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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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4
include/mynteye/types.h
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@ -304,8 +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'),
/** BGR 8:8:8, 24 bits per pixel */
BGR888 = MYNTEYE_FOURCC('B', 'G', 'R', '3'),
/** Last guard */
LAST
};

2
samples/api/camera.cc
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@ -25,7 +25,7 @@ int main(int argc, char *argv[]) {
if (!api)
return 1;
api->SetStreamRequest(
Resolution::RES_1280x400, Format::RGB888, FrameRate::RATE_20_FPS);
Resolution::RES_1280x400, Format::BGR888, FrameRate::RATE_20_FPS);
// api->SetOptionValue(Option::FRAME_RATE, 25);
// api->SetOptionValue(Option::IMU_FREQUENCY, 500);
api->SetOptionValue(Option::IR_CONTROL, 80);

6
samples/device/camera.cc
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@ -52,7 +52,7 @@ int main(int argc, char *argv[]) {
std::size_t left_count = 0;
device->SetStreamRequest(
Resolution::RES_1280x400, Format::RGB888, FrameRate::RATE_30_FPS);
Resolution::RES_1280x400, Format::BGR888, FrameRate::RATE_30_FPS);
device->SetStreamCallback(
Stream::LEFT, [&left_count](const device::StreamData &data) {
CHECK_NOTNULL(data.img);
@ -135,13 +135,15 @@ int main(int argc, char *argv[]) {
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_data.frame->format() == Format::RGB888) {
} else if (left_data.frame->format() == Format::BGR888) {
cv::Mat left_img(
left_data.frame->height(), left_data.frame->width(), CV_8UC3,
left_data.frame->data());
cv::Mat right_img(
right_data.frame->height(), right_data.frame->width(), CV_8UC3,
right_data.frame->data());
cv::cvtColor(left_img, left_img, CV_BGRA2RGBA);
cv::cvtColor(right_img, right_img, CV_BGRA2RGBA);
cv::hconcat(left_img, right_img, img);
} else {
return -1;

4
samples/uvc/camera.cc
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@ -108,7 +108,7 @@ int main(int argc, char *argv[]) {
const auto frame_empty = [&frame]() { return frame == nullptr; };
uvc::set_device_mode(
*device, 1280, 400, static_cast<int>(Format::RGB888), 20,
*device, 1280, 400, static_cast<int>(Format::BGR888), 20,
[&mtx, &cv, &frame, &frame_ready](
const void *data, std::function<void()> continuation) {
// reinterpret_cast<const std::uint8_t *>(data);
@ -144,7 +144,7 @@ int main(int argc, char *argv[]) {
// only lastest frame is valid
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_BGRA2RGBA);
cv::imshow("frame", img);
frame = nullptr;

6
src/api/synthetic.cc
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@ -45,8 +45,10 @@ cv::Mat frame2mat(const std::shared_ptr<device::Frame> &frame) {
cv::Mat img(frame->height(), frame->width(), CV_8UC2, frame->data());
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 if (frame->format() == Format::BGR888) {
cv::Mat img(frame->height(), frame->width(), CV_8UC3, frame->data());
cv::cvtColor(img, img, CV_BGRA2RGBA);
return img;
} else {
return cv::Mat(frame->height(), frame->width(), CV_8UC1, frame->data());
}

26
src/internal/config.cc
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@ -33,17 +33,19 @@ const std::map<Model, std::map<Capabilities, StreamRequests>>
{Model::STANDARD,
{{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}}}}}};
{// {1280, 400, Format::YUYV, 10},
// {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::BGR888, 10},
{1280, 400, Format::BGR888, 20},
{1280, 400, Format::BGR888, 30},
{1280, 400, Format::BGR888, 60},
{2560, 800, Format::BGR888, 10},
{2560, 800, Format::BGR888, 20},
{2560, 800, Format::BGR888, 30}}}}}};
MYNTEYE_END_NAMESPACE

4
src/internal/streams.cc
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@ -79,7 +79,7 @@ bool unpack_left_img_pixels(
CHECK_NOTNULL(frame);
CHECK_EQ(request.format, frame->format());
auto data_new = reinterpret_cast<const std::uint8_t *>(data);
if (request.format == Format::YUYV || request.format == Format::RGB888) {
if (request.format == Format::YUYV || request.format == Format::BGR888) {
std::size_t n = request.format == Format::YUYV ? 2 : 3;
std::size_t w = frame->width() * n;
std::size_t h = frame->height();
@ -105,7 +105,7 @@ bool unpack_right_img_pixels(
CHECK_NOTNULL(frame);
CHECK_EQ(request.format, frame->format());
auto data_new = reinterpret_cast<const std::uint8_t *>(data);
if (request.format == Format::YUYV || request.format == Format::RGB888) {
if (request.format == Format::YUYV || request.format == Format::BGR888) {
std::size_t n = request.format == Format::YUYV ? 2 : 3;
std::size_t w = frame->width() * n;
std::size_t h = frame->height();

2
src/public/types.cc
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@ -167,7 +167,7 @@ std::size_t bytes_per_pixel(const Format &value) {
return 1;
case Format::YUYV:
return 2;
case Format::RGB888:
case Format::BGR888:
return 3;
default:
LOG(FATAL) << "Unknown format";

29
tools/dataset/dataset.cc
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@ -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";
if (data.frame->format() == Format::GREY) {
cv::Mat img(
data.frame->height(), data.frame->width(), CV_8UC2, data.frame->data());
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) {

32
tools/dataset/record.cc
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@ -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 img;
if (left_frame->format() == Format::GREY) {
cv::Mat left_img(
left_frame->height(), left_frame->width(), CV_8UC2, left_frame->data());
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::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);
} 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

2
wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc
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@ -532,6 +532,8 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
}
api_ = API::Create(device);
api_->SetStreamRequest(
Resolution::RES_1280x400, Format::BGR888, FrameRate::RATE_20_FPS);
}
sensor_msgs::CameraInfoPtr getCameraInfo(const Stream &stream) {