//! Goto specified cut out position
void TTCutOutFrame::onGotoCutOut( int pos, TTMpeg2VideoStream* pMpeg2Stream )
{
if ( pMpeg2Stream != 0 )
initVideoStream( pMpeg2Stream );
if ( mpeg2Stream == 0 )
return;
currentPosition = mpeg2Stream->moveToIndexPos(pos);
mpegWindow->showFrameAt( currentPosition );
updateCurrentPosition();
}
bool Capture::init()
{
if (mVideoDevice.empty())
{
sgct::MessageHandler::instance()->print(sgct::MessageHandler::NOTIFY_ERROR, "No video device specified!\n");
cleanup();
return false;
}
initFFmpeg();
setupOptions();
// --------------------------------------------------
//check out https://ffmpeg.org/ffmpeg-devices.html
// --------------------------------------------------
AVInputFormat * iformat;
std::string inputName;
#ifdef __WIN32__
iformat = av_find_input_format("dshow");
inputName = "video=" + mVideoDevice;
#elif defined __APPLE__
iformat = av_find_input_format("avfoundation");
inputName = mVideoDevice;
#else //linux NOT-Tested
iformat = av_find_input_format("video4linux2");
inputName = mVideoDevice;
#endif
if (avformat_open_input(&mFMTContext, inputName.c_str(), iformat, &mOptions) < 0)
{
sgct::MessageHandler::instance()->print(sgct::MessageHandler::NOTIFY_ERROR, "Could not open capture input!\n");
cleanup();
return false;
}
/* retrieve stream information */
if (avformat_find_stream_info(mFMTContext, nullptr) < 0)
{
sgct::MessageHandler::instance()->print(sgct::MessageHandler::NOTIFY_ERROR, "Could not find stream information!\n");
cleanup();
return false;
}
if (!initVideoStream())
{
cleanup();
return false;
}
//dump format info to console
av_dump_format(mFMTContext, 0, inputName.c_str(), 0);
if (mVideoCodecContext)
{
if (!allocateVideoDecoderData(mVideoCodecContext->pix_fmt))
{
cleanup();
return false;
}
}
/* initialize packet, set data to nullptr, let the demuxer fill it */
av_init_packet(&mPkt);
mPkt.data = nullptr;
mPkt.size = 0;
//success
mInited = true;
return true;
}
int main(int argc, char* argv[])
{
GLFWwindow* window;
MarkerTracker markerTracker;
/* Initialize the library */
if (!glfwInit())
return -1;
// initialize the window system
/* Create a windowed mode window and its OpenGL context */
window = glfwCreateWindow(camera_width, camera_height, "Combine", NULL, NULL);
if (!window)
{
glfwTerminate();
return -1;
}
glfwMakeContextCurrent(window);
glfwSwapInterval(1);
int window_width, window_height;
glfwGetFramebufferSize(window, &window_width, &window_height);
glViewport(0, 0, window_width, window_height);
// initialize the GL library
initGL(argc, argv);
// setup OpenCV
cv::Mat img_bgr;
cv::VideoCapture cap;
cap.set(CV_CAP_PROP_FRAME_WIDTH, camera_width);
cap.set(CV_CAP_PROP_FRAME_HEIGHT, camera_height);
initVideoStream(cap);
/* Loop until the user closes the window */
while (!glfwWindowShouldClose(window))
{
cap >> img_bgr;
if (img_bgr.empty()){
std::cout << "Could not query frame. Trying to reinitialize." << std::endl;
initVideoStream(cap);
cv::waitKey(1000); // Wait for one sec.
