change vtd.

src/common/common/xodr/OpenDrive/OpenDriveXmlParser.cpp

@@ -688,9 +688,7 @@ bool OpenDriveXmlParser::ReadLaneOffsets(Road *road, TiXmlElement *node)
     double s,a,b,c,d;
     checker+=node->QueryDoubleAttribute("s",&s);
     checker+=node->QueryDoubleAttribute("a",&a);
-    checker+=node->QueryDoubleAttribute("b",&b);
-    checker+=node->QueryDoubleAttribute("c",&c);
-    checker+=node->QueryDoubleAttribute("d",&d);
+
 
     if (checker!=TIXML_SUCCESS)
     {
@@ -698,6 +696,19 @@ bool OpenDriveXmlParser::ReadLaneOffsets(Road *road, TiXmlElement *node)
         return false;
     }
 
+    if(node->QueryDoubleAttribute("b",&b) != TIXML_SUCCESS)
+    {
+        b = 0;
+    }
+    if(node->QueryDoubleAttribute("c",&c) != TIXML_SUCCESS)
+    {
+        c = 0;
+    }
+    if(node->QueryDoubleAttribute("d",&d) != TIXML_SUCCESS)
+    {
+        d = 0;
+    }
+
     road->AddLaneOffset(s,a,b,c,d);
 
    return true;
@@ -990,7 +1001,10 @@ bool OpenDriveXmlParser::ReadLaneRoadMark(Lane* lane, TiXmlElement *node)
 	string laneChange;
 
 	int checker=TIXML_SUCCESS;
-	checker+=node->QueryDoubleAttribute("sOffset",&sOffset);
+    if(node->QueryDoubleAttribute("sOffset",&sOffset) != TIXML_SUCCESS)
+    {
+        sOffset = 0.0;
+    }
 	checker+=node->QueryStringAttribute("type",&type);
     if(node->QueryStringAttribute("weight",&weight) != TIXML_SUCCESS)
     {
@@ -1009,12 +1023,12 @@ bool OpenDriveXmlParser::ReadLaneRoadMark(Lane* lane, TiXmlElement *node)
 		return false;
 	}
 
-	checker+=node->QueryDoubleAttribute("width",&width);
-	if (checker!=TIXML_SUCCESS)
+//	checker+=node->QueryDoubleAttribute("width",&width);
+    if (node->QueryDoubleAttribute("width",&width)!=TIXML_SUCCESS)
 	{	width=0;	}
 
-	checker=node->QueryStringAttribute("laneChange",&laneChange);
-	if (checker!=TIXML_SUCCESS)
+//	checker=node->QueryStringAttribute("laneChange",&laneChange);
+    if (node->QueryStringAttribute("laneChange",&laneChange)!=TIXML_SUCCESS)
 	{	laneChange = "both"; }
 
 	lane->AddRoadMarkRecord(sOffset,type,weight,color,width,laneChange);
@@ -1899,19 +1913,22 @@ bool OpenDriveXmlParser::ReadSignal(Road *road, TiXmlElement *node)
     checker+=node->QueryStringAttribute("orientation",&orientation);
     checker+=node->QueryDoubleAttribute("zOffset",&zOffset);
     checker+=node->QueryStringAttribute("type",&type);
-    checker+=node->QueryStringAttribute("country",&country);
-    checker+=node->QueryStringAttribute("countryRevision",&countryRevision);
+
     checker+=node->QueryStringAttribute("subtype",&subtype);
     checker+=node->QueryDoubleAttribute("hOffset",&hOffset);
     checker+=node->QueryDoubleAttribute("pitch",&pitch);
     checker+=node->QueryDoubleAttribute("roll",&roll);
-    checker+=node->QueryDoubleAttribute("height",&height);
-    checker+=node->QueryDoubleAttribute("width",&width);
+
     if (checker!=TIXML_SUCCESS)
     {
         cout<<"Error parsing Lane Signals attributes"<<endl;
         return false;
     }
+    checker+=node->QueryStringAttribute("country",&country);
+    checker+=node->QueryStringAttribute("countryRevision",&countryRevision);
+    checker+=node->QueryDoubleAttribute("height",&height);
+    checker+=node->QueryDoubleAttribute("width",&width);
+
     if(strncmp(strdynamic.data(),"no",256) == 0)dynamic = false;
     else dynamic = true;
     road->AddSignal(s,t,id,name,dynamic,orientation,zOffset,type,country,countryRevision,subtype,hOffset,

