58 lines
1.2 KiB
C++
58 lines
1.2 KiB
C++
#include <unistd.h>
|
|
#include <zmq.h>
|
|
|
|
#include <cstdio>
|
|
#include <cstdlib>
|
|
|
|
#include "selfdrive/common/timing.h"
|
|
#include "selfdrive/common/util.h"
|
|
#include "selfdrive/common/visionipc.h"
|
|
#include "selfdrive/loggerd/raw_logger.h"
|
|
|
|
int main() {
|
|
int err;
|
|
|
|
VisionStream stream;
|
|
|
|
VisionStreamBufs buf_info;
|
|
while (true) {
|
|
err = visionstream_init(&stream, VISION_STREAM_YUV, false, &buf_info);
|
|
if (err != 0) {
|
|
printf("visionstream fail\n");
|
|
util::sleep_for(100);
|
|
}
|
|
break;
|
|
}
|
|
|
|
RawLogger vidlogger("prcamera", buf_info.width, buf_info.height, 20);
|
|
vidlogger.Open("o1");
|
|
|
|
for (int cnt=0; cnt<200; cnt++) {
|
|
VisionIpcBufExtra extra;
|
|
VIPSBuf* buf = visionstream_get(&stream, &extra);
|
|
if (buf == NULL) {
|
|
printf("visionstream get failed\n");
|
|
break;
|
|
}
|
|
|
|
if (cnt == 100) {
|
|
vidlogger.Rotate("o2", 2);
|
|
}
|
|
|
|
uint8_t *y = (uint8_t*)buf->addr;
|
|
uint8_t *u = y + (buf_info.width*buf_info.height);
|
|
uint8_t *v = u + (buf_info.width/2)*(buf_info.height/2);
|
|
|
|
double t1 = millis_since_boot();
|
|
vidlogger.LogFrame(cnt, y, u, v, NULL);
|
|
double t2 = millis_since_boot();
|
|
printf("%d %.2f\n", cnt, (t2-t1));
|
|
}
|
|
|
|
vidlogger.Close();
|
|
|
|
visionstream_destroy(&stream);
|
|
|
|
return 0;
|
|
}
|