获取并处理数据帧

yangsy

约 820 字大约 3 分钟

2024-11-08

警告

本文用到的pDeviceInfo等变量为定义全局变量，详情参考：初始化到开流

注册事件通知获取数据帧

创建帧数据通知类

class FrameObserver : public Synexens::ISYFrameObserver
{
public:
    virtual void OnFrameNotify(unsigned int nDeviceID, Synexens::SYFrameData* pFrameData = nullptr)
    {
        ProcessFrameData(nDeviceID, pFrameData);
    }
};
FrameObserver g_FrameObserver;

注册帧数据通知

// registration frame data notification
errorCode = Synexens::RegisterFrameObserver(&g_FrameObserver);
if (errorCode == Synexens::SYERRORCODE_SUCCESS)
{
    PrintCodeInfo("RegisterFrameObserver Success", errorCode);
}
else 
{
    PrintCodeInfo("RegisterFrameObserver Falied", errorCode);
}

轮询请求接口获取数据帧

while (1) 
{
    for (int nDeviceIndex = 0; nDeviceIndex < nDeviceCount; nDeviceIndex++)
    {
        Synexens::SYFrameData* pLastFrameData = nullptr;
        errorCode = Synexens::GetLastFrameData(pDeviceInfo[nDeviceIndex].m_nDeviceID, pLastFrameData);
        if (errorCode == Synexens::SYERRORCODE_SUCCESS)
        {
            // getLastFrameData Success
            ProcessFrameData(pDeviceInfo[nDeviceIndex].m_nDeviceID, pLastFrameData);
        }
        else
        {
            // getLatsFrameData failed
        }
    }

    std::this_thread::sleep_for(std::chrono::milliseconds(5));
}

循环休眠时间自定，建议不超过20ms

处理帧数据

帧数据结构

//数据帧
struct SYFrameData
{
    //帧数量
    int m_nFrameCount = 0;
    //帧信息
    SYFrameInfo* m_pFrameInfo = nullptr;
    //帧数据
    void* m_pData = nullptr;
    //数据长度
    int m_nBuffferLength = 0;
};

//数据帧信息
struct SYFrameInfo
{
    //帧类型
    SYFrameType m_frameType = SYFRAMETYPE_NULL;
    //高度（像素）
    int m_nFrameHeight = 0;
    //宽度（像素）
    int m_nFrameWidth = 0;
};

SYFrameData:

数据帧数量 - 当前有几个数据帧
数据帧信息 - 当前数据帧的类型，宽度，高度
帧数据 - 当前帧的所有数据
数据长度 - 当前数据帧长度

SYFrameInfo:

帧类型 - 当前数据帧的类型（depth、rgb、raw、ir）
高度（像素） - 当前数据帧高度
宽度（像素） - 当前数据帧宽

处理数据

// processing frame data
void ProcessFrameData(unsigned int nDeviceID, Synexens::SYFrameData* pFrameData = nullptr) 
{
    auto itStreamFind = g_mapStreamType.find(nDeviceID);
    auto itStreamOpen = g_mapDeviceOpen.find(nDeviceID);
    if (itStreamFind == g_mapStreamType.end() || (itStreamOpen == g_mapDeviceOpen.end() || itStreamOpen->second != true) )
    {
        return;
    }
    
    // RGBD processing logic 
    if (itStreamFind->second == Synexens::SYSTREAMTYPE_RGBD)
    {
        std::map<Synexens::SYFrameType, int> mapIndex;
        std::map<Synexens::SYFrameType, int> mapPos;

