package com.example.datalibrary.deptrum; import android.os.Bundle; import android.util.Log; import com.deptrum.usblite.callback.IDeviceListener; import com.deptrum.usblite.callback.IStreamListener; import com.deptrum.usblite.param.DTFrameStreamBean; import com.deptrum.usblite.param.StreamParam; import com.deptrum.usblite.param.StreamType; import com.deptrum.usblite.sdk.DeptrumSdkApi; import com.example.datalibrary.activity.BaseActivity; import org.opencv.android.BaseLoaderCallback; import org.opencv.android.LoaderCallbackInterface; import org.opencv.android.OpenCVLoader; import org.opencv.core.CvType; import org.opencv.core.Mat; import org.opencv.core.MatOfByte; import org.opencv.imgproc.Imgproc; import java.util.concurrent.Executors; public abstract class BaseDeptrumActivity extends BaseActivity { protected static final int RGB_WIDTH = 480; protected static final int RGB_HEIGHT = 768; private GLDisplay mRgbisplay; private GLDisplay mIrDisplay; private GLDisplay mDepthDisplay; protected GLFrameSurface mRgbSurface; protected GLFrameSurface mIrSurface; protected GLFrameSurface mDepSurface; @Override protected void onCreate(Bundle savedInstanceState) { super.onCreate(savedInstanceState); mRgbisplay = new GLDisplay(); mIrDisplay = new GLDisplay(); mDepthDisplay = new GLDisplay(); // 摄像头图像预览 Executors.newSingleThreadExecutor().execute(new Runnable() { @Override public void run() { openDevice(); } }); } private void openDevice() { final long startTime = System.currentTimeMillis(); DeptrumSdkApi.getApi().open(getApplicationContext(), new IDeviceListener() { @Override public void onAttach() { } @Override public void onDetach() { } @Override public void onOpenResult(int result) { if (0 == result) { // mHandler.sendEmptyMessage(MESSAGE_UI); DeptrumSdkApi.getApi().setStreamListener(new IStreamListener() { @Override public void onFrame(final DTFrameStreamBean iFrame) { if (isFinishing()){ return; } final byte[] data = iFrame.getData(); switch (iFrame.getImageType()) { case RGB: { long endTime = System.currentTimeMillis(); Log.d("xjk open -> stream ", (endTime - startTime) + ""); convertRGBToRGBA(data, RGB_WIDTH, RGB_HEIGHT); Log.d("xjk open", "rgb数据接收" + data.length); dealRgb(data); if (null != data) { mRgbSurface.post(new Runnable() { @Override public void run() { if (null != mRgbisplay && null != mRgbSurface){ mRgbisplay.render(mRgbSurface, 0, false, data, 480, 768, 1); } } }); } } break; case IR: { if (null == data || RGB_WIDTH * RGB_HEIGHT != data.length) { return; } Log.d("xjk open", "nir数据接收" + data.length); convertGrayToRGBA(data, RGB_WIDTH, RGB_HEIGHT); dealIr(mIrBits); mIrSurface.post(new Runnable() { @Override public void run() { if (null != mIrDisplay && null != mIrSurface) { mIrDisplay.render(mIrSurface, 0, false, mIrBits, RGB_WIDTH, RGB_HEIGHT, 1); } } }); } break; case DEPTH: { if (null != data ) { Log.d("xjk open", "depth数据接收" + data.length); dealDepth(data); convertDepthToRGBA(data, RGB_WIDTH, RGB_HEIGHT); mDepSurface.post(new Runnable() { @Override public void run() { if (null != mDepthDisplay && null != mDepSurface) { mDepthDisplay.render(mDepSurface, 0, false, depthGLData, RGB_WIDTH, RGB_HEIGHT, 1); } } }); } } break; } } }); DeptrumSdkApi.getApi().setScanFaceMode(); StreamParam param = new StreamParam(); param.width = RGB_WIDTH; param.height = RGB_HEIGHT; DeptrumSdkApi.getApi().setStreamParam(param); DeptrumSdkApi.getApi().startStream(StreamType.STREAM_RGB_IR_DEPTH); DeptrumSdkApi.getApi().configSet("enable_dt_face_kit", "1"); } } @Override public void onErrorEvent(String s, int