Add some resolution,format and frame rate.

include/mynteye/types.h

@@ -76,6 +76,8 @@ enum class Capabilities : std::uint8_t {
   STEREO,
   /** Provides color stream */
   COLOR,
+  /** Provide stereo color  stream */
+  STEREO_COLOR,
   /** Provides depth stream */
   DEPTH,
   /** Provides point cloud stream */
@@ -227,6 +229,40 @@ enum class AddOns : std::uint8_t {
   LAST
 };
 
+/**
+ * @ingroup enumerations
+ * @brief Camera supported resolution.
+ */
+enum class Resolution : std::uint8_t {
+  /** 480x752 */
+  RES_480x752,
+  /** 1280x400 */
+  RES_1280x400,
+  /** 2560x800 */
+  RES_2560x800,
+  /** Last guard */
+  LAST
+};
+
+/**
+ * @ingroup enumerations
+ * @brief Camera supported frame rate.
+ */
+enum class FrameRate : std::uint8_t {
+  /** 10 fps */
+  RATE_10_FPS,
+  /** 20 fps */
+  RATE_20_FPS,
+  /** 20 fps */
+  RATE_25_FPS,
+  /** 30 fps */
+  RATE_30_FPS,
+  /** 60 fps */
+  RATE_60_FPS,
+  /** Last guard */
+  LAST
+};
+
 #define MYNTEYE_ENUM_HELPERS(TYPE)                                       \
   MYNTEYE_API const char *to_string(const TYPE &value);                  \
   inline bool is_valid(const TYPE &value) {                              \
@@ -250,6 +286,8 @@ MYNTEYE_ENUM_HELPERS(Info)
 MYNTEYE_ENUM_HELPERS(Option)
 MYNTEYE_ENUM_HELPERS(Source)
 MYNTEYE_ENUM_HELPERS(AddOns)
+MYNTEYE_ENUM_HELPERS(Resolution)
+MYNTEYE_ENUM_HELPERS(FrameRate)
 
 #undef MYNTEYE_ENUM_HELPERS
 
@@ -266,6 +304,8 @@ enum class Format : std::uint32_t {
   GREY = MYNTEYE_FOURCC('G', 'R', 'E', 'Y'),
   /** YUV 4:2:2, 16 bits per pixel */
   YUYV = MYNTEYE_FOURCC('Y', 'U', 'Y', 'V'),
+  /** RGB 8:8:8, 24 bits per pixel */
+  RGB888 = MYNTEYE_FOURCC('R', 'G', 'B', '3'),
   /** Last guard */
   LAST
 };
@@ -293,6 +333,52 @@ struct MYNTEYE_API StreamRequest {
   /** Stream frames per second (unused) */
   std::uint16_t fps;
 
+  StreamRequest() {}
+
+  StreamRequest(
+      std::uint16_t width, std::uint16_t height, Format format,
+      std::uint16_t fps)
+      : width(width), height(height), format(format), fps(fps) {}
+
+  StreamRequest(Resolution res, Format format, FrameRate rate)
+      : format(format) {
+    switch (res) {
+      case Resolution::RES_480x752:
+        width = 480, height = 752;
+        break;
+      case Resolution::RES_1280x400:
+        width = 1280, height = 400;
+        break;
+      case Resolution::RES_2560x800:
+        width = 2560, height = 800;
+        break;
+      default:
+        width = 480, height = 752;
+        break;
+    }
+
+    switch (rate) {
+      case FrameRate::RATE_10_FPS:
+        fps = 10;
+        break;
+      case FrameRate::RATE_20_FPS:
+        fps = 20;
+        break;
+      case FrameRate::RATE_25_FPS:
+        fps = 25;
+        break;
+      case FrameRate::RATE_30_FPS:
+        fps = 30;
+        break;
+      case FrameRate::RATE_60_FPS:
+        fps = 60;
+        break;
+      default:
+        fps = 25;
+        break;
+    }
+  }
+
   bool operator==(const StreamRequest &other) const {
     return width == other.width && height == other.height &&
            format == other.format && fps == other.fps;

samples/api/camera.cc

@@ -24,7 +24,8 @@ int main(int argc, char *argv[]) {
   auto &&api = API::Create(argc, argv);
   if (!api)
     return 1;
-
+  api->SetStreamRequest(
+      Resolution::RES_2560x800, Format::YUYV, FrameRate::RATE_20_FPS);
   // api->SetOptionValue(Option::FRAME_RATE, 25);
   // api->SetOptionValue(Option::IMU_FREQUENCY, 500);
   api->SetOptionValue(Option::IR_CONTROL, 80);
@@ -105,7 +106,7 @@ int main(int argc, char *argv[]) {
 
