support RGB

samples/api/camera.cc

@@ -25,7 +25,7 @@ int main(int argc, char *argv[]) {
   if (!api)
     return 1;
   api->SetStreamRequest(
-      Resolution::RES_2560x800, Format::YUYV, FrameRate::RATE_20_FPS);
+      Resolution::RES_1280x400, Format::RGB888, FrameRate::RATE_20_FPS);
   // api->SetOptionValue(Option::FRAME_RATE, 25);
   // api->SetOptionValue(Option::IMU_FREQUENCY, 500);
   api->SetOptionValue(Option::IR_CONTROL, 80);

samples/device/camera.cc

@@ -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 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::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);
+    } 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));

src/api/synthetic.cc

@@ -41,8 +41,6 @@ MYNTEYE_BEGIN_NAMESPACE
 namespace {
 
 cv::Mat frame2mat(const std::shared_ptr<device::Frame> &frame) {
-  // TODO(JohnZhao) Support different format frame to cv::Mat
-  CHECK_EQ(frame->format(), Format::YUYV);
   if (frame->format() == Format::YUYV) {
     cv::Mat img(frame->height(), frame->width(), CV_8UC2, frame->data());
     cv::cvtColor(img, img, cv::COLOR_YUV2BGR_YUY2);

src/internal/streams.cc

@@ -29,8 +29,6 @@ namespace {
 bool unpack_stereo_img_data(
     const void *data, const StreamRequest &request, ImgData *img) {
   CHECK_NOTNULL(img);
-  CHECK_EQ(request.format, Format::YUYV);
-
   auto data_new = reinterpret_cast<const std::uint8_t *>(data);
   std::size_t data_n =
       request.width * request.height * bytes_per_pixel(request.format);
@@ -60,7 +58,7 @@ bool unpack_stereo_img_data(
   for (std::size_t i = 2, n = packet_n - 2; i <= n; i++) {  // content: [2,9]
     checksum = (checksum ^ packet[i]);
   }
-  /*
+
   if (img_packet.checksum != checksum) {
     LOG(WARNING) << "Image packet checksum should be 0x" << std::hex
                  << std::uppercase << std::setw(2) << std::setfill('0')
@@ -69,7 +67,6 @@ bool unpack_stereo_img_data(
                  << static_cast<int>(checksum) << " now";
     return false;
   }
-  */
 
   img->frame_id = img_packet.frame_id;
   img->timestamp = img_packet.timestamp;
@@ -80,32 +77,52 @@ bool unpack_stereo_img_data(
 bool unpack_left_img_pixels(
     const void *data, const StreamRequest &request, Streams::frame_t *frame) {
   CHECK_NOTNULL(frame);
-  CHECK_EQ(request.format, Format::YUYV);
+  CHECK_EQ(request.format, frame->format());
-  CHECK_EQ(frame->format(), Format::YUYV);
   auto data_new = reinterpret_cast<const std::uint8_t *>(data);
-  std::size_t w = frame->width() * 2;
+  if (request.format == Format::YUYV || request.format == Format::RGB888) {
+    std::size_t n = request.format == Format::YUYV ? 2 : 3;
+    std::size_t w = frame->width() * n;
     std::size_t h = frame->height();
     for (std::size_t i = 0; i < h; i++) {
       for (std::size_t j = 0; j < w; j++) {
         frame->data()[i * w + j] = *(data_new + 2 * i * w + j);
       }
     }
+  } else if (request.format == Format::GREY) {
+    std::size_t n = frame->width() * frame->height();
+    for (std::size_t i = 0; i < n; i++) {
+      frame->data()[i] = *(data_new + (i * 2));
+    }
+  } else {
+    return false;
+  }
+
   return true;
 }
 
 bool unpack_right_img_pixels(
     const void *data, const StreamRequest &request, Streams::frame_t *frame) {
   CHECK_NOTNULL(frame);
-  CHECK_EQ(request.format, Format::YUYV);
+  CHECK_EQ(request.format, frame->format());
-  CHECK_EQ(frame->format(), Format::YUYV);
   auto data_new = reinterpret_cast<const std::uint8_t *>(data);
-  std::size_t w = frame->width() * 2;
+  if (request.format == Format::YUYV || request.format == Format::RGB888) {
+    std::size_t n = request.format == Format::YUYV ? 2 : 3;
+    std::size_t w = frame->width() * n;
     std::size_t h = frame->height();
     for (std::size_t i = 0; i < h; i++) {
       for (std::size_t j = 0; j < w; j++) {
         frame->data()[i * w + j] = *(data_new + (2 * i + 1) * w + j);
       }
     }
+  } else if (request.format == Format::GREY) {
+    std::size_t n = frame->width() * frame->height();
+    for (std::size_t i = 0; i < n; i++) {
+      frame->data()[i] = *(data_new + (i * 2 + 1));
+    }
+  } else {
+    return false;
+  }
+
   return true;
 }
 
@@ -150,13 +167,13 @@ bool Streams::PushStream(const Capabilities &capability, const void *data) {
   switch (capability) {
     case Capabilities::STEREO_COLOR: {
       // alloc left
-      AllocStreamData(Stream::LEFT, request, Format::YUYV);
+      AllocStreamData(Stream::LEFT, request);
       auto &&left_data = stream_datas_map_[Stream::LEFT].back();
       // unpack img data
       if (unpack_img_data_map_[Stream::LEFT](
               data, request, left_data.img.get())) {
         // alloc right
-        AllocStreamData(Stream::RIGHT, request, Format::YUYV);
+        AllocStreamData(Stream::RIGHT, request);
         auto &&right_data = stream_datas_map_[Stream::RIGHT].back();
         *right_data.img = *left_data.img;
         // unpack frame
@@ -288,8 +305,11 @@ void Streams::AllocStreamData(
     data.img = nullptr;
   }
   if (!data.frame) {
-    data.frame = std::make_shared<frame_t>(
+    int width = request.width;
-        request.width / 2, request.height, format, nullptr);
+    if (format != Format::GREY)
+      width /= 2;
+    data.frame =
+        std::make_shared<frame_t>(width, request.height, format, nullptr);
   }
   stream_datas_map_[stream].push_back(data);
 }

src/public/types.cc

@@ -167,6 +167,8 @@ std::size_t bytes_per_pixel(const Format &value) {
       return 1;
     case Format::YUYV:
       return 2;
+    case Format::RGB888:
+      return 3;
     default:
       LOG(FATAL) << "Unknown format";
   }