i) { } }); } protected abstract void dealRgb(byte[] data); protected abstract void dealIr(byte[] data); protected abstract void dealDepth(byte[] data); private byte[] mRgbBits = null; private int mRgbLength = 0; public void convertRGBToRGBA(byte[] data, int width, int height) { try { int len = data.length / 3 * 4; if (null == mRgbBits || len != mRgbLength){ mRgbBits = new byte[data.length / 3 * 4]; // RGBA 数组 mRgbLength = data.length / 3 * 4; } // byte[] Bits = new byte[data.length / 3 * 4]; // RGBA 数组 int i; for (i = 0; i < data.length / 3; i++) { // 原理：4个字节表示一个灰度，则RGB = 灰度值，最后一个Alpha = 0xff; mRgbBits[i * 4] = data[i * 3]; mRgbBits[i * 4 + 1] = data[i * 3 + 1]; mRgbBits[i * 4 + 2] = data[i * 3 + 2]; mRgbBits[i * 4 + 3] = -1; // 0xff } } catch (Exception e) { e.printStackTrace(); } } /** * gray convert to rgba * * @param data * @param width * @param height * @return */ private Mat outPutMat; protected byte[] decodeIrData(byte[] byteArr, int width, int height){ byte[] bytes = new byte[width * height * 3]; if (null == outPutMat){ return bytes; } Mat rawMat = new MatOfByte(byteArr); rawMat.convertTo(rawMat, CvType.CV_8UC1, 1.0D, 0); Imgproc.cvtColor(rawMat, outPutMat, Imgproc.COLOR_GRAY2RGB); outPutMat.get(0, 0, bytes); rawMat.release(); return bytes; } byte[] mIrBits = null; public byte[] convertGrayToRGBA(byte[] data, int width, int height) { try { int mIrLength = 0; int len = data.length * 4; if (null == mIrBits || len != mIrLength){ // mIrBits = new byte[data.length * 4]; // RGBA 数组 mIrLength = data.length * 4; } mIrBits = decodeIrData(data , width , height); } catch (Exception e) { e.printStackTrace(); } return mIrBits ; } int mDeDataByteLenght = 0; // 摄像头采集数据 private volatile byte[] depthGLData; public void convertDepthToRGBA(byte[] data, int width, int height) { try { if (null == depthGLData || mDeDataByteLenght != width * height * 3){ mDeDataByteLenght = width * height * 3; } depthGLData = decodeDepthData(data); } catch (Exception e) { e.printStackTrace(); } } protected byte[] decodeDepthData(byte[] byteArr){ byte[] bytes = new byte[480 * 768 * 3]; if (null == outPutMat){ return bytes; } byte[] colorImage = DeptrumSdkApi.getApi() .drawDepthMapInColor(768, 480, 0, 1500, 6000, byteArr); // byte转Mat Mat mat = new Mat(768, 480, CvType.CV_8UC3); mat.put(0, 0, colorImage); Imgproc.cvtColor(mat, outPutMat, Imgproc.COLOR_BGR2RGB); outPutMat.get(0, 0, bytes); mat.release(); return bytes; } @Override protected void onResume() { super.onResume(); if (!OpenCVLoader.initDebug()) { Log.d(getClass().getName(), "Internal OpenCV library not found. Using OpenCV manger for initialization"); OpenCVLoader.initAsync(OpenCVLoader.OPENCV_VERSION, getApplicationContext(), mLoaderCallback); } else { Log.d(getClass().getName(), "OpenCV library found inside package. Using it!"); mLoaderCallback.onManagerConnected(LoaderCallbackInterface.SUCCESS); } } protected final BaseLoaderCallback mLoaderCallback = new BaseLoaderCallback(this) { @Override public void onManagerConnected(int status) { switch (status) { case LoaderCallbackInterface.SUCCESS: { Log.e("lbc_opencv", "OpenCV loaded successfully"); outPutMat = new Mat(RGB_HEIGHT,RGB_WIDTH, CvType.CV_8UC3); } break; default: { super.onManagerConnected(status); } break; } } }; @Override protected void onDestroy() { super.onDestroy(); DeptrumSdkApi.getApi().stopStream(StreamType.STREAM_RGB_IR_DEPTH); DeptrumSdkApi.getApi().setStreamListener(null); mRgbisplay.release(); mRgbisplay = null; mIrDisplay.release(); mIrDisplay = null; mDepthDisplay.release(); mDepthDisplay = null; } }