     auto &&motion_datas = api->GetMotionDatas();
     motion_count += motion_datas.size();
-    for (auto &&data : motion_datas) {       
+    for (auto &&data : motion_datas) {
       LOG(INFO) << ", timestamp: " << data.imu->timestamp
                 << ", accel_x: " << data.imu->accel[0]
                 << ", accel_y: " << data.imu->accel[1]

samples/device/camera.cc

@@ -50,6 +50,8 @@ int main(int argc, char *argv[]) {
   // device->RunOptionAction(Option::ZERO_DRIFT_CALIBRATION);
 
   std::size_t left_count = 0;
+  device->SetStreamRequest(
+      Resolution::RES_2560x800, Format::YUYV, FrameRate::RATE_30_FPS);
   device->SetStreamCallback(
       Stream::LEFT, [&left_count](const device::StreamData &data) {
         CHECK_NOTNULL(data.img);
@@ -75,7 +77,7 @@ int main(int argc, char *argv[]) {
   device->SetMotionCallback([&imu_count](const device::MotionData &data) {
     CHECK_NOTNULL(data.imu);
     ++imu_count;
-    VLOG(2) << "Imu count: " << imu_count; 
+    VLOG(2) << "Imu count: " << imu_count;
     VLOG(2) << ", timestamp: " << data.imu->timestamp
             << ", accel_x: " << data.imu->accel[0]
             << ", accel_y: " << data.imu->accel[1]
@@ -101,7 +103,7 @@ int main(int argc, char *argv[]) {
 
     auto &&motion_datas = device->GetMotionDatas();
     motion_count += motion_datas.size();
-    for (auto &&data : motion_datas) {       
+    for (auto &&data : motion_datas) {
       LOG(INFO) << ", timestamp: " << data.imu->timestamp
                 << ", accel_x: " << data.imu->accel[0]
                 << ", accel_y: " << data.imu->accel[1]

samples/uvc/camera.cc

@@ -108,7 +108,7 @@ int main(int argc, char *argv[]) {
   const auto frame_empty = [&frame]() { return frame == nullptr; };
 
   uvc::set_device_mode(
-      *device, 1280, 480, static_cast<int>(Format::YUYV), 25,
+      *device, 1280, 400, static_cast<int>(Format::RGB888), 20,
       [&mtx, &cv, &frame, &frame_ready](
           const void *data, std::function<void()> continuation) {
         // reinterpret_cast<const std::uint8_t *>(data);
@@ -143,8 +143,8 @@ int main(int argc, char *argv[]) {
     }
 
     // only lastest frame is valid
-    cv::Mat img(480, 1280, CV_8UC2, const_cast<void *>(frame->data));
+    cv::Mat img(400, 1280, CV_8UC3, const_cast<void *>(frame->data));
-    cv::cvtColor(img, img, cv::COLOR_YUV2BGR_YUY2);
+    // cv::cvtColor(img, img, cv::COLOR_YUV2BGR_YUY2);
     cv::imshow("frame", img);
 
     frame = nullptr;

src/api/api.cc

@@ -280,6 +280,11 @@ bool API::Supports(const AddOns &addon) const {
   return device_->Supports(addon);
 }
 
+void API::SetStreamRequest(
+    const Resolution &res, const Format &format, const FrameRate &rate) {
+  device_->SetStreamRequest(res, format, rate);
+}
+
 const std::vector<StreamRequest> &API::GetStreamRequests(
     const Capabilities &capability) const {
   return device_->GetStreamRequests(capability);

src/api/api.h

@@ -69,7 +69,7 @@ struct MYNTEYE_API MotionData {
 
   bool operator==(const MotionData &other) const {
     if (imu && other.imu) {
-      return imu->timestamp == other.imu->timestamp;            
+      return imu->timestamp == other.imu->timestamp;
     }
     return false;
   }
@@ -144,6 +144,11 @@ class MYNTEYE_API API {
    */
   bool Supports(const AddOns &addon) const;
 
