fix(*): remove test dir.
This commit is contained in:
TinyO
parent
24e381dbb0
commit
00b16113ca
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@ -88,7 +88,7 @@ if(OS_MAC)
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else()
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else()
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# samples above device layer
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# samples above device layer
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make_executable(camera_use_device
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make_executable(camera_with_junior_device_api
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SRCS device_camera.cc
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SRCS device_camera.cc
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LINK_LIBS mynteye ${OpenCV_LIBS}
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LINK_LIBS mynteye ${OpenCV_LIBS}
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DLL_SEARCH_PATHS ${PRO_DIR}/_install/bin ${OpenCV_LIB_SEARCH_PATH}
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DLL_SEARCH_PATHS ${PRO_DIR}/_install/bin ${OpenCV_LIB_SEARCH_PATH}
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@ -99,7 +99,7 @@ else()
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if(WITH_API)
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if(WITH_API)
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## camera_a
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## camera_a
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make_executable(camera_use_api
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make_executable(camera_with_senior_api
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SRCS api_camera.cc
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SRCS api_camera.cc
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LINK_LIBS mynteye ${OpenCV_LIBS}
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LINK_LIBS mynteye ${OpenCV_LIBS}
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DLL_SEARCH_PATHS ${PRO_DIR}/_install/bin ${OpenCV_LIB_SEARCH_PATH}
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DLL_SEARCH_PATHS ${PRO_DIR}/_install/bin ${OpenCV_LIB_SEARCH_PATH}
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@ -1,74 +0,0 @@
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// Copyright 2018 Slightech Co., Ltd. All rights reserved.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#include <stdio.h>
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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
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int main(int argc, char *argv[]) {
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auto &&api = API::Create(argc, argv);
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if (!api) return 1;
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bool ok;
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auto &&request = api->SelectStreamRequest(&ok);
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if (!ok) return 1;
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api->ConfigStreamRequest(request);
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api->EnableStreamData(Stream::POINTS);
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api->Start(Source::VIDEO_STREAMING);
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double fps;
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double t = 0.01;
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std::cout << "points cloud fps:" << std::endl;
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cv::namedWindow("frame");
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PCViewer pcviewer;
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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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if (!left_data.frame.empty() && !right_data.frame.empty()) {
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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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}
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auto &&points_data = api->GetStreamData(Stream::POINTS);
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if (!points_data.frame.empty()) {
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double t_c = cv::getTickCount() / cv::getTickFrequency();
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fps = 1.0/(t_c - t);
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printf("\b\b\b\b\b\b\b\b\b%.2f", fps);
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t = t_c;
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pcviewer.Update(points_data.frame);
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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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if (pcviewer.WasStopped()) {
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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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@ -1,61 +0,0 @@
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// Copyright 2018 Slightech Co., Ltd. All rights reserved.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#include <stdio.h>
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#include <opencv2/highgui/highgui.hpp>
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#include "mynteye/api/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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if (!api) return 1;
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bool ok;
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auto &&request = api->SelectStreamRequest(&ok);
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if (!ok) return 1;
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api->ConfigStreamRequest(request);
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api->Start(Source::VIDEO_STREAMING);
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double fps;
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double t = 0.01;
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std::cout << "fps:" << std::endl;
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cv::namedWindow("frame");
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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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if (!left_data.frame.empty() && !right_data.frame.empty()) {
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double t_c = cv::getTickCount() / cv::getTickFrequency();
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fps = 1.0/(t_c - t);
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printf("\b\b\b\b\b\b\b\b\b%.2f", fps);
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t = t_c;
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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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}
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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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@ -1,249 +0,0 @@
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// Copyright 2018 Slightech Co., Ltd. All rights reserved.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#include <opencv2/highgui/highgui.hpp>
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#include <opencv2/imgproc/imgproc.hpp>
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// #include "mynteye/logger.h"
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#include "mynteye/api/api.h"
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#include "util_cv_painter.h"
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#include "util_pc_viewer.h"
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namespace {
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class DepthRegion {
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public:
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explicit DepthRegion(std::uint32_t n)
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: n_(std::move(n)), show_(false), selected_(false), point_(0, 0) {}
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~DepthRegion() = default;
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/**
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* 鼠标事件：默认不选中区域，随鼠标移动而显示。单击后，则会选中区域来显示。你可以再单击已选中区域或双击未选中区域，取消选中。
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*/
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void OnMouse(const int &event, const int &x, const int &y, const int &flags) {
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MYNTEYE_UNUSED(flags)
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if (event != cv::EVENT_MOUSEMOVE && event != cv::EVENT_LBUTTONDOWN) {
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return;
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}
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show_ = true;
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if (event == cv::EVENT_MOUSEMOVE) {
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if (!selected_) {
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point_.x = x;
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point_.y = y;
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}
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} else if (event == cv::EVENT_LBUTTONDOWN) {
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if (selected_) {
