feat: image preprocessing - center crop, resize 320x320

example/go2/CMakeLists.txt

@@ -1,3 +1,9 @@
+find_package(OpenCV REQUIRED)
+
+add_executable(go2_video_client_custom go2_video_client_custom.cpp)
+target_include_directories(go2_video_client_custom PRIVATE ${OpenCV_INCLUDE_DIRS})
+target_link_libraries(go2_video_client_custom unitree_sdk2 ${OpenCV_LIBS})
+
 # add_executable(go2_trajectory_follow go2_trajectory_follow.cpp)
 # target_link_libraries(go2_trajectory_follow unitree_sdk2)
 
@@ -17,5 +23,8 @@ target_link_libraries(go2_robot_state_client unitree_sdk2)
 add_executable(go2_video_client go2_video_client.cpp)
 target_link_libraries(go2_video_client unitree_sdk2)
 
+# add_executable(go2_video_client_custom go2_video_client_custom.cpp)
+# target_link_libraries(go2_video_client_custom unitree_sdk2)
+
 add_executable(go2_vui_client go2_vui_client.cpp)
 target_link_libraries(go2_vui_client unitree_sdk2)

example/go2/go2_video_client_custom.cpp

@@ -0,0 +1,66 @@
+#include <unitree/robot/go2/video/video_client.hpp>
+#include <iostream>
+#include <fstream>
+#include <ctime>
+#include <unistd.h>  // for sleep
+#include <opencv2/opencv.hpp>  // OpenCV for image processing
+
+int main()
+{
+    unitree::robot::ChannelFactory::Instance()->Init(0);
+    unitree::robot::go2::VideoClient video_client;
+    video_client.SetTimeout(1.0f);
+    video_client.Init();
+
+    std::vector<uint8_t> image_sample;
+    int ret;
+
+    while (true)
+    {
+        ret = video_client.GetImageSample(image_sample);
+
+        if (ret == 0) {
+            std::string raw_name = "raw_image.jpg";
+            std::string processed_name = "last_image.jpg";
+
+            // Save raw image
+            std::ofstream image_file(raw_name, std::ios::binary);
+            if (image_file.is_open()) {
+                image_file.write(reinterpret_cast<const char*>(image_sample.data()), image_sample.size());
+                image_file.close();
+                std::cout << "Raw image saved as " << raw_name << std::endl;
+            } else {
+                std::cerr << "Error: Failed to save raw image." << std::endl;
+                continue;
+            }
+
+            // Load image with OpenCV
+            cv::Mat img = cv::imread(raw_name);
+            if (img.empty()) {
+                std::cerr << "Error: Failed to read image with OpenCV." << std::endl;
+                continue;
+            }
+
+            // Center crop
+            int h = img.rows;
+            int w = img.cols;
+            int crop_size = std::min(h, w);
+            int top = (h - crop_size) / 2;
+            int left = (w - crop_size) / 2;
+            cv::Rect roi(left, top, crop_size, crop_size);
+            cv::Mat cropped = img(roi);
+
+            // Resize to 320x320
+            cv::Mat resized;
+            cv::resize(cropped, resized, cv::Size(320, 320));
+
+            // Save final image
+            cv::imwrite(processed_name, resized);
+            std::cout << "Processed image saved as " << processed_name << std::endl;
+        }
+
+        usleep(50000);  // 0.05 seconds = 50,000 microseconds
+    }
+
+    return 0;
+}