+  /**
+   * set the stream request.
+   */
+  void SetStreamRequest(
+      const Resolution &res, const Format &format, const FrameRate &rate);
   /**
    * Get all stream requests of the capability.
    */

src/api/synthetic.cc

@@ -11,14 +11,10 @@
 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 // See the License for the specific language governing permissions and
 // limitations under the License.
-#include "api/synthetic.h"
-
-#include <glog/logging.h>
-
 #include <algorithm>
 #include <functional>
 #include <stdexcept>
-#include <opencv2/imgproc/imgproc.hpp>
+
 #include "api/plugin.h"
 #include "api/processor/depth_processor.h"
 #include "api/processor/disparity_normalized_processor.h"
@@ -27,6 +23,7 @@
 #include "api/processor/points_processor.h"
 #include "api/processor/processor.h"
 #include "api/processor/rectify_processor.h"
+#include "api/synthetic.h"
 #include "device/device.h"
 
 #define RECTIFY_PROC_PERIOD 0
@@ -42,9 +39,15 @@ 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);
-  cv::Mat img(frame->height(), frame->width(), CV_8UC2,frame->data());
+  if (frame->format() == Format::YUYV) {
-  cv::cvtColor(img, img, cv::COLOR_YUV2BGR_YUY2);
+    cv::Mat img(frame->height(), frame->width(), CV_8UC2, frame->data());
-  return img;
+    cv::cvtColor(img, img, cv::COLOR_YUV2BGR_YUY2);
+    return img;
+  } else if (frame->format() == Format::RGB888) {
+    return cv::Mat(frame->height(), frame->width(), CV_8UC3, frame->data());
+  } else {
+    return cv::Mat(frame->height(), frame->width(), CV_8UC1, frame->data());
+  }
 }
 
 api::StreamData data2api(const device::StreamData &data) {

src/device/device.cc

@@ -100,10 +100,10 @@ std::shared_ptr<Device> Device::Create(
     return std::make_shared<StandardDevice>(device);
   } else if (strings::starts_with(name, "MYNT-EYE-")) {
     // TODO(JohnZhao): Create different device by name, such as MYNT-EYE-S1000
-    std::string model_s = name.substr(9,5);
+    std::string model_s = name.substr(9, 5);
     VLOG(2) << "MYNE EYE Model: " << model_s;
     DeviceModel model(model_s);
-    if(model.type == 'S') {
+    if (model.type == 'S') {
       switch (model.custom_code) {
         case '0':
           return std::make_shared<StandardDevice>(device);
@@ -432,13 +432,22 @@ std::vector<device::MotionData> Device::GetMotionDatas() {
   return motions_->GetMotionDatas();
 }
 
+void Device::SetStreamRequest(
+    const Resolution &res, const Format &format, const FrameRate &rate) {
+  StreamRequest request(res, format, rate);
+  request_ = request;
+}
+
 const StreamRequest &Device::GetStreamRequest(const Capabilities &capability) {
   try {
     return stream_config_requests_.at(capability);
   } catch (const std::out_of_range &e) {
     auto &&requests = GetStreamRequests(capability);
     if (requests.size() >= 1) {
-      VLOG(2) << "Select the first one stream request of " << capability;
+      for (auto &&request : requests) {
+        if (request == request_)
+          return request;
+      }
       return requests[0];
     } else {
       LOG(FATAL) << "Please config the stream request of " << capability;
@@ -455,53 +464,48 @@ void Device::StartVideoStreaming() {
   streams_ = std::make_shared<Streams>(GetKeyStreams());
 
   // if stream capabilities are supported with subdevices of device_
-  /*
   Capabilities stream_capabilities[] = {
-    Capabilities::STEREO,
+      Capabilities::STEREO,       Capabilities::COLOR,
-    Capabilities::COLOR,
+      Capabilities::STEREO_COLOR, Capabilities::DEPTH,
-    Capabilities::DEPTH,
+      Capabilities::POINTS,       Capabilities::FISHEYE,
-    Capabilities::POINTS,
+      Capabilities::INFRARED,     Capabilities::INFRARED2};
-    Capabilities::FISHEYE,
-    Capabilities::INFRARED,
-    Capabilities::INFRARED2
-  };
   for (auto &&capability : stream_capabilities) {
-  }
+    if (Supports(capability)) {
-  */
+      // do stream request selection if more than one request of each stream
-  if (Supports(Capabilities::STEREO)) {
+      auto &&stream_request = GetStreamRequest(capability);
-    // do stream request selection if more than one request of each stream
-    auto &&stream_request = GetStreamRequest(Capabilities::STEREO);
 