continue;
}
// Track markers
markerTracker.find(img_bgr);
/* Render here */
display(window, img_bgr);
/* Swap front and back buffers */
glfwSwapBuffers(window);
/* Poll for and process events */
glfwPollEvents();
}
glfwTerminate();
return 0;
}
bool UBWindowsMediaFile::init(const QString& videoFileName, const QString& profileData, int pFramesPerSecond
, int pixelWidth, int pixelHeight, int bitsPerPixel)
{
mFramesPerSecond = pFramesPerSecond;
mVideoFileName = videoFileName;
CoInitialize(0);
if (FAILED(WMCreateProfileManager(&mWMProfileManager)))
{
setLastErrorMessage("Unable to create a WMProfileManager");
close();
return false;
}
IWMProfileManager2 *wmProfileManager = 0;
if (FAILED(mWMProfileManager->QueryInterface(IID_IWMProfileManager2, (void**) &wmProfileManager)))
{
setLastErrorMessage("Unable to query the WMProfileManager for interface WMProfileManager2");
close();
return false;
}
HRESULT hr = wmProfileManager->SetSystemProfileVersion(WMT_VER_9_0);
wmProfileManager->Release();
if (FAILED(hr))
{
setLastErrorMessage("Unable to set WMProfileManager SystemProfileVersion");
close();
return false;
}
if (FAILED(mWMProfileManager->LoadProfileByData((LPCTSTR) profileData.utf16(), &mWMProfile)))
{
setLastErrorMessage("Unable to load WMProfileManager custom profile");
close();
return false;
}
DWORD streamCount = -1;
if (FAILED(mWMProfile->GetStreamCount(&streamCount)))
{
setLastErrorMessage("Unable to read mWMProfile stream count");
close();
return false;
}
if (FAILED(WMCreateWriter(NULL, &mWMWriter)))
{
setLastErrorMessage("Unable to create WMMediaWriter Object");
close();
return false;
}
if (FAILED(mWMWriter->SetProfile(mWMProfile)))
{
setLastErrorMessage("Unable to set WMWriter system profile");
close();
return false;
}
DWORD mediaInputCount = 0;
if (FAILED(mWMWriter->GetInputCount(&mediaInputCount)))
{
setLastErrorMessage("Unable to get input count for profile");
close();
return false;
}
for (DWORD i = 0; i < mediaInputCount; i++)
{
IWMInputMediaProps* wmInoutMediaProps = 0;
if (FAILED(mWMWriter->GetInputProps(i, &wmInoutMediaProps)))
{
setLastErrorMessage("Unable to get WMWriter input properties");
close();
return false;
}
GUID guidInputType;
if (FAILED(wmInoutMediaProps->GetType(&guidInputType)))
{
setLastErrorMessage("Unable to get WMWriter input property type");
close();
return false;
}
if (guidInputType == WMMEDIATYPE_Video)
{
mWMInputVideoProps = wmInoutMediaProps;
mVideoInputIndex = i;
}
else if (guidInputType == WMMEDIATYPE_Audio)
{
mWMInputAudioProps = wmInoutMediaProps;
mAudioInputIndex = i;
}
else
{
wmInoutMediaProps->Release();
wmInoutMediaProps = 0;
}
}
if (mWMInputVideoProps == 0)
{
setLastErrorMessage("Profile does not accept video input");
close();
return false;
}
if (mWMInputAudioProps == 0)
{
setLastErrorMessage("Profile does not accept audio input");
close();
return false;
}
if (FAILED(mWMWriter->SetOutputFilename((LPCTSTR) videoFileName.utf16())))
{
setLastErrorMessage("Unable to set the output filename");
close();
return false;
}
if(!initVideoStream(pixelWidth, pixelHeight, bitsPerPixel))
{
close();
return false;
}
if (FAILED(mWMWriter->BeginWriting()))
{
setLastErrorMessage("Unable to initialize video frame writing");
return false;
}
return true;
}
int main(int argc, char* argv[])
{
ros::init(argc, argv, "realsense_camera_node");
ros::NodeHandle n;
image_transport::ImageTransport image_transport(n);
ros::NodeHandle private_node_handle_("~");
private_node_handle_.param("realsense_camera_type", realsense_camera_type, std::string("Intel(R) RealSense(TM) 3D Camer"));
private_node_handle_.param("rgb_frame_id", rgb_frame_id, std::string("_rgb_optical_frame"));
