Video Stabilization for Embedded Systems - User Guide - Preparing the image
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This page provides a basic description of the Image class and it's configuration parameters.
Contents
Image attributes
The Image class contains the following attributes to describe a video frame. Each of them with its corresponding getter (ex. GetFormat).
Format
- Type: Format enum
- This attribute describes the format of the frame held by the data buffer. The following formats are supported:
- RGBA
Height
- Type: vector of unsigned integers
- This attribute specifies the height of the frame for each of the image planes. Currently only one plane is supported with format RGBA.
Width
- Type: vector of unsigned integers
- This attribute specifies the width of the frame for each of the image planes. Currently only one plane is supported with format RGBA.
Stride
- Type: vector of unsigned integers
- This attribute specifies the width of the frame for each of the image planes. Currently only one plane is supported with format RGBA.
Size
- Type: unsigned integer
- This attribute specifies the total size of the memory buffer pointed by data. Therefore, it includes all image planes
Data
- Type: shared pointer to unsigned char
- This is a pointer to the memory that holds the frame data.
Image configuration
The Image class contains a configuration method Configure that sets all of it's attributes with the following signature:
RuntimeError Configure(Image::Format image_format,
std::vector<unsigned int> image_height,
std::vector<unsigned int> image_width,
std::vector<unsigned int> image_stride,
std::shared_ptr<unsigned char> image_data,
unsigned int image_size);
As you can see, this class is made to be a wrapper for a user provided memory buffer. Given this, it is especially important to correctly create the buffer. If creating a buffer from scratch, the following portion of code avoids problems with the deleter of the shared pointer.
std::shared_ptr<unsigned char> buffer(new unsigned char[size](), [](unsigned char *p) { delete[] p; });
Finally, an example of how to create and configure a complete RGBA image (1 image plane) from scratch would be the following:
unsigned int height = 1080;
unsigned int width = 1920;
unsigned int stride = 1920;
unsigned int size = height * stride;
std::shared_ptr<unsigned char> buffer(new unsigned char[size](), [](unsigned char *p) { delete[] p; });
rr::Image image;
rr::RuntimeError status = image.Configure(rr::Image::RGBA, {height}, {width}, {stride}, buffer, size);
Remember to use the same height, width, stride and size for the output image in the video stabilizer.
