OpenARK/Converter.cpp at master · afrozalm/OpenARK · GitHub

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#include "stdafx.h"
#include "Version.h"
#include "Converter.h"

namespace ark {
    /***
    Returns the next frame if next frame is recorded
    Returns the previous frame if next frame is not recorded
    ***/
    void Converter::ConvertPXCImageToOpenCVMat(Intel::RealSense::Image *inImg, Intel::RealSense::ImageData data, cv::Mat *outImg) {
        int cvDataType = 0;
        int cvDataWidth = 0;

        auto imgInfo = inImg->QueryInfo();

        switch (data.format)
        {
            /* STREAM_TYPE_COLOR */
        case Intel::RealSense::Image::PIXEL_FORMAT_YUY2: /* YUY2 image  */
        {
            // special handling for YUY2
            cv::Mat picYV12 = cv::Mat(imgInfo.height, imgInfo.width, CV_8UC2, data.planes[0], 0);
            cv::cvtColor(picYV12, *outImg, CV_YUV2BGR_YUY2);
        }
        return;
        case Intel::RealSense::Image::PIXEL_FORMAT_NV12: /* NV12 image */
        {
            // special handling for NV12
            cv::Mat picYV12 = cv::Mat(imgInfo.height, imgInfo.width, CV_8UC3, data.planes[0], 0);
            cv::cvtColor(picYV12, *outImg, CV_YUV2BGR_NV12);
        }
        return;
        case Intel::RealSense::Image::PIXEL_FORMAT_RGB32:  /* BGRA layout on a little-endian machine */
            cvDataType = CV_8UC4;
            cvDataWidth = 4;
            break;
        case Intel::RealSense::Image::PIXEL_FORMAT_RGB24:  /* BGR layout on a little-endian machine */
            cvDataType = CV_8UC3;
            cvDataWidth = 3;
            break;
        case Intel::RealSense::Image::PIXEL_FORMAT_Y8: /* 8-Bit Gray Image, or IR 8-bit */
            cvDataType = CV_8U;
            cvDataWidth = 1;
            break;
            /* STREAM_TYPE_DEPTH */
        case Intel::RealSense::Image::PIXEL_FORMAT_DEPTH:  /* 16-bit unsigned integer with precision mm. */
        case Intel::RealSense::Image::PIXEL_FORMAT_DEPTH_RAW: /* 16-bit unsigned integer with device specific precision (call device->QueryDepthUnit()) */
            cvDataType = CV_16U;
            cvDataWidth = 2;
            break;
        case Intel::RealSense::Image::PIXEL_FORMAT_DEPTH_F32: /* 32-bit float-point with precision mm. */
            cvDataType = CV_32F;
            cvDataWidth = 4;
            break;
            /* STREAM_TYPE_IR */
        case Intel::RealSense::Image::PIXEL_FORMAT_Y16: /* 16-Bit Gray Image */
            cvDataType = CV_16U;
            cvDataWidth = 2;
            break;
        case Intel::RealSense::Image::PIXEL_FORMAT_Y8_IR_RELATIVE: /* Relative IR Image */
            cvDataType = CV_8U;
            cvDataWidth = 1;
            break;
        default:
            break;
        }

        // assume no other planes exist
        if (data.planes[1] != nullptr) throw; // not implemented
                                              // assume that no sub pixel padding needed
        if (data.pitches[0] % cvDataWidth != 0) throw; // not implemented

        outImg->create(imgInfo.height, data.pitches[0] / cvDataWidth, cvDataType);
        memcpy(outImg->data, data.planes[0], imgInfo.height * imgInfo.width * cvDataWidth);
    }
}