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

// 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.
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/imgproc/imgproc.hpp>

#include "mynteye/logger.h"
#include "mynteye/device/device.h"
#include "mynteye/device/utils.h"
#include "mynteye/util/times.h"

#include "dataset.h"

MYNTEYE_USE_NAMESPACE

int main(int argc, char *argv[]) {
  glog_init _(argc, argv);

  auto &&api = API::Create(argc, argv);
  if (!api) return 1;

  auto request = api->GetStreamRequest();

//   struct StreamRequest {
//   /** Stream width in pixels */
//   std::uint16_t width;
//   /** Stream height in pixels */
//   std::uint16_t height;
//   /** Stream pixel format */
//   Format format;
//   /** Stream frames per second */
//   std::uint16_t fps;
//   }

  // request.fps = 10;
  api->ConfigStreamRequest(request);
  api->EnableMotionDatas();

  api->EnableStreamData(Stream::DEPTH);

  api->Start(Source::ALL);

  const char *outdir;
  if (argc >= 2) {
    outdir = argv[1];
  } else {
    outdir = "./dataset";
  }
  tools::Dataset dataset(outdir);

  cv::namedWindow("frame");

  std::size_t img_count = 0;
  std::size_t imu_count = 0;
  auto &&time_beg = times::now();
  while (true) {
    api->WaitForStreams();

    auto &&left_datas = api->GetStreamDatas(Stream::LEFT);
    auto &&right_datas = api->GetStreamDatas(Stream::RIGHT);
    auto &&depth_data = api->GetStreamData(Stream::DEPTH);
    auto &&disparity_data = api->GetStreamData(Stream::DISPARITY);
    img_count += left_datas.size();

    auto &&motion_datas = api->GetMotionDatas();
    imu_count += motion_datas.size();
    cv::Mat img;
    if (left_datas.size() > 0 && right_datas.size() > 0) {
      auto &&left_frame = left_datas.back().frame_raw;
      auto &&right_frame = right_datas.back().frame_raw;
      if (right_frame->data() && left_frame->data()) {
        if (left_frame->format() == Format::GREY) {
          cv::Mat left_img(
              left_frame->height(), left_frame->width(), CV_8UC1,
              left_frame->data());
          cv::Mat right_img(
              right_frame->height(), right_frame->width(), CV_8UC1,
              right_frame->data());
          cv::hconcat(left_img, right_img, img);
        } else if (left_frame->format() == Format::YUYV) {
          cv::Mat left_img(
              left_frame->height(), left_frame->width(), CV_8UC2,
              left_frame->data());
          cv::Mat right_img(
              right_frame->height(), right_frame->width(), CV_8UC2,
              right_frame->data());
          cv::cvtColor(left_img, left_img, cv::COLOR_YUV2BGR_YUY2);
          cv::cvtColor(right_img, right_img, cv::COLOR_YUV2BGR_YUY2);
          cv::hconcat(left_img, right_img, img);
        } else if (left_frame->format() == Format::BGR888) {
          cv::Mat left_img(
              left_frame->height(), left_frame->width(), CV_8UC3,
              left_frame->data());
          cv::Mat right_img(
              right_frame->height(), right_frame->width(), CV_8UC3,
              right_frame->data());
          cv::hconcat(left_img, right_img, img);
        } else {
          return -1;
        }
        cv::imshow("frame", img);
      }
    }

    if (img_count > 10 && imu_count > 50) {  // save
      // save Stream::LEFT
      for (auto &&left : left_datas) {
        dataset.SaveStreamData(Stream::LEFT, left);
      }
      // save Stream::RIGHT
      // for (auto &&right : right_datas) {
      //   dataset.SaveStreamData(Stream::RIGHT, right);
      // }

      // save Stream::DEPTH
      if (!depth_data.frame.empty()) {
        dataset.SaveStreamData(Stream::DEPTH, depth_data);
      }

      // save Stream::DISPARITY
      if (!disparity_data.frame.empty()) {
        dataset.SaveStreamData(Stream::DISPARITY, disparity_data);
      }

      for (auto &&motion : motion_datas) {
        dataset.SaveMotionData(motion);
      }

      std::cout << "\rSaved " << img_count << " imgs"
                << ", " << imu_count << " imus" << std::flush;
    }

    char key = static_cast<char>(cv::waitKey(1));
    if (key == 27 || key == 'q' || key == 'Q') {  // ESC/Q
      break;
    }
  }
  std::cout << " to " << outdir << std::endl;
  auto &&time_end = times::now();

  api->Stop(Source::ALL);

  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) << "Img count: " << img_count
            << ", fps: " << (1000.f * img_count / elapsed_ms);
  LOG(INFO) << "Imu count: " << imu_count
            << ", hz: " << (1000.f * imu_count / elapsed_ms);
  return 0;
}