", img);
char key = static_cast<char>(cv::waitKey(1));