MYNT-EYE-S-SDK/samples/tutorials/data/get_disparity.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 "mynteye/logger.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::DISPARITY);
api->EnableStreamData(Stream::DISPARITY_NORMALIZED);
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if (argc == 2) {
std::string config_path(argv[1]);
if (api->ConfigDisparityFromFile(config_path)) {
LOG(INFO) << "load disparity file: "
<< config_path
<< " success."
<< std::endl;
} else {
LOG(INFO) << "load disparity file: "
<< config_path
<< " failed."
<< std::endl;
}
}
api->SetDisparityComputingMethodType(DisparityComputingMethod::BM);
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api->Start(Source::VIDEO_STREAMING);
cv::namedWindow("frame");
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// cv::namedWindow("disparity");
cv::namedWindow("disparity_normalized");
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while (true) {
api->WaitForStreams();
auto &&left_data = api->GetStreamData(Stream::LEFT);
auto &&right_data = api->GetStreamData(Stream::RIGHT);
if (!left_data.frame.empty() && !right_data.frame.empty()) {
cv::Mat img;
cv::hconcat(left_data.frame, right_data.frame, img);
cv::imshow("frame", img);
}
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// auto &&disp_data = api->GetStreamData(Stream::DISPARITY);
// if (!disp_data.frame.empty()) {
// cv::imshow("disparity", disp_data.frame);
// }
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auto &&disp_norm_data = api->GetStreamData(Stream::DISPARITY_NORMALIZED);
if (!disp_norm_data.frame.empty()) {
cv::imshow("disparity_normalized", disp_norm_data.frame); // CV_8UC1
}
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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;
}