MYNT-EYE-S-SDK/samples/get_stereo_rectified.cc

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// Copyright 2018 Slightech Co., Ltd. All rights reserved.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
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#include <stdio.h>
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#include <opencv2/highgui/highgui.hpp>
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#include "mynteye/api/api.h"
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MYNTEYE_USE_NAMESPACE
int main(int argc, char *argv[]) {
auto &&api = API::Create(argc, argv);
if (!api) return 1;
bool ok;
auto &&request = api->SelectStreamRequest(&ok);
if (!ok) return 1;
api->ConfigStreamRequest(request);
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api->EnableStreamData(Stream::LEFT_RECTIFIED);
api->EnableStreamData(Stream::RIGHT_RECTIFIED);
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/** SetRectifyAlpha
-1 is default
*/
// api->SetRectifyAlpha(0.5);
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api->Start(Source::VIDEO_STREAMING);
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double fps;
double t = 0.01;
std::cout << "fps:" << std::endl;
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cv::namedWindow("frame");
while (true) {
api->WaitForStreams();
auto &&left_data = api->GetStreamData(Stream::LEFT_RECTIFIED);
auto &&right_data = api->GetStreamData(Stream::RIGHT_RECTIFIED);
if (!left_data.frame.empty() && !right_data.frame.empty()) {
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double t_c = cv::getTickCount() / cv::getTickFrequency();
fps = 1.0/(t_c - t);
printf("\b\b\b\b\b\b\b\b\b%.2f", fps);
t = t_c;
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cv::Mat img;
cv::hconcat(left_data.frame, right_data.frame, img);
cv::imshow("frame", img);
}
char key = static_cast<char>(cv::waitKey(1));
if (key == 27 || key == 'q' || key == 'Q') { // ESC/Q
break;
}
}
api->Stop(Source::VIDEO_STREAMING);
return 0;
}