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

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2019-10-17 08:48:37 +03:00
// 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 "mynteye/api/api.h"
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->EnableStreamData(Stream::DEPTH);
api->Start(Source::VIDEO_STREAMING);
cv::namedWindow("frame");
cv::namedWindow("depth_real");
std::int32_t count = 0;
std::cout << "Press 'Space' 's' 'S' to save image." << std::endl;
while (true) {
api->WaitForStreams();
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static api::StreamData left_data;
static api::StreamData right_data;
static api::StreamData depth_data;
auto right_data_tmp = api->GetStreamData(Stream::RIGHT_RECTIFIED);
if (!right_data_tmp.frame.empty()) {
right_data = right_data_tmp;
}
auto left_data_tmp = api->GetStreamData(Stream::LEFT_RECTIFIED);
if (!left_data_tmp.frame.empty()) {
left_data = left_data_tmp;
}
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 depth_data_tmp = api->GetStreamData(Stream::DEPTH);
if (!depth_data_tmp.frame.empty()) {
depth_data = depth_data_tmp;
}
if (!depth_data.frame.empty()) {
cv::imshow("depth_real", depth_data.frame); // CV_16UC1
}
char key = static_cast<char>(cv::waitKey(1));
if (key == 27 || key == 'q' || key == 'Q') { // ESC/Q
break;
} else if (key == 32 || key == 's' || key == 'S') {
if (!left_data.frame.empty()
&& !right_data.frame.empty()
&& !depth_data.frame.empty()) {
char l_name[20];
char r_name[20];
char d_name[20];
++count;
snprintf(l_name, sizeof(l_name), "left_%d.jpg", count);
snprintf(r_name, sizeof(r_name), "right_%d.jpg", count);
snprintf(d_name, sizeof(d_name), "depth_%d.jpg", count);
cv::imwrite(l_name, left_data.frame);
cv::imwrite(r_name, right_data.frame);
cv::imwrite(d_name, depth_data.frame);
std::cout << "Saved " << l_name << " " << r_name << " " << d_name << " to current directory" << std::endl;
}
}
}
api->Stop(Source::VIDEO_STREAMING);
return 0;
}