change the way of split images
This commit is contained in:
KalmanSLightech
parent
6c25f06005
commit
659f03ac18
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@ -46,8 +46,7 @@ int main(int argc, char *argv[]) {
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device->SetOptionValue(Option::FRAME_RATE, 25);
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device->SetOptionValue(Option::IMU_FREQUENCY, 500);
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*/
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device->LogOptionInfos();
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// device->LogOptionInfos();
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// device->RunOptionAction(Option::ZERO_DRIFT_CALIBRATION);
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std::size_t left_count = 0;
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@ -72,6 +71,7 @@ int main(int argc, char *argv[]) {
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});
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std::size_t imu_count = 0;
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/*
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device->SetMotionCallback([&imu_count](const device::MotionData &data) {
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CHECK_NOTNULL(data.imu);
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++imu_count;
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@ -86,11 +86,10 @@ int main(int argc, char *argv[]) {
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<< ", gyro_z: " << data.imu->gyro[2]
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<< ", temperature: " << data.imu->temperature;
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});
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*/
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// Enable this will cache the motion datas until you get them.
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device->EnableMotionDatas();
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device->Start(Source::ALL);
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// device->EnableMotionDatas();
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device->Start(Source::VIDEO_STREAMING);
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cv::namedWindow("frame");
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std::size_t motion_count = 0;
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@ -100,7 +99,7 @@ int main(int argc, char *argv[]) {
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device::StreamData left_data = device->GetLatestStreamData(Stream::LEFT);
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device::StreamData right_data = device->GetLatestStreamData(Stream::RIGHT);
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/*
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auto &&motion_datas = device->GetMotionDatas();
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motion_count += motion_datas.size();
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for (auto &&data : motion_datas) {
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@ -114,16 +113,17 @@ int main(int argc, char *argv[]) {
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<< ", gyro_z: " << data.imu->gyro[2]
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<< ", temperature: " << data.imu->temperature;
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}
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*/
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cv::Mat left_img(
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left_data.frame->height(), left_data.frame->width(), CV_8UC1,
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left_data.frame->height(), left_data.frame->width(), CV_8UC2,
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left_data.frame->data());
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cv::Mat right_img(
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right_data.frame->height(), right_data.frame->width(), CV_8UC1,
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right_data.frame->height(), right_data.frame->width(), CV_8UC2,
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right_data.frame->data());
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cv::Mat img;
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cv::hconcat(left_img, right_img, img);
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cv::cvtColor(img, img, cv::COLOR_YUV2BGR_YUY2);
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cv::imshow("frame", img);
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char key = static_cast<char>(cv::waitKey(1));
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@ -87,7 +87,7 @@ Device::Device(const Model &model, std::shared_ptr<uvc::device> device)
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channels_(std::make_shared<Channels>(device)),
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motions_(std::make_shared<Motions>(channels_)) {
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VLOG(2) << __func__;
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ReadAllInfos();
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//ReadAllInfos();
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}
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Device::~Device() {
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@ -96,7 +96,7 @@ Device::~Device() {
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std::shared_ptr<Device> Device::Create(
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const std::string &name, std::shared_ptr<uvc::device> device) {
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if (name == "MYNTEYE") {
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if (name == "MYNTEYE" || name == "CX3-UVC") {
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return std::make_shared<StandardDevice>(device);
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} else if (strings::starts_with(name, "MYNT-EYE-")) {
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// TODO(JohnZhao): Create different device by name, such as MYNT-EYE-S1000
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@ -31,6 +31,6 @@ const std::map<Model, OptionSupports> option_supports_map = {
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const std::map<Model, std::map<Capabilities, StreamRequests>>
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stream_requests_map = {
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{Model::STANDARD,
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{{Capabilities::STEREO, {{752, 480, Format::YUYV, 25}}}}}};
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{{Capabilities::STEREO, {{1280, 480, Format::YUYV, 25}}}}}};
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MYNTEYE_END_NAMESPACE
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@ -48,7 +48,7 @@ bool unpack_stereo_img_data(
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// << ", timestamp="<< std::dec << img_packet.timestamp
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// << ", exposure_time="<< std::dec << img_packet.exposure_time
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// << ", checksum=0x" << std::hex << static_cast<int>(img_packet.checksum);
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/*
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if (img_packet.header != 0x3B) {
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LOG(WARNING) << "Image packet header must be 0x3B, but 0x" << std::hex