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if (x >= static_cast<int>(point_.x - n_) &&
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x <= static_cast<int>(point_.x + n_) &&
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y >= static_cast<int>(point_.y - n_) &&
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y <= static_cast<int>(point_.y + n_)) {
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selected_ = false;
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}
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} else {
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selected_ = true;
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}
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point_.x = x;
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point_.y = y;
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}
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}
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template <typename T>
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void ShowElems(
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const cv::Mat &depth,
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std::function<std::string(const T &elem)> elem2string,
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int elem_space = 40,
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std::function<std::string(
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const cv::Mat &depth, const cv::Point &point, const std::uint32_t &n)>
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getinfo = nullptr) {
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if (!show_)
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return;
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int space = std::move(elem_space);
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int n = 2 * n_ + 1;
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cv::Mat im(space * n, space * n, CV_8UC3, cv::Scalar(255, 255, 255));
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int x, y;
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std::string str;
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int baseline = 0;
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for (int i = -n_; i <= n; ++i) {
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x = point_.x + i;
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if (x < 0 || x >= depth.cols)
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continue;
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for (int j = -n_; j <= n; ++j) {
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y = point_.y + j;
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if (y < 0 || y >= depth.rows)
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continue;
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str = elem2string(depth.at<T>(y, x));
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cv::Scalar color(0, 0, 0);
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if (i == 0 && j == 0)
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color = cv::Scalar(0, 0, 255);
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cv::Size sz =
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cv::getTextSize(str, cv::FONT_HERSHEY_PLAIN, 1, 1, &baseline);
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cv::putText(
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im, str, cv::Point(
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(i + n_) * space + (space - sz.width) / 2,
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(j + n_) * space + (space + sz.height) / 2),
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cv::FONT_HERSHEY_PLAIN, 1, color, 1);
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}
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}
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if (getinfo) {
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std::string info = getinfo(depth, point_, n_);
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if (!info.empty()) {
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cv::Size sz =
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cv::getTextSize(info, cv::FONT_HERSHEY_PLAIN, 1, 1, &baseline);
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cv::putText(
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im, info, cv::Point(5, 5 + sz.height), cv::FONT_HERSHEY_PLAIN, 1,
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cv::Scalar(255, 0, 255), 1);
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}
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}
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cv::imshow("region", im);
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}
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void DrawRect(cv::Mat &image) { // NOLINT
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if (!show_)
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return;
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std::uint32_t n = (n_ > 1) ? n_ : 1;
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n += 1; // outside the region
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cv::rectangle(
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image, cv::Point(point_.x - n, point_.y - n),
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cv::Point(point_.x + n, point_.y + n),
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selected_ ? cv::Scalar(0, 255, 0) : cv::Scalar(0, 0, 255), 1);
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}
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private:
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std::uint32_t n_;
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bool show_;
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bool selected_;
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cv::Point point_;
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};
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void OnDepthMouseCallback(int event, int x, int y, int flags, void *userdata) {
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DepthRegion *region = reinterpret_cast<DepthRegion *>(userdata);
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region->OnMouse(event, x, y, flags);
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}
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} // namespace
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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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if (!api) return 1;
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bool ok;
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auto &&request = api->SelectStreamRequest(&ok);
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if (!ok) return 1;
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api->ConfigStreamRequest(request);
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api->SetOptionValue(Option::IR_CONTROL, 80);
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api->SetDisparityComputingMethodType(DisparityComputingMethod::BM);
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api->EnableStreamData(Stream::DISPARITY_NORMALIZED);
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api->EnableStreamData(Stream::POINTS);
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api->EnableStreamData(Stream::DEPTH);
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api->Start(Source::VIDEO_STREAMING);
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cv::namedWindow("frame");
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cv::namedWindow("depth");
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cv::namedWindow("region");
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DepthRegion depth_region(3);
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auto depth_info = [](
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const cv::Mat &depth, const cv::Point &point, const std::uint32_t &n) {
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MYNTEYE_UNUSED(depth)
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std::ostringstream os;
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os << "depth pos: [" << point.y << ", " << point.x << "]"
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<< "±" << n << ", unit: mm";
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return os.str();
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};
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CVPainter painter;
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PCViewer pcviewer;
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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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painter.DrawImgData(img, *left_data.img);
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cv::imshow("frame", img);
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// LOG(INFO) << "left id: " << left_data.frame_id
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// << ", right id: " << right_data.frame_id;
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auto &&disp_data = api->GetStreamData(Stream::DISPARITY_NORMALIZED);
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auto &&depth_data = api->GetStreamData(Stream::DEPTH);
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if (!disp_data.frame.empty() && !depth_data.frame.empty()) {
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// Show disparity instead of depth, but show depth values in region.