src/driver/vtd_rdb/main.cpp

@@ -32,7 +32,7 @@ int main(int argc, char *argv[])
     iv::xmlparam::Xmlparam xp(strparapath);
     std::string strcommonmsgname = xp.GetParam("commonmsgname","rdbcommon");
     std::string strpicturemsgname = xp.GetParam("picturemsgname","rdbpicture");
-    std::string strvtdip = xp.GetParam("vtdip","10.14.0.234");
+    std::string strvtdip = xp.GetParam("vtdip","10.14.0.235");
     int ncommonport = xp.GetParam("defaultport",DEFAULT_PORT);
     int npictureport = xp.GetParam("pictureport",IMAGE_PORT);
 

src/driver/vtd_rdb/rdbmodulecomm.cpp

@@ -43,13 +43,13 @@ void rdbmodulecomm::threadCommon(RDBConn * pconn)
         mvectorcommonitem.push_back(xrdbitem);
         mmutexcommon.unlock();
   //      continue;
-        std::cout<<"pkg id: "<<xrdbitem.pkgid<<std::endl;
+ //       std::cout<<"pkg id: "<<xrdbitem.pkgid<<std::endl;
         switch (xrdbitem.pkgid) {
         case RDB_PKG_ID_OBJECT_STATE:
             {
-            std::cout<<"recv object. "<<std::endl;
+//            std::cout<<"recv object. "<<std::endl;
             RDB_OBJECT_STATE_t xobj;
-            std::cout<<" structure RDB_OBJECT_STATE_t size: "<<sizeof(xobj)<<"data size: "<<xrdbitem.mnpkgdatasize<<std::endl;
+//            std::cout<<" structure RDB_OBJECT_STATE_t size: "<<sizeof(xobj)<<"data size: "<<xrdbitem.mnpkgdatasize<<std::endl;
             memcpy(&xobj,xrdbitem.mpstr_pkgdata.get(),sizeof(RDB_OBJECT_STATE_t));
             std::cout<<"id:"<<xobj.base.id<<" name:"<<xobj.base.name<< " pos : x "<<xobj.base.pos.x<<" y "<<xobj.base.pos.y<<" z "<<xobj.base.pos.z<<std::endl;
             }

src/tool/rtspview/mainwindow.cpp

@@ -1,6 +1,7 @@
 #include "mainwindow.h"
 #include "ui_mainwindow.h"
 
+#include <QMessageBox>
 #include <QInputDialog>
 #include <iostream>
 
@@ -12,6 +13,9 @@ MainWindow::MainWindow(QWidget *parent) :
     ui(new Ui::MainWindow)
 {
     ui->setupUi(this);
+
+    mstrrtspurl = ServiceRTSPViewIni.GetRTSPURL();
+
     mprtspdown = new rtspclientdown(mstrrtspurl);
     mph264decode = new ivh264framedecode(mnframewidth,mnframeheight,false);
 
@@ -27,6 +31,8 @@ MainWindow::MainWindow(QWidget *parent) :
 
     connect(this,SIGNAL(CamUpdate()),this,SLOT(onCamUpdate()));
 
+    setWindowTitle("RTSP View");
+
 }
 
 MainWindow::~MainWindow()
@@ -46,7 +52,9 @@ void MainWindow::on_actionSet_URL_triggered()
 
     if(ok &!strurl.isEmpty())
     {
-
+        mstrrtspurl = strurl.toStdString();
+        ServiceRTSPViewIni.SetRTSPURL(mstrrtspurl);
+        QMessageBox::information(this,tr("Info"),tr("Restart app, setting come into force."),QMessageBox::YesAll);
     }
 }
 