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<< std::uppercase << std::setw(2) << std::setfill('0')
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@ -68,7 +68,7 @@ bool unpack_stereo_img_data(
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<< static_cast<int>(checksum) << " now";
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return false;
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}
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*/
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img->frame_id = img_packet.frame_id;
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img->timestamp = img_packet.timestamp;
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img->exposure_time = img_packet.exposure_time;
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@ -79,11 +79,14 @@ bool unpack_left_img_pixels(
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const void *data, const StreamRequest &request, Streams::frame_t *frame) {
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CHECK_NOTNULL(frame);
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CHECK_EQ(request.format, Format::YUYV);
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CHECK_EQ(frame->format(), Format::GREY);
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CHECK_EQ(frame->format(), Format::YUYV);
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auto data_new = reinterpret_cast<const std::uint8_t *>(data);
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std::size_t n = frame->width() * frame->height();
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for (std::size_t i = 0; i < n; i++) {
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frame->data()[i] = *(data_new + (i * 2));
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std::size_t w = frame->width() * 2;
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std::size_t h = frame->height();
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for(std::size_t i = 0; i < h; i++) {
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for(std::size_t j = 0; j < w; j++) {
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frame->data()[i * w + j] = *(data_new + 2 * i * w + j);
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}
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}
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return true;
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}
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@ -92,11 +95,14 @@ bool unpack_right_img_pixels(
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const void *data, const StreamRequest &request, Streams::frame_t *frame) {
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CHECK_NOTNULL(frame);
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CHECK_EQ(request.format, Format::YUYV);
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CHECK_EQ(frame->format(), Format::GREY);
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CHECK_EQ(frame->format(), Format::YUYV);
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auto data_new = reinterpret_cast<const std::uint8_t *>(data);
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std::size_t n = frame->width() * frame->height();
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for (std::size_t i = 0; i < n; i++) {
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frame->data()[i] = *(data_new + (i * 2 + 1));
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std::size_t w = frame->width() * 2;
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std::size_t h = frame->height();
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for(std::size_t i = 0; i < h; i++) {
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for(std::size_t j = 0; j < w; j++) {
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frame->data()[i * w + j] = *(data_new + (2 * i + 1) * w + j);
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}
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}
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return true;
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}
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@ -142,13 +148,13 @@ bool Streams::PushStream(const Capabilities &capability, const void *data) {
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switch (capability) {
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case Capabilities::STEREO: {
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// alloc left
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AllocStreamData(Stream::LEFT, request, Format::GREY);
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AllocStreamData(Stream::LEFT, request, Format::YUYV);
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auto &&left_data = stream_datas_map_[Stream::LEFT].back();
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// unpack img data
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if (unpack_img_data_map_[Stream::LEFT](
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data, request, left_data.img.get())) {
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// alloc right
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AllocStreamData(Stream::RIGHT, request, Format::GREY);
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AllocStreamData(Stream::RIGHT, request, Format::YUYV);
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auto &&right_data = stream_datas_map_[Stream::RIGHT].back();
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*right_data.img = *left_data.img;
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// unpack frame
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@ -281,7 +287,7 @@ void Streams::AllocStreamData(
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}
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if (!data.frame) {
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data.frame = std::make_shared<frame_t>(
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request.width, request.height, format, nullptr);
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request.width / 2, request.height, format, nullptr);
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}
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stream_datas_map_[stream].push_back(data);
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}
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@ -32,7 +32,7 @@ std::shared_ptr<Device> select() {
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LOG(ERROR) << "No MYNT EYE devices :(";
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return nullptr;
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}
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/*
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LOG(INFO) << "MYNT EYE devices:";
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for (size_t i = 0; i < n; i++) {
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auto &&device = devices[i];
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@ -40,7 +40,7 @@ std::shared_ptr<Device> select() {
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<< ", name: " << device->GetInfo(Info::DEVICE_NAME)
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<< ", sn: " << device->GetInfo(Info::SERIAL_NUMBER);
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}
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*/
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std::shared_ptr<Device> device = nullptr;
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if (n <= 1) {
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device = devices[0];
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