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auto &&depth_frame = disp_data.frame;
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#ifdef WITH_OPENCV3
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// ColormapTypes
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// http://docs.opencv.org/master/d3/d50/group__imgproc__colormap.html#ga9a805d8262bcbe273f16be9ea2055a65
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cv::applyColorMap(depth_frame, depth_frame, cv::COLORMAP_JET);
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#endif
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cv::setMouseCallback("depth", OnDepthMouseCallback, &depth_region);
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// Note: DrawRect will change some depth values to show the rect.
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depth_region.DrawRect(depth_frame);
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cv::imshow("depth", depth_frame);
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// LOG(INFO) << "depth id: " << disp_data.frame_id;
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depth_region.ShowElems<ushort>(
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depth_data.frame,
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[](const ushort &elem) {
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|
||||||
if (elem >= 10000) {
|
|
||||||
// Filter errors, or limit to valid range.
|
|
||||||
//
|
|
||||||
// reprojectImageTo3D(), missing values will set to 10000
|
|
||||||
// https://docs.opencv.org/master/d9/d0c/group__calib3d.html#ga1bc1152bd57d63bc524204f21fde6e02
|
|
||||||
return std::string("invalid");
|
|
||||||
}
|
|
||||||
return std::to_string(elem);
|
|
||||||
},
|
|
||||||
80, depth_info);
|
|
||||||
}
|
|
||||||
|
|
||||||
auto &&points_data = api->GetStreamData(Stream::POINTS);
|
|
||||||
if (!points_data.frame.empty()) {
|
|
||||||
pcviewer.Update(points_data.frame);
|
|
||||||
// LOG(INFO) << "points id: " << points_data.frame_id;
|
|
||||||
}
|
|
||||||
|
|
||||||
char key = static_cast<char>(cv::waitKey(1));
|
|
||||||
if (key == 27 || key == 'q' || key == 'Q') { // ESC/Q
|
|
||||||
break;
|
|
||||||
}
|
|
||||||
if (pcviewer.WasStopped()) {
|
|
||||||
break;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
api->Stop(Source::VIDEO_STREAMING);
|
|
||||||
return 0;
|
|
||||||
}
|
|
||||||
|
|
@ -1,61 +0,0 @@
|
||||||
// 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 <stdio.h>
|
|
||||||
#include <opencv2/highgui/highgui.hpp>
|
|
||||||
|
|
||||||
#include "mynteye/api/api.h"
|
|
||||||
|
|
||||||
MYNTEYE_USE_NAMESPACE
|
|
||||||
|
|
||||||
int main(int argc, char const *argv[]) {
|
|
||||||
auto &&api = API::Create(0, nullptr);
|
|
||||||
if (!api) return 1;
|
|
||||||
|
|
||||||
bool ok;
|
|
||||||
auto &&request = api->SelectStreamRequest(&ok);
|
|
||||||
if (!ok) return 1;
|
|
||||||
api->ConfigStreamRequest(request);
|
|
||||||
api->Start(Source::VIDEO_STREAMING);
|
|
||||||
|
|
||||||
double fps;
|
|
||||||
double t = 0.01;
|
|
||||||
std::cout << "fps:" << std::endl;
|
|
||||||
|
|
||||||
cv::namedWindow("frame");
|
|
||||||
|
|
||||||
while (true) {
|
|
||||||
api->WaitForStreams();
|
|
||||||
|
|
||||||
auto &&left_data = api->GetStreamData(Stream::LEFT);
|
|
||||||
auto &&right_data = api->GetStreamData(Stream::RIGHT);
|
|
||||||
|
|
||||||
cv::Mat img;
|
|
||||||
if (!left_data.frame.empty() && !right_data.frame.empty()) {
|
|
||||||
double t_c = cv::getTickCount() / cv::getTickFrequency();
|
|
||||||
fps = 1.0/(t_c - t);
|
|
||||||
printf("\b\b\b\b\b\b\b\b\b%.2f", fps);
|
|
||||||
t = t_c;
|
|
||||||
cv::hconcat(left_data.frame, right_data.frame, img);
|
|
||||||
cv::imshow("frame", img);
|
|
||||||
}
|
|
||||||
|
|
||||||
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;