@@ -65,9 +73,152 @@ void MainWindow::threadframe()
     }
 }
 
+static float YUV2RGB10753[256], YUV2RGB15075[256];
+static float YUV2RGB03441[256], YUV2RGB06084[256];
+static float YUV2RGB17718[256], YUV2RGB01043[256];
+void InitLookupTable()
+{
+    int i;
+    for (i = 0; i < 256; i++) YUV2RGB10753[i] = (float)1.0753 * i;
+    for (i = 0; i < 256; i++) YUV2RGB15075[i] = (float)1.5075 * (i - 128);
+    for (i = 0; i < 256; i++) YUV2RGB03441[i] = (float)0.3441 * (i - 128);
+    for (i = 0; i < 256; i++) YUV2RGB06084[i] = (float)0.6084 * (i - 128);
+    for (i = 0; i < 256; i++) YUV2RGB17718[i] = (float)1.7718 * (i - 128);
+    for (i = 0; i < 256; i++) YUV2RGB01043[i] = (float)0.1043 * (i - 128);
+}
+
+unsigned char* extendUV(unsigned char* buffer,int h,int w)
+{
+    unsigned char* buffer_extend = new unsigned char[h * w];
+    for (int i = 0; i < h; i++) {
+        for (int j = 0; j < w; j++) {
+            buffer_extend[i * w + j] = buffer[int(i/2)*(w/2) + int(j/2)];
+        }
+    }
+    return buffer_extend;
+}
+inline int limitValue(int value)
+{
+    return value > 255 ? 255:
+          (value < 0 ? 0 : value);
+}
+
+
+inline unsigned char getR(unsigned char Y, unsigned char U, unsigned char V)
+{
+    (void)U;
+    double R = YUV2RGB10753[Y] + YUV2RGB15075[V];
+    return limitValue(R);
+}
+inline unsigned char getG(unsigned char Y, unsigned char U, unsigned char V)
+{
+    double G = YUV2RGB10753[Y] - YUV2RGB03441[U] - YUV2RGB06084[V];
+    return limitValue(G);
+}
+inline unsigned char getB(unsigned char Y, unsigned char U, unsigned char V)
+{
+    double B = YUV2RGB10753[Y] + YUV2RGB17718[U]+ YUV2RGB01043[V];
+    return limitValue(B);
+}
+
+void YUV2RGB(unsigned char* y_buffer,unsigned char* u_buffer, unsigned char* v_buffer,unsigned char * rgbdata,int width,int height)
+{
+    //初始化查找表
+    InitLookupTable();
+
+    //扩展U、V
+    unsigned char* u_buffer_extend = extendUV(u_buffer, height, width);
+    unsigned char* v_buffer_extend = extendUV(v_buffer, height, width);
+
+    //转化为RGB
+//    unsigned char* r_buffer = rgbdata;
+//    unsigned char* g_buffer = rgbdata + height * width;
+//    unsigned char* b_buffer = rgbdata + 2 * height * width;
+    for (int i = 0; i < height * width; i++) {
+//        r_buffer[i] = getR(y_buffer[i], u_buffer_extend[i], v_buffer_extend[i]);