private_node_handle_.param("depth_frame_id", depth_frame_id, std::string("_depth_optical_frame"));
private_node_handle_.param("rgb_frame_w", rgb_frame_w, 1280);
private_node_handle_.param("rgb_frame_h", rgb_frame_h, 720);
double depth_unit_d, depth_scale_d;
private_node_handle_.param("depth_unit", depth_unit_d, 31.25);
private_node_handle_.param("depth_scale", depth_scale_d, 0.001);
depth_unit = depth_unit_d;
depth_scale = depth_scale_d;
double depth_fx, depth_fy;
private_node_handle_.param("depth_fx", depth_fx, 463.888885);
private_node_handle_.param("depth_fy", depth_fy, 463.888885);
depth_fxinv = 1.0f / depth_fx;
depth_fyinv = 1.0f / depth_fy;
double depth_cx_d, depth_cy_d;
private_node_handle_.param("depth_cx", depth_cx_d, 320.0);
private_node_handle_.param("depth_cy", depth_cy_d, 240.0);
depth_cx = depth_cx_d;
depth_cy = depth_cy_d;
private_node_handle_.param("depth_uv_enable_min", depth_uv_enable_min, 0);
private_node_handle_.param("depth_uv_enable_max", depth_uv_enable_max, 2047);
private_node_handle_.param("topic_depth_points_id", topic_depth_points_id, std::string("/depth/points"));
private_node_handle_.param("topic_depth_registered_points_id", topic_depth_registered_points_id, std::string("/depth_registered/points"));
private_node_handle_.param("topic_image_rgb_raw_id", topic_image_rgb_raw_id, std::string("/rgb/image_raw"));
private_node_handle_.param("topic_image_depth_raw_id", topic_image_depth_raw_id, std::string("/depth/image_raw"));
private_node_handle_.param("topic_image_infrared_raw_id", topic_image_infrared_raw_id, std::string("/ir/image_raw"));
private_node_handle_.param("debug_depth_unit", debug_depth_unit, false);
std::string rgb_info_url;
private_node_handle_.param("rgb_camera_info_url", rgb_info_url, std::string());
std::string ir_camera_info_url;
private_node_handle_.param("ir_camera_info_url", ir_camera_info_url, std::string());
printf("\n\n===================\n"
"realsense_camera_type = %s\n"
"rgb_frame_id = %s\n"
"depth_frame_id = %s\n"
"depth_unit = %f\n"
"depth_scale = %f\n"
"depth_fxinv = %f\n"
"depth_fyinv = %f\n"
"depth_cx = %f\n"
"depth_cy = %f\n"
"depth_uv_enable_min = %d\n"
"depth_uv_enable_max = %d\n"
"topic_depth_points_id = %s\n"
"topic_depth_registered_points_id = %s\n"
"topic_image_rgb_raw_id = %s\n"
"topic_image_depth_raw_id = %s\n"
"topic_image_infrared_raw_id = %s\n"
"debug_depth_unit = %d\n"
"rgb_camera_info_url = %s\n"
"ir_camera_info_url = %s\n"
"=======================\n\n",
realsense_camera_type.c_str(),
rgb_frame_id.c_str(),
depth_frame_id.c_str(),
depth_unit,
depth_scale,
depth_fxinv,
depth_fyinv,
depth_cx,
depth_cy,
depth_uv_enable_min,
depth_uv_enable_max,
topic_depth_points_id.c_str(),
topic_depth_registered_points_id.c_str(),
topic_image_rgb_raw_id.c_str(),
topic_image_depth_raw_id.c_str(),
topic_image_infrared_raw_id.c_str(),
debug_depth_unit,
rgb_info_url.c_str(),
ir_camera_info_url.c_str()
);
#ifdef V4L2_PIX_FMT_INZI
printf("\ndepthWithIRStream - YEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEES\n");
#else
printf("\ndepthWithIRStream - NOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOO\n");
printf("if you want IR stream, please visit\n"
"http://solsticlipse.com/2015/03/31/intel-real-sense-3d-on-linux-macos.html\n"
"https://github.com/teknotus/depthview/tree/kernelpatchfmt\n");
#endif
//find realsense video device
std::vector<VIDEO_DEVICE> video_lists;
list_devices(realsense_camera_type, video_lists);
if(video_lists.empty())
{
printf("\n\n""can not find Intel(R) RealSense(TM) 3D Camera video device!!!!!!!!! - %s\n\n", realsense_camera_type.c_str());
ROS_ERROR("can not find Intel(R) RealSense(TM) 3D Camera video device!!!!!!!!! - %s", realsense_camera_type.c_str());