-    streams_->ConfigStream(Capabilities::STEREO, stream_request);
+      streams_->ConfigStream(capability, stream_request);
-    uvc::set_device_mode(
+      uvc::set_device_mode(
-        *device_, stream_request.width, stream_request.height,
+          *device_, stream_request.width, stream_request.height,
-        static_cast<int>(stream_request.format), stream_request.fps,
+          static_cast<int>(stream_request.format), stream_request.fps,
-        [this](const void *data, std::function<void()> continuation) {
+          [this, capability](
-          // drop the first stereo stream data
+              const void *data, std::function<void()> continuation) {
-          static std::uint8_t drop_count = 1;
+            // drop the first stereo stream data
-          if (drop_count > 0) {
+            static std::uint8_t drop_count = 1;
-            --drop_count;
+            if (drop_count > 0) {
-            continuation();
+              --drop_count;
-            return;
+              continuation();
-          }
+              return;
-          // auto &&time_beg = times::now();
-          {
-            std::lock_guard<std::mutex> _(mtx_streams_);
-            if (streams_->PushStream(Capabilities::STEREO, data)) {
-              CallbackPushedStreamData(Stream::LEFT);
-              CallbackPushedStreamData(Stream::RIGHT);
             }
-          }
+            // auto &&time_beg = times::now();
-          continuation();
+            {
-          OnStereoStreamUpdate();
+              std::lock_guard<std::mutex> _(mtx_streams_);
-          // VLOG(2) << "Stereo video callback cost "
+              if (streams_->PushStream(capability, data)) {
-          //     << times::count<times::milliseconds>(times::now() - time_beg)
+                CallbackPushedStreamData(Stream::LEFT);
-          //     << " ms";
+                CallbackPushedStreamData(Stream::RIGHT);
-        });
+              }
-  } else {
+            }
-    LOG(FATAL) << "Not any stream capabilities are supported by this device";
+            continuation();
+            OnStereoStreamUpdate();
+            // VLOG(2) << "Stereo video callback cost "
+            //     << times::count<times::milliseconds>(times::now() - time_beg)
+            //     << " ms";
+          });
+    } else {
+      // LOG(FATAL) << "Not any stream capabilities are supported by this
+      // device";
+    }
   }
-
   uvc::start_streaming(*device_, 0);
   video_streaming_ = true;
 }

src/device/device.h

@@ -103,6 +103,11 @@ class MYNTEYE_API Device {
    */
   bool Supports(const AddOns &addon) const;
 
+  /**
+   * set the stream request.
+   */
+  void SetStreamRequest(
+      const Resolution &res, const Format &format, const FrameRate &rate);
   /**
    * Get all stream requests of the capability.
    */
@@ -286,6 +291,7 @@ class MYNTEYE_API Device {
 
  private:
   Model model_;
+  StreamRequest request_;
   std::shared_ptr<uvc::device> device_;
   std::shared_ptr<DeviceInfo> device_info_;
 

src/internal/config.cc

@@ -19,7 +19,7 @@ const std::map<Model, StreamSupports> stream_supports_map = {
     {Model::STANDARD, {Stream::LEFT, Stream::RIGHT}}};
 
 const std::map<Model, CapabilitiesSupports> capabilities_supports_map = {
-    {Model::STANDARD, {Capabilities::STEREO, Capabilities::IMU}}};
+    {Model::STANDARD, {Capabilities::STEREO_COLOR, Capabilities::IMU}}};
 
 const std::map<Model, OptionSupports> option_supports_map = {
     {Model::STANDARD,
@@ -31,6 +31,19 @@ const std::map<Model, OptionSupports> option_supports_map = {
 const std::map<Model, std::map<Capabilities, StreamRequests>>
     stream_requests_map = {
         {Model::STANDARD,
-         {{Capabilities::STEREO, {{1280, 480, Format::YUYV, 25}}}}}};
+         {{Capabilities::STEREO, {{480, 752, Format::YUYV, 25}}},
+          {Capabilities::STEREO_COLOR,
+           {{1280, 400, Format::YUYV, 20},
+            {1280, 400, Format::YUYV, 30},
+            {1280, 400, Format::YUYV, 60},
+            {2560, 800, Format::YUYV, 10},
+            {2560, 800, Format::YUYV, 20},
+            {2560, 800, Format::YUYV, 30},
+            {1280, 400, Format::RGB888, 20},
+            {1280, 400, Format::RGB888, 30},
+            {1280, 400, Format::RGB888, 60},
+            {2560, 800, Format::RGB888, 10},
+            {2560, 800, Format::RGB888, 20},
+            {2560, 800, Format::RGB888, 30}}}}}};
 
