obsdk demo：stream_color

ConsoleApplication1/utils_opencv.hpp

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+// Copyright (c) Orbbec Inc. All Rights Reserved.
+// Licensed under the MIT License.
+
+#pragma once
+#include <libobsensor/ObSensor.hpp>
+#include <opencv2/opencv.hpp>
+#include <string>
+#include <thread>
+#include <mutex>
+#include <condition_variable>
+#include <cmath>
+#include <map>
+
+#include "utils_types.h"
+#include "utils.hpp"
+
+namespace ob_smpl {
+
+// arrange type
+typedef enum {
+    ARRANGE_SINGLE,      // Only show the first frame
+    ARRANGE_ONE_ROW,     // Arrange the frames in the array as a row
+    ARRANGE_ONE_COLUMN,  // Arrange the frames in the array as a column
+    ARRANGE_GRID,        // Arrange the frames in the array as a grid
+    ARRANGE_OVERLAY      // Overlay the first two frames in the array
+} ArrangeMode;
+
+class CVWindow {
+public:
+    // create a window with the specified name, width and height
+    CVWindow(std::string name, uint32_t width = 1280, uint32_t height = 720, ArrangeMode arrangeMode = ARRANGE_SINGLE);
+    ~CVWindow() noexcept;
+
+    // run the window loop
+    bool run();
+
+    // close window
+    void close();
+
+    // clear cached frames and mats
+    void reset();
+
+    // add frames to view
+    void pushFramesToView(std::vector<std::shared_ptr<const ob::Frame>> frames, int groupId = 0);
+    void pushFramesToView(std::shared_ptr<const ob::Frame> currentFrame, int groupId = 0);
+
+    // set show frame info
+    void setShowInfo(bool show);
+
+    // set show frame syncTime info
+    void setShowSyncTimeInfo(bool show);
+
+    // set alpha, only valid when arrangeMode_ is ARRANGE_OVERLAY
+    void setAlpha(float alpha);
+
+    // set the window size
+    void resize(int width, int height);
+
+    // set the key pressed callback
+    void setKeyPressedCallback(std::function<void(int)> callback);
+
+    // set the key prompt
+    void setKeyPrompt(const std::string &prompt);
+
+    // set the log message
+    void addLog(const std::string &log);
+
+    // destroyWindow
+    void destroyWindow();
+
+private:
+    // frames processing thread function
+    void processFrames();
+
+    // arrange frames in the renderMat_ according to the arrangeMode_
+    void arrangeFrames();
+
+    // add info to mat
+    cv::Mat visualize(std::shared_ptr<const ob::Frame> frame);
+
+    // draw info to mat
+    void drawInfo(cv::Mat &imageMat, std::shared_ptr<const ob::VideoFrame> &frame);
+
+    cv::Mat resizeMatKeepAspectRatio(const cv::Mat &mat, int width, int height);
+
+private:
+    std::string name_;
+    ArrangeMode arrangeMode_;
+    uint32_t    width_;
+    uint32_t    height_;
+    bool        closed_;
+    bool        showInfo_;
+    bool        showSyncTimeInfo_;
+    bool        isWindowDestroyed_;
+    float       alpha_;
+
+    std::thread                                                  processThread_;
+    std::map<int, std::vector<std::shared_ptr<const ob::Frame>>> srcFrameGroups_;
+    std::mutex                                                   srcFrameGroupsMtx_;
+    std::condition_variable                                      srcFrameGroupsCv_;
+
+    using StreamsMatMap = std::map<int, std::pair<std::shared_ptr<const ob::Frame>, cv::Mat>>;
+    StreamsMatMap matGroups_;
+    std::mutex    renderMatsMtx_;
+    cv::Mat       renderMat_;
+
+    std::string prompt_;
+    bool        showPrompt_;
+    uint64      winCreatedTime_;
+
+    std::string log_;
+    uint64      logCreatedTime_;
+
+    std::function<void(int)> keyPressedCallback_;
+};
+
+}  // namespace ob_smpl