C++ (Cpp) navdata_set_raw_pictureの例

コード例 #1

ファイル: video_stage_recorder.c プロジェクト: AndreAbrantes/DR-Lib

C_RESULT video_stage_recorder_transform(video_stage_recorder_config_t *cfg, vp_api_io_data_t *in, vp_api_io_data_t *out)
{
	 time_t temptime;

  vp_os_mutex_lock( &out->lock );

  if( out->status == VP_API_STATUS_INIT )
  {
    out->numBuffers   = 1;
    out->indexBuffer  = 0;
    out->lineSize     = NULL;
    //out->buffers      = (int8_t **) vp_os_malloc( sizeof(int8_t *) );
  }

  out->size     = in->size;
  out->status   = in->status;
  out->buffers  = in->buffers;

  if( in->status == VP_API_STATUS_ENDED ) {
    out->status = in->status;
  }
  else if(in->status == VP_API_STATUS_STILL_RUNNING) {
    out->status = VP_API_STATUS_PROCESSING;
  }
  else {
    out->status = in->status;
  }

	if(cfg->startRec==VIDEO_RECORD_HOLD)
	{
		struct timeval tv;
		struct tm *atm;

		gettimeofday(&tv,NULL);

		 temptime = (time_t)tv.tv_sec;
		 atm = localtime(&temptime);  //atm = localtime(&tv.tv_sec);

		sprintf(video_filename, "%s/video_%04d%02d%02d_%02d%02d%02d.%s",
				VIDEO_FILE_DEFAULT_PATH,
				atm->tm_year+1900, atm->tm_mon+1, atm->tm_mday,
				atm->tm_hour, atm->tm_min, atm->tm_sec, VIDEO_FILE_EXTENSION);

		cfg->fp = fopen(video_filename, "wb");
                if (cfg->fp == NULL)
                   printf ("error open file %s\n", video_filename);
		cfg->startRec=VIDEO_RECORD_START;
	}

  if( cfg->fp != NULL && out->size > 0 && out->status == VP_API_STATUS_PROCESSING && cfg->startRec==VIDEO_RECORD_START)
  {
    vp_api_picture_t* picture = (vp_api_picture_t *) in->buffers;

#if defined (NAVDATA_VISION_INCLUDED) && defined (USE_ELINUX)
		navdata_set_raw_picture(picture_captured++);
#endif

    fwrite(picture->y_buf, picture->width * picture->height, 1, cfg->fp);
#ifdef USE_VIDEO_YUV
    fwrite(picture->cb_buf, picture->width * picture->height >> 2, 1, cfg->fp);
    fwrite(picture->cr_buf, picture->width * picture->height >> 2, 1, cfg->fp);
#endif
  }

コード例 #2

ファイル: video_stage_recorder.c プロジェクト: AdamCDunlap/hmc-robot-drivers

C_RESULT video_stage_recorder_transform(video_stage_recorder_config_t *cfg, vp_api_io_data_t *in, vp_api_io_data_t *out)
{
#ifndef _WIN32

	time_t temptime;
	struct timeval tv;
#ifdef USE_FIXED_60FPS
	static struct timeval old_tv;
	static uint8_t* old_pic=NULL;
	unsigned long delta_us=0;
	int ratio=0;
	int i=0;
#endif
	vp_os_mutex_lock( &out->lock );

	if( out->status == VP_API_STATUS_INIT )
	{
		out->numBuffers   = 1;
		out->indexBuffer  = 0;
		out->lineSize     = NULL;
		//out->buffers      = (int8_t **) vp_os_malloc( sizeof(int8_t *) );
	}

	out->size     = in->size;
	out->status   = in->status;
	out->buffers  = in->buffers;

	if( in->status == VP_API_STATUS_ENDED ) {
		out->status = in->status;
	}
	else if(in->status == VP_API_STATUS_STILL_RUNNING) {
		out->status = VP_API_STATUS_PROCESSING;
	}
	else {
		out->status = in->status;
	}

	gettimeofday(&tv,NULL);
	vp_api_picture_t* picture = (vp_api_picture_t *) in->buffers;