ros::shutdown();
return 0;
}
if(1)
{
printf("\n===========================================\n");
printf("Intel(R) RealSense(TM) 3D Camera lists\n");
for(int i=0; i<video_lists.size(); ++i)
{
printf("\nPCI: %s\n", video_lists[i].card_name.c_str());
printf("Serial: %s\n", video_lists[i].serial_number.c_str());
for(int j=0; j<video_lists[i].video_names.size(); ++j)
{
printf("\t%s\n", video_lists[i].video_names[j].c_str());
}
}
printf("===========================================\n\n");
}
//return 0;
if(video_lists[0].video_names.size() < 2)
{
printf("Intel(R) RealSense(TM) 3D Camera video device count error!!!!!!!!!!!\n");
ros::shutdown();
return 0;
}
else
{
useDeviceSerialNum = video_lists[0].serial_number;
printf("use camera %s\n", useDeviceSerialNum.c_str());
}
initDepthToRGBUVMap();
initVideoStream();
strncpy(rgb_stream.videoName, video_lists[0].video_names[0].c_str(), video_lists[0].video_names[0].length());
strncpy(depth_stream.videoName, video_lists[0].video_names[1].c_str(), video_lists[0].video_names[1].length());
printf("video rgb name is %s\n", rgb_stream.videoName);
printf("video depth name is %s\n", depth_stream.videoName);
if(capturer_mmap_init(&rgb_stream))
{
printf("open %s error!!!!!!!!\n", rgb_stream.videoName);
ros::shutdown();
return 0;
}
else
{
printf("video rgb w,h - %d, %d\n", rgb_stream.width, rgb_stream.height);
}
if(capturer_mmap_init(&depth_stream))
{
printf("open %s error!!!!!!!!\n", depth_stream.videoName);
ros::shutdown();
return 0;
}
else
{
printf("video depth w,h - %d, %d\n", depth_stream.width, depth_stream.height);
}
if (!rgb_info_url.empty())
{
std::string camera_name_rgb = "realsense_camera_rgb_" + useDeviceSerialNum;
camera_info_manager::CameraInfoManager rgb_info_manager(n, camera_name_rgb, rgb_info_url);
if (rgb_info_manager.isCalibrated())
{
rgb_camera_info = boost::make_shared<sensor_msgs::CameraInfo>(rgb_info_manager.getCameraInfo());
if (rgb_camera_info->width != rgb_frame_w || rgb_camera_info->height != rgb_frame_h)
{
ROS_WARN("RGB image resolution does not match calibration file");
rgb_camera_info.reset(new sensor_msgs::CameraInfo());
rgb_camera_info->width = rgb_frame_w;
rgb_camera_info->height = rgb_frame_h;
}
}
}
if (!rgb_camera_info)
{
rgb_camera_info.reset(new sensor_msgs::CameraInfo());
rgb_camera_info->width = rgb_frame_w;
rgb_camera_info->height = rgb_frame_h;
}
if (!ir_camera_info_url.empty())
{
std::string camera_name_ir = "realsense_camera_ir_" + useDeviceSerialNum;
camera_info_manager::CameraInfoManager ir_camera_info_manager(n, camera_name_ir, ir_camera_info_url);
if (ir_camera_info_manager.isCalibrated())
{
ir_camera_info = boost::make_shared<sensor_msgs::CameraInfo>(ir_camera_info_manager.getCameraInfo());
if (ir_camera_info->width != depth_stream.width || ir_camera_info->height != depth_stream.height)
{
ROS_WARN("IR image resolution does not match calibration file");
ir_camera_info.reset(new sensor_msgs::CameraInfo());
ir_camera_info->width = depth_stream.width;
ir_camera_info->height = depth_stream.height;
}
}
}
if (!ir_camera_info)
{
ir_camera_info.reset(new sensor_msgs::CameraInfo());
ir_camera_info->width = depth_stream.width;
ir_camera_info->height = depth_stream.height;
}
if(debug_depth_unit && realsense_camera_type == "Intel(R) RealSense(TM) 3D Camer")
{
getRealsenseUSBHandle(usbContext, usbHandle, useDeviceSerialNum);
if(usbContext && usbHandle)
{
printf("getRealsenseUSBHandle OK!\n");
}
}
printf("RealSense Camera is running!\n");
#if USE_BGR24
rgb_frame_buffer = new unsigned char[rgb_stream.width * rgb_stream.height * 3];
#else
rgb_frame_buffer = new unsigned char[rgb_stream.width * rgb_stream.height * 2];
#endif
