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add bgr888

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This commit is contained in:
Kalman
2018-08-07 02:29:07 +08:00
parent 26d95ec0ac
commit 6d961203be
11 changed files with 97 additions and 36 deletions
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35
tools/dataset/dataset.cc
View File

@@ -64,16 +64,36 @@ void Dataset::SaveStreamData(
std::stringstream ss;
ss << writer->outdir << OS_SEP << std::dec
<< std::setw(IMAGE_FILENAME_WIDTH) << std::setfill('0') << seq << ".png";
cv::Mat img(
data.frame->height(), data.frame->width(), CV_8UC2, data.frame->data());
cv::cvtColor(img, img, cv::COLOR_YUV2BGR_YUY2);
cv::imwrite(ss.str(), img);
if (data.frame->format() == Format::GREY) {
cv::Mat img(
data.frame->height(), data.frame->width(), CV_8UC1,
data.frame->data());
cv::imwrite(ss.str(), img);
} else if (data.frame->format() == Format::YUYV) {
cv::Mat img(
data.frame->height(), data.frame->width(), CV_8UC2,
data.frame->data());
cv::cvtColor(img, img, cv::COLOR_YUV2BGR_YUY2);
cv::imwrite(ss.str(), img);
} else if (data.frame->format() == Format::BGR888) {
cv::Mat img(
data.frame->height(), data.frame->width(), CV_8UC3,
data.frame->data());
cv::cvtColor(img, img, CV_BGRA2RGBA);
cv::imwrite(ss.str(), img);
} else {
cv::Mat img(
data.frame->height(), data.frame->width(), CV_8UC1,
data.frame->data());
cv::imwrite(ss.str(), img);
}
}
++stream_counts_[stream];
}
void Dataset::SaveMotionData(const device::MotionData &data) {
auto &&writer = GetMotionWriter();
// auto seq = data.imu->serial_number;
auto seq = motion_count_;
if (data.imu->flag == 1 || data.imu->flag == 2) {
writer->ofs << seq << ", " << data.imu->timestamp << ", "
@@ -83,6 +103,13 @@ void Dataset::SaveMotionData(const device::MotionData &data) {
<< data.imu->temperature << std::endl;
++motion_count_;
}
/*
if(motion_count_ != seq) {
LOG(INFO) << "motion_count_ != seq !" << " motion_count_: " << motion_count_
<< " seq: " << seq;
motion_count_ = seq;
}
*/
}
Dataset::writer_t Dataset::GetStreamWriter(const Stream &stream) {

42
tools/dataset/record.cc
View File

@@ -31,6 +31,8 @@ int main(int argc, char *argv[]) {
auto &&device = device::select();
if (!device)
return 1;
device->SetStreamRequest(
Resolution::RES_1280x400, Format::BGR888, FrameRate::RATE_30_FPS);
/*
{ // auto-exposure
device->SetOptionValue(Option::EXPOSURE_MODE, 0);
@@ -79,16 +81,40 @@ int main(int argc, char *argv[]) {
auto &&left_frame = left_datas.back().frame;
auto &&right_frame = right_datas.back().frame;
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::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);
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::cvtColor(left_img, left_img, CV_BGRA2RGBA);
cv::Mat right_img(
right_frame->height(), right_frame->width(), CV_8UC3,
right_frame->data());
cv::cvtColor(right_img, right_img, CV_BGRA2RGBA);
cv::hconcat(left_img, right_img, img);
} else {
return -1;
}
cv::imshow("frame", img);
{ // save