+//        g_buffer[i] = getG(y_buffer[i], u_buffer_extend[i], v_buffer_extend[i]);
+//        b_buffer[i] = getB(y_buffer[i], u_buffer_extend[i], v_buffer_extend[i]);
+        rgbdata[i*3] = getR(y_buffer[i], u_buffer_extend[i], v_buffer_extend[i]);
+        rgbdata[i*3+1] = getG(y_buffer[i], u_buffer_extend[i], v_buffer_extend[i]);
+        rgbdata[i*3+2] = getB(y_buffer[i], u_buffer_extend[i], v_buffer_extend[i]);
+    }
+
+}
+
+#include<iostream>
+#include<fstream>
+using namespace std;
+
+
+// yuv为4:2:0格式，且图像宽高都为偶数
+void yuv2bgr(unsigned char * y,unsigned char* u,unsigned char* v, unsigned char * buffer_bgr,int width, int height)
+{
+    int i, k = 0;
+    int w = width;
+    int h = height;
+
+
+    unsigned char* temple_u = new unsigned char[w * h]; // 存储Y和虚假的UV
+    unsigned char* temple_v = new unsigned char[w * h];
+    int* temple_bgr = new int[w * h * 3]; // 由于unsigned char的取值范围，存储虚假的bgr数据
+
+    for (i = 0; i < w * h / 4; i++)
+        {
+            temple_u[k] = u[i]; // 将一个值赋给小正方形里面的四个值
+            temple_u[k + 1] = u[i];
+            temple_u[k + w] = u[i];
+            temple_u[k + 1 + w] = u[i];
+            temple_v[k] = v[i];
+            temple_v[k + 1] = v[i];
+            temple_v[k + w] = v[i];
+            temple_v[k + 1 + w] = v[i];
+            if ((k + 2) % w == 0) // 换行
+            {
+                k = k + w + 2;
+            }
+            else
+            {
+                k = k + 2;
+            }
+        }
+    k = 0;
+    for (i = 0; i < w * h; i++)
+    {
+        // 反过来得到bgr
+        buffer_bgr[k] = y[i] + 1.7718 * (temple_u[i] - 128);
+        buffer_bgr[k + 1] = y[i] - 0.3441 * (temple_u[i] - 128) - 0.7139 * (temple_v[i] - 128);
+        buffer_bgr[k + 2] = y[i] + 1.4020 * (temple_v[i] - 128);
+        k = k + 3;
+    }
+    for (i = 0; i < w * h * 3; i++)
+    {
+        // 由于unsigned char类型范围为0到255，所以高于255置255，低于0置0
+        if (temple_bgr[i] > 255) {
+            temple_bgr[i] = 255;
+        }
+        else if (temple_bgr[i] < 0)
+        {
+            temple_bgr[i] = 0;
+        }
+    }
+    for (i = 0; i < w * h * 3; i++)
+    {
+        buffer_bgr[i] = temple_bgr[i];
+    }
+
+
+
+    delete[]temple_u;
+    delete[]temple_v;
+
+}
+
+
+#include <QTime>
 void MainWindow::threadpic()
 {
 