depth_frame_buffer = new unsigned char[depth_stream.width * depth_stream.height];
#ifdef V4L2_PIX_FMT_INZI
ir_frame_buffer = new unsigned char[depth_stream.width * depth_stream.height];
#endif
realsense_points_pub = n.advertise<sensor_msgs::PointCloud2> (topic_depth_points_id, 1);
realsense_reg_points_pub = n.advertise<sensor_msgs::PointCloud2>(topic_depth_registered_points_id, 1);
realsense_rgb_image_pub = image_transport.advertiseCamera(topic_image_rgb_raw_id, 1);
realsense_depth_image_pub = image_transport.advertiseCamera(topic_image_depth_raw_id, 1);
//pub_depth_info = n.advertise<sensor_msgs::CameraInfo>("depth/camera_info", 1);
//pub_rgb_info = n.advertise<sensor_msgs::CameraInfo>("rgb/camera_info", 1);
#ifdef V4L2_PIX_FMT_INZI
realsense_infrared_image_pub = image_transport.advertiseCamera(topic_image_infrared_raw_id, 1);
#endif
ros::Subscriber config_sub = n.subscribe("/realsense_camera_config", 1, realsenseConfigCallback);
getRGBUVService = n.advertiseService("get_rgb_uv", getRGBUV);
capturer_mmap_init_v4l2_controls();
dynamic_reconfigure::Server<realsense_camera::RealsenseCameraConfig> dynamic_reconfigure_server;
dynamic_reconfigure_server.setCallback(boost::bind(&dynamicReconfigCallback, _1, _2));
ros::Rate loop_rate(60);
ros::Rate idle_rate(1);
while(ros::ok())
{
while ((getNumRGBSubscribers() + getNumDepthSubscribers()) == 0 && ros::ok())
{
ros::spinOnce();
idle_rate.sleep();
}
processRGBD();
#if SHOW_RGBD_FRAME
cv::waitKey(10);
#endif
ros::spinOnce();
loop_rate.sleep();
}
capturer_mmap_exit(&rgb_stream);
capturer_mmap_exit(&depth_stream);
delete[] rgb_frame_buffer;
delete[] depth_frame_buffer;
#ifdef V4L2_PIX_FMT_INZI
delete[] ir_frame_buffer;
#endif
if(debug_depth_unit)
{
libusb_close(usbHandle);
libusb_exit(usbContext);
}
printf("RealSense Camera is shutdown!\n");
return 0;
}
tResult Test::OnPinEvent(IPin *source, tInt eventCore, tInt param1, tInt param2, IMediaSample *mediaSample)
{
RETURN_IF_POINTER_NULL(source);
RETURN_IF_POINTER_NULL(mediaSample);
if (eventCore == IPinEventSink::PE_MediaSampleReceived)
{
if (source == &this->maneuverPin)
{
static tUInt16 tmpManeuver;
getManeuver(mediaSample, maneuverPin, this->coderDescriptionManeuver, tmpManeuver);
if (tmpManeuver == MANEUVER_STRAIGHT)
{
this->isDriveActive = true;
RETURN_IF_FAILED_AND_LOG_ERROR_STR(transmitAcceleration(this->driveSpeed), "Cant transmit drive");
}
}
else if (source == &this->wheelTicksPin)
{
if (!this->isConnectedToServer)
{
if (!tcpClient->connectToServer(this->ip, 5555))
{
LOG_INFO(cString::Format("Cant connect to server with ip: %s:5555", this->ip.c_str()));
RETURN_NOERROR;
}
else
{
this->isConnectedToServer = true;
LOG_INFO("Could connect to server :)");
}
}
static tFloat32 tmpWheelTicks;
RETURN_IF_FAILED_AND_LOG_ERROR_STR(getWheelTicks(mediaSample, tmpWheelTicks), "cant get wheel ticks");
this->currentWheelTicks = static_cast<int>(tmpWheelTicks);
if (this->isStopLineFound)
{
driveToStopLine();
}
}
else if(source == &this->xtionPin)
{
if (this->isFirstFrame)
{
RETURN_IF_FAILED_AND_LOG_ERROR_STR(initVideoStream(), "Cant init video stream");
this->isFirstFrame = false;
}
else
{
const tVoid *buffer;
if (this->isDriveActive && IS_OK(mediaSample->Lock(&buffer)))
{
//Receive the image
Mat image(Size(this->videoInputInfo.nWidth, this->videoInputInfo.nHeight), CV_8UC3, (char*) buffer);
Mat result = image.clone();
RETURN_IF_FAILED_AND_LOG_ERROR_STR(mediaSample->Unlock(buffer), "Cant unlock image");
this->driveAlgorithm->prepareImage(result);
if (!this->isStopLineFound)
{
this->isStopLineFound = this->crossroadDetector-> searchStopLine(result);
this->ticksToDrive = this->ticksToStopLine + this->currentWheelTicks;
}
}
}
}
}
RETURN_NOERROR;
}