        int nPos = 0;
        for (int nFrameIndex = 0; nFrameIndex < pFrameData->m_nFrameCount; nFrameIndex++)
        {
            mapIndex.insert(std::pair<Synexens::SYFrameType, int>(pFrameData->m_pFrameInfo[nFrameIndex].m_frameType, nFrameIndex));
            mapPos.insert(std::pair<Synexens::SYFrameType, int>(pFrameData->m_pFrameInfo[nFrameIndex].m_frameType, nPos));
            nPos += pFrameData->m_pFrameInfo[nFrameIndex].m_nFrameHeight * pFrameData->m_pFrameInfo[nFrameIndex].m_nFrameWidth * sizeof(short);
        }
        auto itDepthIndex = mapIndex.find(Synexens::SYFRAMETYPE_DEPTH);
        auto itRGBIndex = mapIndex.find(Synexens::SYFRAMETYPE_RGB);
        int nRGBDWidth = pFrameData->m_pFrameInfo[itRGBIndex->second].m_nFrameWidth;
        int nRGBDHeight = pFrameData->m_pFrameInfo[itRGBIndex->second].m_nFrameHeight;
        unsigned short* pRGBDDepth = new unsigned short[nRGBDWidth * nRGBDHeight];
        memset(pRGBDDepth, 0, sizeof(unsigned short) * nRGBDWidth * nRGBDHeight);
        unsigned char* pRGBDRGB = new unsigned char[nRGBDWidth * nRGBDHeight * 3];
        memset(pRGBDRGB, 0, sizeof(unsigned char) * nRGBDWidth * nRGBDHeight * 3);
        Synexens::SYErrorCode errorCode = Synexens::GetRGBD(nDeviceID, 
            pFrameData->m_pFrameInfo[itDepthIndex->second].m_nFrameWidth, 
            pFrameData->m_pFrameInfo[itDepthIndex->second].m_nFrameHeight,  
            (unsigned short*)pFrameData->m_pData + mapPos[Synexens::SYFRAMETYPE_DEPTH],
            pFrameData->m_pFrameInfo[itRGBIndex->second].m_nFrameWidth, 
            pFrameData->m_pFrameInfo[itRGBIndex->second].m_nFrameHeight, 
            (unsigned char*)pFrameData->m_pData + mapPos[Synexens::SYFRAMETYPE_RGB],
            nRGBDWidth, 
            nRGBDHeight,
            pRGBDDepth, 
            pRGBDRGB);
        if (errorCode == Synexens::SYERRORCODE_SUCCESS)
        {
            // handle your own logic ...
            PrintCodeInfo("GetRGBD Success", errorCode);
        }
        else 
        {
            PrintCodeInfo("GetRGBD Failed", errorCode);
        }

        delete[] pRGBDDepth;
        delete[] pRGBDRGB;
    }
    else // other
    {
        int nPos = 0;
        for (int nFrameIndex = 0; nFrameIndex < pFrameData->m_nFrameCount; nFrameIndex++) 
        {
            switch (pFrameData->m_pFrameInfo[nFrameIndex].m_frameType)
            {
            case Synexens::SYFRAMETYPE_RAW:
            {
                // RawData pointer starting position =  pFrameData->m_pData + nPos  
                // RawData pointer end position = pFrameData->m_pData + pFrameData->m_pFrameInfo[nFrameIndex].m_nFrameHeight * pFrameData->m_pFrameInfo[nFrameIndex].m_nFrameWidth * sizeof(short)

                // handle your own logic ...
                nPos += pFrameData->m_pFrameInfo[nFrameIndex].m_nFrameHeight * pFrameData->m_pFrameInfo[nFrameIndex].m_nFrameWidth * sizeof(short);
                break;
            }
            case Synexens::SYFRAMETYPE_DEPTH:
            {
                // DepthData pointer starting position =  pFrameData->m_pData + nPos  
                // DepthData pointer end position = pFrameData->m_pData + pFrameData->m_pFrameInfo[nFrameIndex].m_nFrameHeight * pFrameData->m_pFrameInfo[nFrameIndex].m_nFrameWidth * sizeof(short)
                nPos += pFrameData->m_pFrameInfo[nFrameIndex].m_nFrameHeight * pFrameData->m_pFrameInfo[nFrameIndex].m_nFrameWidth * sizeof(short);
                break;
            }
            case Synexens::SYFRAMETYPE_IR:
            {
                // IrData pointer starting position =  pFrameData->m_pData + nPos  
                // IrData pointer end position = pFrameData->m_pData + pFrameData->m_pFrameInfo[nFrameIndex].m_nFrameHeight * pFrameData->m_pFrameInfo[nFrameIndex].m_nFrameWidth * sizeof(short)

                // handle your own logic ...
                nPos += pFrameData->m_pFrameInfo[nFrameIndex].m_nFrameHeight * pFrameData->m_pFrameInfo[nFrameIndex].m_nFrameWidth * sizeof(short);
                break;
            }
            case Synexens::SYFRAMETYPE_RGB:
            {
                // RGBData pointer starting position =  pFrameData->m_pData + nPos  
                // RGBData pointer end position = pFrameData->m_pData + pFrameData->m_pFrameInfo[nFrameIndex].m_nFrameHeight * pFrameData->m_pFrameInfo[nFrameIndex].m_nFrameWidth * sizeof(short)

                // handle your own logic ...
                nPos += pFrameData->m_pFrameInfo[nFrameIndex].m_nFrameHeight * pFrameData->m_pFrameInfo[nFrameIndex].m_nFrameWidth * sizeof(short);
                break;
            }
            }
        }
    }
}