 MYNTEYE_END_NAMESPACE

src/internal/config.h

@@ -27,13 +27,18 @@ MYNTEYE_BEGIN_NAMESPACE
 using StreamSupports = std::set<Stream>;
 using CapabilitiesSupports = std::set<Capabilities>;
 using OptionSupports = std::set<Option>;
-
+using ResolutionSupports = std::set<Resolution>;
+using FrameRateSupports = std::set<FrameRate>;
 extern const std::map<Model, StreamSupports> stream_supports_map;
 extern const std::map<Model, CapabilitiesSupports> capabilities_supports_map;
 extern const std::map<Model, OptionSupports> option_supports_map;
+extern const std::map<Model, ResolutionSupports> resolution_supports_map;
 
 using StreamRequests = std::vector<StreamRequest>;
 
+extern const std::map<Model, std::map<Resolution, FrameRateSupports>>
+    framerate_Supports_supports_map;
+
 extern const std::map<Model, std::map<Capabilities, StreamRequests>>
     stream_requests_map;
 

src/internal/streams.cc

@@ -85,8 +85,8 @@ bool unpack_left_img_pixels(
   auto data_new = reinterpret_cast<const std::uint8_t *>(data);
   std::size_t w = frame->width() * 2;
   std::size_t h = frame->height();
-  for(std::size_t i = 0; i < h; i++) {
+  for (std::size_t i = 0; i < h; i++) {
-    for(std::size_t j = 0; j < w; j++) {
+    for (std::size_t j = 0; j < w; j++) {
       frame->data()[i * w + j] = *(data_new + 2 * i * w + j);
     }
   }
@@ -101,8 +101,8 @@ bool unpack_right_img_pixels(
   auto data_new = reinterpret_cast<const std::uint8_t *>(data);
   std::size_t w = frame->width() * 2;
   std::size_t h = frame->height();
-  for(std::size_t i = 0; i < h; i++) {
+  for (std::size_t i = 0; i < h; i++) {
-    for(std::size_t j = 0; j < w; j++) {
+    for (std::size_t j = 0; j < w; j++) {
       frame->data()[i * w + j] = *(data_new + (2 * i + 1) * w + j);
     }
   }
@@ -116,7 +116,7 @@ Streams::Streams(const std::vector<Stream> key_streams)
       stream_capabilities_(
           {Capabilities::STEREO, Capabilities::COLOR, Capabilities::DEPTH,
            Capabilities::POINTS, Capabilities::FISHEYE, Capabilities::INFRARED,
-           Capabilities::INFRARED2}),
+           Capabilities::INFRARED2, Capabilities::STEREO_COLOR}),
       unpack_img_data_map_(
           {{Stream::LEFT, unpack_stereo_img_data},
            {Stream::RIGHT, unpack_stereo_img_data}}),
@@ -148,7 +148,7 @@ bool Streams::PushStream(const Capabilities &capability, const void *data) {
   auto &&request = GetStreamConfigRequest(capability);
   bool pushed = false;
   switch (capability) {
-    case Capabilities::STEREO: {
+    case Capabilities::STEREO_COLOR: {
       // alloc left
       AllocStreamData(Stream::LEFT, request, Format::YUYV);
       auto &&left_data = stream_datas_map_[Stream::LEFT].back();
@@ -281,7 +281,7 @@ void Streams::AllocStreamData(
   }
 
   if (stream == Stream::LEFT || stream == Stream::RIGHT) {
-    if(!data.img) {
+    if (!data.img) {
       data.img = std::make_shared<ImgData>();
     }
   } else {

tools/writer/config/img.params

@@ -2,8 +2,8 @@
 ---
 in_left:
    -
-      width: 752
+      width: 1280
-      height: 480
+      height: 800
       fx: 7.3638305001095546e+02
       fy: 7.2350066150722432e+02
       cx: 3.5691961817119693e+02
@@ -13,8 +13,8 @@ in_left:
           0. ]
 in_right:
    -
-      width: 752
+      width: 1280
-      height: 480
+      height: 800
       fx: 7.3638305001095546e+02
       fy: 7.2350066150722432e+02
       cx: 4.5668367112303980e+02