MYNT-EYE-S-SDK/samples/device/camera.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 <opencv2/highgui/highgui.hpp>
#include <opencv2/imgproc/imgproc.hpp>
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#include "mynteye/logger.h"
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#include "mynteye/device/device.h"
#include "mynteye/device/utils.h"
#include "mynteye/util/times.h"
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MYNTEYE_USE_NAMESPACE
int main(int argc, char *argv[]) {
glog_init _(argc, argv);
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auto &&device = device::select();
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if (!device)
return 1;
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/*
{ // auto-exposure
device->SetOptionValue(Option::EXPOSURE_MODE, 0);
device->SetOptionValue(Option::MAX_GAIN, 40); // [0.48]
device->SetOptionValue(Option::MAX_EXPOSURE_TIME, 120); // [0,240]
device->SetOptionValue(Option::DESIRED_BRIGHTNESS, 200); // [0,255]
}
{ // manual-exposure
device->SetOptionValue(Option::EXPOSURE_MODE, 1);
device->SetOptionValue(Option::GAIN, 20); // [0.48]
device->SetOptionValue(Option::BRIGHTNESS, 20); // [0,240]
device->SetOptionValue(Option::CONTRAST, 20); // [0,255]
}
device->SetOptionValue(Option::IR_CONTROL, 80);
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device->SetOptionValue(Option::FRAME_RATE, 25);
device->SetOptionValue(Option::IMU_FREQUENCY, 500);
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*/
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device->LogOptionInfos();
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// device->RunOptionAction(Option::ZERO_DRIFT_CALIBRATION);
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std::size_t left_count = 0;
device->SetStreamCallback(
Stream::LEFT, [&left_count](const device::StreamData &data) {
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CHECK_NOTNULL(data.img);
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++left_count;
VLOG(2) << Stream::LEFT << ", count: " << left_count;
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VLOG(2) << " frame_id: " << data.img->frame_id
<< ", timestamp: " << data.img->timestamp
<< ", exposure_time: " << data.img->exposure_time;
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});
std::size_t right_count = 0;
device->SetStreamCallback(
Stream::RIGHT, [&right_count](const device::StreamData &data) {
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CHECK_NOTNULL(data.img);
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++right_count;
VLOG(2) << Stream::RIGHT << ", count: " << right_count;
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VLOG(2) << " frame_id: " << data.img->frame_id
<< ", timestamp: " << data.img->timestamp
<< ", exposure_time: " << data.img->exposure_time;
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});
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std::size_t imu_count = 0;
device->SetMotionCallback([&imu_count](const device::MotionData &data) {
CHECK_NOTNULL(data.imu);
++imu_count;
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VLOG(2) << "Imu count: " << imu_count;
VLOG(2) << " frame_id: " << data.imu->frame_id
<< ", timestamp: " << data.imu->timestamp
<< ", accel_x: " << data.imu->accel[0]
<< ", accel_y: " << data.imu->accel[1]
<< ", accel_z: " << data.imu->accel[2]
<< ", gyro_x: " << data.imu->gyro[0]
<< ", gyro_y: " << data.imu->gyro[1]
<< ", gyro_z: " << data.imu->gyro[2]
<< ", temperature: " << data.imu->temperature;
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});
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// Enable this will cache the motion datas until you get them.
device->EnableMotionDatas();
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device->Start(Source::ALL);
cv::namedWindow("frame");
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std::size_t motion_count = 0;
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auto &&time_beg = times::now();
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while (true) {
device->WaitForStreams();
device::StreamData left_data = device->GetLatestStreamData(Stream::LEFT);
device::StreamData right_data = device->GetLatestStreamData(Stream::RIGHT);
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auto &&motion_datas = device->GetMotionDatas();
motion_count += motion_datas.size();
for (auto &&data : motion_datas) {
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LOG(INFO) << "Imu frame_id: " << data.imu->frame_id
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<< ", timestamp: " << data.imu->timestamp
<< ", accel_x: " << data.imu->accel[0]
<< ", accel_y: " << data.imu->accel[1]
<< ", accel_z: " << data.imu->accel[2]
<< ", gyro_x: " << data.imu->gyro[0]
<< ", gyro_y: " << data.imu->gyro[1]
<< ", gyro_z: " << data.imu->gyro[2]
<< ", temperature: " << data.imu->temperature;
}
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cv::Mat left_img(
left_data.frame->height(), left_data.frame->width(), CV_8UC1,
left_data.frame->data());
cv::Mat right_img(
right_data.frame->height(), right_data.frame->width(), CV_8UC1,
right_data.frame->data());
cv::Mat img;
cv::hconcat(left_img, right_img, img);
cv::imshow("frame", img);
char key = static_cast<char>(cv::waitKey(1));
if (key == 27 || key == 'q' || key == 'Q') { // ESC/Q
break;
}
}
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auto &&time_end = times::now();
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device->Stop(Source::ALL);
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float elapsed_ms =
times::count<times::microseconds>(time_end - time_beg) * 0.001f;
LOG(INFO) << "Time beg: " << times::to_local_string(time_beg)
<< ", end: " << times::to_local_string(time_end)
<< ", cost: " << elapsed_ms << "ms";
LOG(INFO) << "Left count: " << left_count
<< ", fps: " << (1000.f * left_count / elapsed_ms);
LOG(INFO) << "Right count: " << right_count
<< ", fps: " << (1000.f * right_count / elapsed_ms);
LOG(INFO) << "Imu count: " << imu_count
<< ", hz: " << (1000.f * imu_count / elapsed_ms);
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// LOG(INFO) << "Motion count: " << motion_count
// << ", hz: " << (1000.f * motion_count / elapsed_ms);
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return 0;
}