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/**
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* @file example_getRectFrame.cc
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* @brief This file is part of UnitreeCameraSDK.
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* @details This example that how to Transmission picture
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* @author SunMingzhe
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* @date 2021.12.07
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* @version 1.1.0
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* @copyright Copyright (c) 2020-2021, Hangzhou Yushu Technology Stock CO.LTD. All Rights Reserved.
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*/
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#include <UnitreeCameraSDK.hpp>
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#include <unistd.h>
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/*
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发送端：
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方法概述：采用udp方法输出图片，传输方式已写入程序，由StereoCameraCommon::startCapture(true,false)中第一个参数控制定向udp传输，当其为true时打开udp264硬编码传输模式
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参数：配置文件中IpLastSegment是接收端ip，接收端地址必须是192.168.123.IpLastSegment。
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配置文件中Transmode决定传输模式
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配置文件中Transrate决定传输速率，限制了传输速率小于图片速率
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端口9201~9205分别对应前方，下巴，左，右，腹部
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启动自定义图传时需使用kill.sh文件关闭Unitree/autostart/02camerarosnode程序来解除相机占用，Unitree/autostart/04imageai来释放算力。
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（也可使用以下几条指令
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ps -A | grep point | awk '{print $1}' | xargs kill -9
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ps -aux|grep mqttControlNode|grep -v grep|head -n 1|awk '{print $2}'|xargs kill -9
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ps -aux|grep live_human_pose|grep -v grep|head -n 1|awk '{print $2}'|xargs kill -9
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）
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传输图片模式：由配置文件中Transmode决定，该值只可通过读取配置文件方式写入
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0：传输左目原始图片
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1：传输双目原始图片
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2：传输左目畸变校正后图片，视野范围角度可调60~140
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3：传输双目畸变校正后图片
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※※※注意，双目图的最后的左右目输出位置是反的。左目->右图，右目->左图
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4：不建议使用！！，Depthmode = 2时 可输出深度图和对应左目图片，不建议使用。
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*/
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/*
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sender:
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Introduction: This program uses directed UDP methods to output pictures, transfer method written in programs. StereoCameraCommon::startCapture(true,false) the first parameter is a switch.
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parameter:IpLastSegment is listener ip. listener ip:192.168.123.IpLastSegment
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Transrate(config yaml) Transmission rate.it must lower than FrameRate
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port:9201~9205 -> Front,chin,left,right,abdomen
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If you start this file, you must bash "kill.sh" to turn off automatic startup program. "Unitree/autostart/02camerarosnode/kill.sh" and "Unitree/autostart/04imageai/kill.sh".
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（You can also use the following instructions:
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ps -A | grep point | awk '{print $1}' | xargs kill -9
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ps -aux|grep mqttControlNode|grep -v grep|head -n 1|awk '{print $2}'|xargs kill -9
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ps -aux|grep live_human_pose|grep -v grep|head -n 1|awk '{print $2}'|xargs kill -9
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）
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Transfer picture mode: Decided by Transmode in the configuration yaml, which only writes in programs by reading the configuration yaml.
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0：ori left
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1：ori stereo
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2：rect left
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3：rect stereo
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※※※warning:The last left and right output position of the stereo picture is reversed left cam-> right picture right cam -> left picture
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4：Not recommended for use!!，set Depthmode = 2 , rect left && depthimage
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*/
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/*
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local ip config
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ip 192.168.123.x
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netmask 255.255.255.0
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gateway 192.168.123.1
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*/
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int main(int argc, char *argv[])
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{
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UnitreeCamera cam("trans_rect_config.yaml"); ///< init camera by device node number
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if(!cam.isOpened()) ///< get camera open state
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exit(EXIT_FAILURE);
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cam.startCapture(true,false); ///< disable share memory sharing and able image h264 encoding
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usleep(500000);
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while(cam.isOpened())
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{
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cv::Mat left,right,feim;
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if(!cam.getRectStereoFrame(left,right))
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{
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usleep(1000);
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continue;
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}
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char key = cv::waitKey(10);
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if(key == 27) // press ESC key
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break;
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}
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cam.stopCapture(); ///< stop camera capturing
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return 0;
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}
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/*
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int main(int argc, char *argv[])
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{
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UnitreeCamera cam("trans_rect_config.yaml"); ///< init camera by device node number
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if(!cam.isOpened()) ///< get camera open state
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exit(EXIT_FAILURE);
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cam.startCapture(true,false); ///< disable share memory sharing and able image h264 encoding
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usleep(500000);
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while(cam.isOpened())
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{
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cv::Mat frame;
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std::chrono::microseconds t;
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if(!cam.getRawFrame(frame, t)){ ///< get camera raw image
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usleep(1000);
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continue;
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}
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char key = cv::waitKey(10);
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if(key == 27) // press ESC key
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break;
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}
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cam.stopCapture(); ///< stop camera capturing
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return 0;
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}
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*/
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