50 lines
1.2 KiB
C++
50 lines
1.2 KiB
C++
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#include <opencv2/highgui/highgui.hpp>
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#include <glog/logging.h>
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#include "mynteye/api.h"
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MYNTEYE_USE_NAMESPACE
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int main(int argc, char *argv[]) {
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auto &&api = API::Create(argc, argv);
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// api->EnableStreamData(Stream::DISPARITY);
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api->EnableStreamData(Stream::DISPARITY_NORMALIZED);
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api->Start(Source::VIDEO_STREAMING);
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cv::namedWindow("frame");
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// cv::namedWindow("disparity");
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cv::namedWindow("disparity_normalized");
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while (true) {
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api->WaitForStreams();
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auto &&left_data = api->GetStreamData(Stream::LEFT);
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auto &&right_data = api->GetStreamData(Stream::RIGHT);
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cv::Mat img;
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cv::hconcat(left_data.frame, right_data.frame, img);
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cv::imshow("frame", img);
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// auto &&disp_data = api->GetStreamData(Stream::DISPARITY);
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// if (!disp_data.frame.empty()) {
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// cv::imshow("disparity", disp_data.frame);
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// }
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auto &&disp_norm_data = api->GetStreamData(Stream::DISPARITY_NORMALIZED);
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if (!disp_norm_data.frame.empty()) {
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cv::imshow("disparity_normalized", disp_norm_data.frame); // CV_8UC1
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}
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char key = static_cast<char>(cv::waitKey(1));
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if (key == 27 || key == 'q' || key == 'Q') { // ESC/Q
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break;
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}
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}
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api->Stop(Source::VIDEO_STREAMING);
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return 0;
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}
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