| 41 | } |
| 42 | |
| 43 | void Streamer::stream(libfreenect2::Frame* frame) |
| 44 | { |
| 45 | try |
| 46 | { |
| 47 | // int total_pack = 1 + (encoded.size() - 1) / PACK_SIZE; |
| 48 | cv::Mat frame_depth = cv::Mat(frame->height, frame->width, CV_32FC1, frame->data) / 10; |
| 49 | cv::imencode(".jpg", frame_depth, encoded, compression_params); |
| 50 | |
| 51 | // resize image |
| 52 | // resize(frame, encoded, Size(FRAME_WIDTH, FRAME_HEIGHT), 0, 0, INTER_LINEAR); |
| 53 | |
| 54 | // show encoded frame |
| 55 | // cv::namedWindow( "streamed frame", CV_WINDOW_AUTOSIZE); |
| 56 | // cv::imshow("streamed frame", encoded); |
| 57 | // cv::waitKey(0); |
| 58 | |
| 59 | total_pack = 1 + (encoded.size() - 1) / PACK_SIZE; |
| 60 | |
| 61 | // send pre-info |
| 62 | ibuf[0] = total_pack; |
| 63 | sock.sendTo(ibuf, sizeof(int), servAddress, servPort); |
| 64 | |
| 65 | // send image data packet |
| 66 | for(int i = 0; i < total_pack; i++) |
| 67 | sock.sendTo( & encoded[i * PACK_SIZE], PACK_SIZE, servAddress, servPort); |
| 68 | } |
| 69 | catch (SocketException & e) |
| 70 | { |
| 71 | std::cerr << e.what() << std::endl; |
| 72 | // exit(1); |
| 73 | } |
| 74 | } |