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Fix record bug

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This commit is contained in:
kalman 2018-11-27 16:00:52 +08:00
parent ce76b16c07
commit 4c291588ab
1 changed files with 34 additions and 26 deletions
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60
tools/dataset/record2.cc
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@ -29,23 +29,6 @@ int main(int argc, char *argv[]) {
auto &&device = device::select(); auto &&device = device::select();
if (!device) if (!device)
return 1; return 1;
/*
{ // auto-exposure
device->SetOptionValue(Option::EXPOSURE_MODE, 0);
device->SetOptionValue(Option::MAX_GAIN, 40); // [0.48]
device->SetOptionValue(Option::MAX_EXPOSURE_TIME, 120); // [0,240]
device->SetOptionValue(Option::DESIRED_BRIGHTNESS, 200); // [0,255]
}
{ // manual-exposure
device->SetOptionValue(Option::EXPOSURE_MODE, 1);
device->SetOptionValue(Option::GAIN, 20); // [0.48]
device->SetOptionValue(Option::BRIGHTNESS, 20); // [0,240]
device->SetOptionValue(Option::CONTRAST, 20); // [0,255]
}
device->SetOptionValue(Option::IR_CONTROL, 80);
device->SetOptionValue(Option::FRAME_RATE, 25);
device->SetOptionValue(Option::IMU_FREQUENCY, 500);
*/
device->InitResolution(Resolution::RES_1280x400); device->InitResolution(Resolution::RES_1280x400);
device->SetStreamRequest(Format::BGR888, FrameRate::RATE_30_FPS); device->SetStreamRequest(Format::BGR888, FrameRate::RATE_30_FPS);
device->LogOptionInfos(); device->LogOptionInfos();
@ -79,17 +62,42 @@ int main(int argc, char *argv[]) {
auto &&left_frame = left_datas.back().frame; auto &&left_frame = left_datas.back().frame;
auto &&right_frame = right_datas.back().frame; auto &&right_frame = right_datas.back().frame;
cv::Mat left_img(
left_frame->height(), left_frame->width(), CV_8UC1, left_frame->data());
cv::Mat right_img(
right_frame->height(), right_frame->width(), CV_8UC1,
right_frame->data());
cv::Mat img; cv::Mat img;
cv::hconcat(left_img, right_img, img);
cv::imshow("frame", img);
{ // save if (left_frame->format() == Format::GREY) {
cv::Mat left_img(
left_frame->height(), left_frame->width(), CV_8UC1,
left_frame->data());
cv::Mat right_img(
right_frame->height(), right_frame->width(), CV_8UC1,
right_frame->data());
cv::hconcat(left_img, right_img, img);
} else if (left_frame->format() == Format::YUYV) {
cv::Mat left_img(
left_frame->height(), left_frame->width(), CV_8UC2,
left_frame->data());
cv::Mat right_img(
right_frame->height(), right_frame->width(), CV_8UC2,
right_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_frame->format() == Format::BGR888) {
cv::Mat left_img(
left_frame->height(), left_frame->width(), CV_8UC3,
left_frame->data());
cv::Mat right_img(
right_frame->height(), right_frame->width(), CV_8UC3,
right_frame->data());
cv::cvtColor(left_img, left_img, CV_BGR2RGB);
cv::cvtColor(right_img, right_img, CV_BGR2RGB);
cv::hconcat(left_img, right_img, img);
} else {
return -1;
}
cv::imshow("frame", img);
if (img_count > 10 && imu_count > 50) { // save
for (auto &&left : left_datas) { for (auto &&left : left_datas) {
dataset.SaveStreamData(Stream::LEFT, left); dataset.SaveStreamData(Stream::LEFT, left);
} }
@ -125,4 +133,4 @@ int main(int argc, char *argv[]) {
LOG(INFO) << "Imu count: " << imu_count LOG(INFO) << "Imu count: " << imu_count
<< ", hz: " << (1000.f * imu_count / elapsed_ms); << ", hz: " << (1000.f * imu_count / elapsed_ms);
return 0; return 0;
} }