+//    QTime xTime;
     while(mbthreadrun)
     {
         int nindex = mph264decode->GetUpdatedIndex(10);
@@ -76,20 +227,36 @@ void MainWindow::threadpic()
         iv::framedecodebuf * pbuf =  mph264decode->LockReadBuff(nindex);
         int cy = pbuf->frameheight;
         int cx = pbuf->framewidth;
-        cv::Mat rgbImg(cy, cx,CV_8UC3);
 
 
+#ifndef USEJPEG_NOOPENCV
+        cv::Mat rgbImg(cy, cx,CV_8UC3);
+//        xTime.start();
         cv::cvtColor(pbuf->myuvImg, rgbImg,  CV_YUV2RGB_I420);
+//        std::cout<<" time use : "<<xTime.elapsed()<<std::endl;
 
         mph264decode->UnlockReadBuff(nindex);
 
         QImage image2 = QImage((uchar*)(rgbImg.data), rgbImg.cols, rgbImg.rows,  QImage::Format_RGB888);
 
+
+#else
+        char * pdata = new char[cy*cx*3];
+        xTime.start();
+        YUV2RGB((unsigned char *)pbuf->mpyuv_ptr.get(),(unsigned char *)(pbuf->mpyuv_ptr.get() + cy*cx),(unsigned char *)(pbuf->mpyuv_ptr.get()+cy*cx*5/4),
+                 (unsigned char*)pdata,cx,cy);
+        std::cout<<"conver time: "<<xTime.elapsed()<<std::endl;
+        mph264decode->UnlockReadBuff(nindex);
+
+        QImage image2 = QImage((uchar*)pdata, cx, cy,  QImage::Format_RGB888);
+//        delete pdata;
+#endif
         mMutexCam.lock();
 //        emit CamUpdate(ncampos,image2);
         *mpImageCam = image2.copy();
         mbCamUpdate = true;
         mMutexCam.unlock();
+
         emit CamUpdate();
     }
 }

src/tool/rtspview/mainwindow.h

@@ -11,6 +11,8 @@
 
 #include <QMutex>
 
+#include "rtspviewini.h"
+
 namespace Ui {
 class MainWindow;
 }

src/tool/rtspview/myview.cpp

@@ -46,6 +46,8 @@ void MyView::zoomIn()
 {
 
     int width,hgt;
+    (void)width;
+    (void)hgt;
     width = sceneRect().width();
     hgt = sceneRect().height();
     QScrollBar * psV = verticalScrollBar();
@@ -78,6 +80,8 @@ void MyView::zoomOut()
 {
 
     int width,hgt;
+    (void)width;
+    (void)hgt;
     width = sceneRect().width();
     hgt = sceneRect().height();
     QScrollBar * psV = verticalScrollBar();

src/tool/rtspview/rtspview.pro

@@ -28,13 +28,15 @@ SOURCES += \
     ../../driver/driver_h264_dec/ivh264framedecode.cpp \
     ../RemoteCtrl_h264/rtspclientdown.cpp \
         mainwindow.cpp \
-    myview.cpp
+    myview.cpp \
+    rtspviewini.cpp
 
 HEADERS += \
         mainwindow.h  \
     ../../driver/driver_h264_dec/ivh264framedecode.h \
     ../RemoteCtrl_h264/rtspclientdown.h \
-    myview.h
+    myview.h \
+    rtspviewini.h
 
 FORMS += \
         mainwindow.ui

src/tool/rtspview/rtspviewini.cpp

@@ -0,0 +1,34 @@
+#include "rtspviewini.h"
+
+RTSPViewIni::RTSPViewIni()
+{
+    mstrinipath = "RTSPView.ini";
+    QSettings * configini = new QSettings(mstrinipath,QSettings::IniFormat);
+
+    mstrrtspurl = configini->value("setting/url").toString().toStdString();
+    if(mstrrtspurl == "")
+    {
+        mstrrtspurl = "rtsp://111.33.136.149:9554/AAAAAAAAAAAAAAAAA-front-hello";
+    }
+
+    delete configini;
+}
+
+RTSPViewIni & RTSPViewIni::Inst()
+{
+    static RTSPViewIni xRTSPIni;
+    return xRTSPIni;
+}
+
+std::string RTSPViewIni::GetRTSPURL()
+{
+    return mstrrtspurl;
+}
+
+void RTSPViewIni::SetRTSPURL(std::string strrtspurl)
+{
+    mstrrtspurl = strrtspurl;
+    QSettings * configini = new QSettings(mstrinipath,QSettings::IniFormat);
+    configini->setValue("setting/url",strrtspurl.data());
+    delete configini;
+}

src/tool/rtspview/rtspviewini.h

@@ -0,0 +1,23 @@
+#ifndef RTSPVIEWINI_H
+#define RTSPVIEWINI_H
+
+#include <QSettings>
+
+class RTSPViewIni
+{
+public:
+    RTSPViewIni();
+public:
+    static RTSPViewIni & Inst();
+
+    std::string GetRTSPURL();
+    void SetRTSPURL(std::string strrtspurl);
+
+private:
+    std::string mstrrtspurl = "rtsp://111.33.136.149:9554/AAAAAAAAAAAAAAAAA-front-hello";
+    QString mstrinipath;
+};
+
+#define ServiceRTSPViewIni RTSPViewIni::Inst()
+
+#endif // RTSPVIEWINI_H