MYNT-EYE-S-SDK/samples/tutorials/data/get_points.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>
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#include "mynteye/api/api.h"
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#include "util/pc_viewer.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);
api->SetDisparityComputingMethodType(DisparityComputingMethod::BM);
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api->EnableStreamData(Stream::POINTS);
api->Start(Source::VIDEO_STREAMING);
cv::namedWindow("frame");
PCViewer pcviewer;
while (true) {
api->WaitForStreams();
auto &&left_data = api->GetStreamData(Stream::LEFT);
auto &&right_data = api->GetStreamData(Stream::RIGHT);
cv::Mat img;
cv::hconcat(left_data.frame, right_data.frame, img);
cv::imshow("frame", img);
auto &&points_data = api->GetStreamData(Stream::POINTS);
if (!points_data.frame.empty()) {
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pcviewer.Update(points_data.frame);
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}
char key = static_cast<char>(cv::waitKey(1));
if (key == 27 || key == 'q' || key == 'Q') { // ESC/Q
break;
}
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if (pcviewer.WasStopped()) {
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break;
}
}
api->Stop(Source::VIDEO_STREAMING);
return 0;
}