void InputCallback::onRead(yarp::sig::ImageOf<yarp::sig::PixelRgba> &img)
#endif
{
uchar *tmpBuf;
QSize s = (QSize(img.width(),img.height()));
#if QT_VERSION >= 0x050302
int imgSize = img.getRawImageSize();
#else
int imgSize = s.width() * s.height() * img.getPixelSize();
#endif
// Allocate a QVideoFrame
QVideoFrame frame(imgSize,
s,
#if QT_VERSION >= 0x050302
img.getRowSize(),
#else
s.width() * img.getPixelSize(),
#endif
QVideoFrame::Format_RGB32);
// Maps the buffer
frame.map(QAbstractVideoBuffer::WriteOnly);
// Takes the ownership of the buffer in write only mode
tmpBuf = frame.bits();
unsigned char *rawImg = img.getRawImage();
//int j = 0;
// Inverts the planes because Qt Wants an image in RGB format instead of BGR
/* for(int i=0; i<imgSize; i++){
tmpBuf[j+2] = rawImg[i];
i++;
tmpBuf[j+1] = rawImg[i];
i++;
tmpBuf[j] = rawImg[i];
tmpBuf[j+3] = 0;
j+=4;
}*/
#if QT_VERSION >= 0x050302
memcpy(tmpBuf,rawImg,imgSize);
#else
for(int x =0; x < s.height(); x++) {
memcpy(tmpBuf + x * (img.width() * img.getPixelSize()),
rawImg + x * (img.getRowSize()),
img.width() * img.getPixelSize());
}
#endif
//unmap the buffer
frame.unmap();
if(sigHandler){
sigHandler->sendVideoFrame(frame);
}
}
bool realsense2Driver::getImage(yarp::sig::ImageOf<yarp::sig::PixelMono>& image)
{
if (!m_stereoMode)
{
yError()<<"realsense2Driver: infrared stereo stream not enabled";
return false;
}
image.resize(width(), height());
std::lock_guard<std::mutex> guard(m_mutex);
rs2::frameset data = m_pipeline.wait_for_frames();
rs2::video_frame frm1 = data.get_infrared_frame(1);
rs2::video_frame frm2 = data.get_infrared_frame(2);
int pixCode = pixFormatToCode(frm1.get_profile().format());
if (pixCode != VOCAB_PIXEL_MONO && pixCode != VOCAB_PIXEL_MONO16)
{
yError() << "realsense2Driver: expecting Pixel Format MONO or MONO16";
return false;
}
size_t singleImage_rowSizeByte = image.getRowSize()/2;
unsigned char * pixelLeft = (unsigned char*) (frm1.get_data());
unsigned char * pixelRight = (unsigned char*) (frm2.get_data());
unsigned char * pixelOutLeft = image.getRawImage();
unsigned char * pixelOutRight = image.getRawImage() + singleImage_rowSizeByte;
for (size_t h=0; h< image.height(); h++)
{
memcpy(pixelOutLeft, pixelLeft, singleImage_rowSizeByte);
memcpy(pixelOutRight, pixelRight, singleImage_rowSizeByte);
pixelOutLeft += 2*singleImage_rowSizeByte;
pixelOutRight += 2*singleImage_rowSizeByte;
pixelLeft += singleImage_rowSizeByte;
pixelRight += singleImage_rowSizeByte;
}
return true;
}
