change the way of split images

samples/device/camera.cc

@@ -46,8 +46,7 @@ int main(int argc, char *argv[]) {
   device->SetOptionValue(Option::FRAME_RATE, 25);
   device->SetOptionValue(Option::IMU_FREQUENCY, 500);
   */
-  device->LogOptionInfos();
+  // device->LogOptionInfos();
-
   // device->RunOptionAction(Option::ZERO_DRIFT_CALIBRATION);
 
   std::size_t left_count = 0;
@@ -72,6 +71,7 @@ int main(int argc, char *argv[]) {
       });
 
   std::size_t imu_count = 0;
+/*
   device->SetMotionCallback([&imu_count](const device::MotionData &data) {
     CHECK_NOTNULL(data.imu);
     ++imu_count;
@@ -86,11 +86,10 @@ int main(int argc, char *argv[]) {
             << ", gyro_z: " << data.imu->gyro[2]
             << ", temperature: " << data.imu->temperature;
   });
-
+*/
   // Enable this will cache the motion datas until you get them.
-  device->EnableMotionDatas();
+  // device->EnableMotionDatas();
-  device->Start(Source::ALL);
+  device->Start(Source::VIDEO_STREAMING);
-
   cv::namedWindow("frame");
 
   std::size_t motion_count = 0;
@@ -100,7 +99,7 @@ int main(int argc, char *argv[]) {
 
     device::StreamData left_data = device->GetLatestStreamData(Stream::LEFT);
     device::StreamData right_data = device->GetLatestStreamData(Stream::RIGHT);
-
+/*
     auto &&motion_datas = device->GetMotionDatas();
     motion_count += motion_datas.size();
     for (auto &&data : motion_datas) {
@@ -114,16 +113,17 @@ int main(int argc, char *argv[]) {
                 << ", gyro_z: " << data.imu->gyro[2]
                 << ", temperature: " << data.imu->temperature;
     }
-
+*/
     cv::Mat left_img(
-        left_data.frame->height(), left_data.frame->width(), CV_8UC1,
+        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_8UC1,
+        right_data.frame->height(), right_data.frame->width(), CV_8UC2,
         right_data.frame->data());
 
     cv::Mat img;
     cv::hconcat(left_img, right_img, img);
+    cv::cvtColor(img, img, cv::COLOR_YUV2BGR_YUY2);
     cv::imshow("frame", img);
 
     char key = static_cast<char>(cv::waitKey(1));

src/device/device.cc

@@ -87,7 +87,7 @@ Device::Device(const Model &model, std::shared_ptr<uvc::device> device)
       channels_(std::make_shared<Channels>(device)),
       motions_(std::make_shared<Motions>(channels_)) {
   VLOG(2) << __func__;
-  ReadAllInfos();
+  //ReadAllInfos();
 }
 
 Device::~Device() {
@@ -96,7 +96,7 @@ Device::~Device() {
 
 std::shared_ptr<Device> Device::Create(
     const std::string &name, std::shared_ptr<uvc::device> device) {
-  if (name == "MYNTEYE") {
+  if (name == "MYNTEYE" || name == "CX3-UVC") {
     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

src/internal/config.cc

@@ -31,6 +31,6 @@ const std::map<Model, OptionSupports> option_supports_map = {
 const std::map<Model, std::map<Capabilities, StreamRequests>>
     stream_requests_map = {
         {Model::STANDARD,
-         {{Capabilities::STEREO, {{752, 480, Format::YUYV, 25}}}}}};
+         {{Capabilities::STEREO, {{1280, 480, Format::YUYV, 25}}}}}};
 
 MYNTEYE_END_NAMESPACE

src/internal/streams.cc

@@ -48,7 +48,7 @@ bool unpack_stereo_img_data(
   //   << ", timestamp="<< std::dec << img_packet.timestamp
   //   << ", exposure_time="<< std::dec << img_packet.exposure_time
   //   << ", checksum=0x" << std::hex << static_cast<int>(img_packet.checksum);
-
+/*
   if (img_packet.header != 0x3B) {
     LOG(WARNING) << "Image packet header must be 0x3B, but 0x" << std::hex
                  << std::uppercase << std::setw(2) << std::setfill('0')
@@ -68,7 +68,7 @@ bool unpack_stereo_img_data(
                  << static_cast<int>(checksum) << " now";
     return false;
   }
-
+*/
   img->frame_id = img_packet.frame_id;
   img->timestamp = img_packet.timestamp;
   img->exposure_time = img_packet.exposure_time;
@@ -79,11 +79,14 @@ 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(frame->format(), Format::GREY);
+  CHECK_EQ(frame->format(), Format::YUYV);
   auto data_new = reinterpret_cast<const std::uint8_t *>(data);
-  std::size_t n = frame->width() * frame->height();
+  std::size_t w = frame->width() * 2;
-  for (std::size_t i = 0; i < n; i++) {
+  std::size_t h = frame->height();
-    frame->data()[i] = *(data_new + (i * 2));
+  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);
+    }
   }
   return true;
 }
@@ -92,11 +95,14 @@ 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(frame->format(), Format::GREY);
+  CHECK_EQ(frame->format(), Format::YUYV);
   auto data_new = reinterpret_cast<const std::uint8_t *>(data);
-  std::size_t n = frame->width() * frame->height();
+  std::size_t w = frame->width() * 2;
-  for (std::size_t i = 0; i < n; i++) {
+  std::size_t h = frame->height();
-    frame->data()[i] = *(data_new + (i * 2 + 1));
+  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);
+    }
   }
   return true;
 }
@@ -142,13 +148,13 @@ bool Streams::PushStream(const Capabilities &capability, const void *data) {
   switch (capability) {
     case Capabilities::STEREO: {
       // alloc left
-      AllocStreamData(Stream::LEFT, request, Format::GREY);
+      AllocStreamData(Stream::LEFT, request, Format::YUYV);
       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::GREY);
+        AllocStreamData(Stream::RIGHT, request, Format::YUYV);
         auto &&right_data = stream_datas_map_[Stream::RIGHT].back();
         *right_data.img = *left_data.img;
         // unpack frame
@@ -281,7 +287,7 @@ void Streams::AllocStreamData(
   }
   if (!data.frame) {
     data.frame = std::make_shared<frame_t>(
-        request.width, request.height, format, nullptr);
+        request.width / 2, request.height, format, nullptr);
   }
   stream_datas_map_[stream].push_back(data);
 }

src/public/utils.cc

@@ -32,7 +32,7 @@ std::shared_ptr<Device> select() {
     LOG(ERROR) << "No MYNT EYE devices :(";
     return nullptr;
   }
-
+/*
   LOG(INFO) << "MYNT EYE devices:";
   for (size_t i = 0; i < n; i++) {
     auto &&device = devices[i];
@@ -40,7 +40,7 @@ std::shared_ptr<Device> select() {
               << ", name: " << device->GetInfo(Info::DEVICE_NAME)
               << ", sn: " << device->GetInfo(Info::SERIAL_NUMBER);
   }
-
+*/
   std::shared_ptr<Device> device = nullptr;
   if (n <= 1) {
     device = devices[0];