	if(cfg->startRec==VIDEO_RECORD_HOLD)
	{
		struct tm *atm;


		temptime = (time_t)tv.tv_sec;
		atm = localtime(&temptime);  //atm = localtime(&tv.tv_sec);
		printf("recording video\n");
		sprintf(cfg->video_filename, "%s/video_%04d%02d%02d_%02d%02d%02d_w%i_h%i.%s",
				VIDEO_FILE_DEFAULT_PATH,
				atm->tm_year+1900, atm->tm_mon+1, atm->tm_mday,
				atm->tm_hour, atm->tm_min, atm->tm_sec,
				picture->width,picture->height,
				VIDEO_FILE_EXTENSION);
		
		memcpy(video_filename, cfg->video_filename, sizeof(video_filename));

		cfg->fp = fopen(cfg->video_filename, "wb");
		if (cfg->fp == NULL)
			printf ("error open file %s\n", cfg->video_filename);
		cfg->startRec=VIDEO_RECORD_START;
	}

	if(cfg->startRec==VIDEO_PICTURE_HOLD)
	{
		struct tm *atm;


		temptime = (time_t)tv.tv_sec;
		atm = localtime(&temptime);  //atm = localtime(&tv.tv_sec);

		printf("recording picture\n"); 
		sprintf(cfg->video_filename, "%s/picture_%04d%02d%02d_%02d%02d%02d_w%i_h%i.%s",
				VIDEO_FILE_DEFAULT_PATH,
				atm->tm_year+1900, atm->tm_mon+1, atm->tm_mday,
				atm->tm_hour, atm->tm_min, atm->tm_sec,
				picture->width,picture->height,
				VIDEO_FILE_EXTENSION);

		memcpy(video_filename, cfg->video_filename, sizeof(video_filename));
		cfg->fp = fopen(cfg->video_filename, "wb");
		if (cfg->fp == NULL)
			printf ("error open file %s\n", cfg->video_filename);
		cfg->startRec=VIDEO_PICTURE_START;
	}
	if( cfg->fp != NULL && out->size > 0 && out->status == VP_API_STATUS_PROCESSING && (cfg->startRec==VIDEO_RECORD_START||cfg->startRec==VIDEO_PICTURE_START ))
	{


#if defined (NAVDATA_VISION_INCLUDED) && defined (USE_ELINUX)
		navdata_set_raw_picture(picture_captured++);
#endif

#ifdef USE_FIXED_60FPS
		delta_us=(tv.tv_sec*1000000+tv.tv_usec)-(old_tv.tv_sec*1000000+old_tv.tv_usec);
		ratio=delta_us/16666;
		old_tv=tv;

		for(i=0; i<ratio && old_pic; i++)
		{
			fwrite(old_pic, picture->width * picture->height, 1, cfg->fp);
#ifdef USE_VIDEO_YUV
			fwrite(old_pic+(picture->width * picture->height), picture->width * picture->height >> 1, 1, cfg->fp);
#endif
		}

		if(old_pic==NULL)
		{
			old_pic=vp_os_malloc(picture->width * picture->height*3/2);
		}

		memcpy(old_pic, picture->y_buf, picture->width * picture->height);
		memcpy(old_pic + picture->width * picture->height, picture->cb_buf, picture->width * picture->height >> 2);
		memcpy(old_pic + picture->width * picture->height*5/4, picture->cr_buf, picture->width * picture->height >> 2);
#endif //USE_FIXED_60FPS

		fwrite(picture->y_buf, picture->width * picture->height, 1, cfg->fp);
#ifdef USE_VIDEO_YUV
		fwrite(picture->cb_buf, picture->width * picture->height >> 2, 1, cfg->fp);
		fwrite(picture->cr_buf, picture->width * picture->height >> 2, 1, cfg->fp);
#endif
		if(cfg->startRec==VIDEO_PICTURE_START )//if picture, we stop after one picture (	and if video we continue )
		{
			cfg->startRec=VIDEO_RECORD_STOP;
		}
	}