bool UndistortDriver::Capture( pb::CameraMsg& vImages )
{
m_InMsg.Clear();
const bool success = m_Input->Capture( m_InMsg );
// Sanity check.
if (static_cast<size_t>(m_InMsg.image_size()) > m_CamModel.size()) {
fprintf(stderr, "HAL: Error! Expecting %d images but captured %d\n",
static_cast<int>(m_CamModel.size()), m_InMsg.image_size());
return false;
}
if(success) {
for (int ii = 0; ii < m_InMsg.image_size(); ++ii) {
pb::Image inimg = pb::Image(m_InMsg.image(ii));
pb::ImageMsg* pimg = vImages.add_image();
pimg->set_width(inimg.Width());
pimg->set_height(inimg.Height());
pimg->set_type( (pb::Type)inimg.Type());
pimg->set_format( (pb::Format)inimg.Format());
pimg->mutable_data()->resize(inimg.Width()*inimg.Height());
pb::Image img = pb::Image(*pimg);
calibu::Rectify(
m_vLuts[ii], inimg.data(),
reinterpret_cast<unsigned char*>(&pimg->mutable_data()->front()),
img.Width(), img.Height());
}
}
return success;
}
bool SplitDriver::Capture( pb::CameraMsg& vImages )
{
m_InMsg.Clear();
if( m_Input->Capture( m_InMsg ) == false ) {
return false;
}
if( m_InMsg.image_size() > 1 ) {
std::cerr << "error: Split is expecting 1 image but instead got " << m_InMsg.image_size() << "." << std::endl;
return false;
}
const pb::ImageMsg& InImg = m_InMsg.image(0);
for( unsigned int ii = 0; ii < m_vROIs.size(); ++ii ) {
pb::ImageMsg* pImg = vImages.add_image();
pImg->set_format( InImg.format() );
pImg->set_type( InImg.type() );
pImg->set_timestamp( InImg.timestamp() );
const unsigned int nChannels = InImg.format() == pb::PB_LUMINANCE ? 1 : 3;
unsigned int nDepth = 1;
if( InImg.type() == pb::PB_SHORT || InImg.type() == pb::PB_UNSIGNED_SHORT ) {
nDepth = 2;
} else if( InImg.type() == pb::PB_INT || InImg.type() == pb::PB_UNSIGNED_INT ) {
nDepth = 4;
} else if( InImg.type() == pb::PB_FLOAT ) {
nDepth = 4;
} else if( InImg.type() == pb::PB_DOUBLE ) {
nDepth = 8;
}
const unsigned int nBytesPerPixel = nChannels * nDepth;
const ImageRoi& ROI = m_vROIs[ii];
const unsigned int nBytesPerRow = ROI.w * nBytesPerPixel;
pImg->set_width( ROI.w );
pImg->set_height( ROI.h );
pImg->mutable_data()->resize( ROI.h * nBytesPerRow );
unsigned char* pS = (unsigned char*)&InImg.data().front();
unsigned char* pD = (unsigned char*)&pImg->mutable_data()->front();
for( unsigned int ii = 0; ii < ROI.h; ++ii ) {
memcpy( pD, pS + (InImg.width()*(ii+ROI.y)) + ROI.x, nBytesPerRow);
pD = pD + ROI.w;
}
}
return true;
}
bool RealSenseDriver::Capture( pb::CameraMsg& vImages )
{
/*use a two-vector, where the first image is RGB, second is gray16 for depth or gray8 for IR */
vImages.Clear();
uvc_frame_t* frameRGB = NULL;
uvc_frame_t* frameDepth = NULL;
uvc_frame_t *rgb; //to hold the YUV->RGB conversion
uvc_error_t err;
pb::ImageMsg* pimg;
uint64_t scrDepth, scrRGB;
scrDepth = 0;
scrRGB = 0;
/* Try to sync up the streams
Based on the SCR value that is shared between the two cameras, it looks like
RGB leads (comes before) IR by about 21475451171 units (roughly) between frames
Strategy: Make sure the difference between SCR values for each frame is less than
frameSyncLimit units.
Also, depth takes some time to actually start publishing - keep reading RGB until we get
a good pair
*/
//Two functions: advanceDepth, advanceRGB
//Pick up an RGB, wait for a depth, see if diff > synclimit
//yes? Repeat with new RGB
//no? Stash both into protobuf and continue
/*Pick up the depth image */
int gotPair = 0;
int needRGB = 1;
int needDepth = 1;
int advRGB = 0;
int64_t frameSync;
while (!gotPair)
{
while (needRGB)
{
err = getFrame(streamh_rgb, &frameRGB);
if ((err == UVC_SUCCESS) && (frameRGB != 0))
{
//Calc the sync
memcpy(&scrRGB, &frameRGB->capture_time, sizeof(scrRGB));
needRGB = 0;
}
usleep(1);
}
//Pick up a Depth
while (needDepth)
{
err = getFrame(streamh_d, &frameDepth);
if ((err == UVC_SUCCESS) && (frameDepth != 0))
{
//Calc the sync
memcpy(&scrDepth, &frameDepth->capture_time, sizeof(scrDepth));
needDepth = 0;
}
usleep(1);
}
frameSync = diffSCR(scrDepth, scrRGB);
if (!useSync)
{
//Don't care about the sync, just return the images
gotPair = 1;
break;
}
std::cout << "Sync?: R:" << scrRGB << " D: " << scrDepth << " diffSCR: " << frameSync;
if (frameSync > frameSyncLimitPos)
{
//Depth is ahead of RGB, advance the RGB stream
advRGB++;
if (advRGB > 3)
{
//restart, the rgb is out of whack
needDepth = 1;
std::cout << " Restarting acq sequence" << std::endl;
}
else
{
std::cout << " Advancing RGB stream" << std::endl;
}
needRGB = 1;
continue;
}
else if (frameSync < frameSyncLimitNeg)
{
// depth after RGB by too much, start over
needRGB = 1;
needDepth = 1;
std::cout << " Bad sync, starting over" << std::endl;
advRGB = 0;
continue;
}
else
{
//Within limits, exit the loop
std::cout << " Good sync" << std::endl;
gotPair = 1;
}
}
if(frameRGB)
{
pimg = vImages.add_image();
pimg->set_type( (pb::Type) pbtype_rgb );
pimg->set_format( (pb::Format) pbformat_rgb );
pimg->set_width(frameRGB->width);
pimg->set_height(frameRGB->height);
rgb = uvc_allocate_frame(frameRGB->width * frameRGB->height * 3);
uvc_any2rgb(frameRGB, rgb);
//Convert the YUYV to RGB
pimg->set_data(rgb->data, width_ * height_ * 3); //RGB uint8_t
uvc_free_frame(rgb);
}
if(frameDepth)
{
pimg = vImages.add_image();
pimg->set_type( (pb::Type) pbtype_d );
pimg->set_format( (pb::Format) pbformat_d );
pimg->set_width(frameDepth->width);
pimg->set_height(frameDepth->height);
if (useIR)
{
pimg->set_data(frameDepth->data, width_ * height_); //gray uint8_t
}
else
{
pimg->set_data(frameDepth->data, width_ * height_ * 2); //gray uint16_t
}
}
return true;
}