|
|
||||||
}
|
|
||||||
|
|
@ -1,112 +0,0 @@
|
||||||
# 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.
|
|
||||||
|
|
||||||
cmake_minimum_required(VERSION 3.0)
|
|
||||||
|
|
||||||
project(mynteye_test VERSION 2.0.0 LANGUAGES C CXX)
|
|
||||||
|
|
||||||
get_filename_component(PRO_DIR ${PROJECT_SOURCE_DIR} DIRECTORY)
|
|
||||||
|
|
||||||
include(${PRO_DIR}/cmake/Common.cmake)
|
|
||||||
include(${PRO_DIR}/cmake/Utils.cmake)
|
|
||||||
|
|
||||||
# flags
|
|
||||||
|
|
||||||
if(OS_WIN)
|
|
||||||
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wall")
|
|
||||||
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall")
|
|
||||||
else()
|
|
||||||
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wall -Wextra")
|
|
||||||
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -Wextra")
|
|
||||||
endif()
|
|
||||||
|
|
||||||
include(${PRO_DIR}/cmake/DetectCXX11.cmake)
|
|
||||||
|
|
||||||
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -march=native")
|
|
||||||
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -march=native")
|
|
||||||
|
|
||||||
#if(OS_WIN AND NOT MINGW)
|
|
||||||
# set(CompilerFlags
|
|
||||||
# CMAKE_CXX_FLAGS
|
|
||||||
# CMAKE_CXX_FLAGS_DEBUG
|
|
||||||
# CMAKE_CXX_FLAGS_RELEASE
|
|
||||||
# CMAKE_C_FLAGS
|
|
||||||
# CMAKE_C_FLAGS_DEBUG
|
|
||||||
# CMAKE_C_FLAGS_RELEASE
|
|
||||||
# )
|
|
||||||
# foreach(CompilerFlag ${CompilerFlags})
|
|
||||||
# string(REPLACE "/MD" "/MT" ${CompilerFlag} "${${CompilerFlag}}")
|
|
||||||
# endforeach()
|
|
||||||
#endif()
|
|
||||||
|
|
||||||
string(STRIP "${CMAKE_C_FLAGS}" CMAKE_C_FLAGS)
|
|
||||||
string(STRIP "${CMAKE_CXX_FLAGS}" CMAKE_CXX_FLAGS)
|
|
||||||
message(STATUS "C_FLAGS: ${CMAKE_C_FLAGS}")
|
|
||||||
message(STATUS "CXX_FLAGS: ${CMAKE_CXX_FLAGS}")
|
|
||||||
|
|
||||||
# packages
|
|
||||||
|
|
||||||
LIST(APPEND CMAKE_PREFIX_PATH ${PRO_DIR}/_install/lib/cmake)
|
|
||||||
find_package(mynteye REQUIRED)
|
|
||||||
message(STATUS "Found mynteye: ${mynteye_VERSION}")
|
|
||||||
|
|
||||||
include(${PRO_DIR}/cmake/DetectOpenCV.cmake)
|
|
||||||
|
|
||||||
if(mynteye_WITH_GLOG)
|
|
||||||
include(${PRO_DIR}/cmake/DetectGLog.cmake)
|
|
||||||
endif()
|
|
||||||
|
|
||||||
#LIST(APPEND CMAKE_MODULE_PATH ${PRO_DIR}/cmake)
|
|
||||||
|
|
||||||
## gtest
|
|
||||||
|
|
||||||
set(TEST_DIR ${PROJECT_SOURCE_DIR})
|
|
||||||
set(GMOCK_DIR ${TEST_DIR}/gtest/googlemock)
|
|
||||||
set(GTEST_DIR ${TEST_DIR}/gtest/googletest)
|
|
||||||
|
|
||||||
set(GMOCK_LIB_DIR ${TEST_DIR}/gtest/_build/googlemock)
|
|
||||||
set(GTEST_LIB_DIR ${GMOCK_LIB_DIR}/gtest)
|
|
||||||
if(OS_WIN AND NOT MINGW)
|
|
||||||
set(GTEST_LIB_DIR ${GTEST_LIB_DIR}/Release)
|
|
||||||
endif()
|
|
||||||
|
|
||||||
set(GTEST_LIBS
|
|
||||||
${GTEST_LIB_DIR}/${CMAKE_STATIC_LIBRARY_PREFIX}gtest${CMAKE_STATIC_LIBRARY_SUFFIX}
|
|
||||||
#${GTEST_LIB_DIR}/${CMAKE_STATIC_LIBRARY_PREFIX}gtest_main${CMAKE_STATIC_LIBRARY_SUFFIX}
|
|
||||||
)
|
|
||||||
message(STATUS "Found gtest libs: ${GTEST_LIBS}")
|
|
||||||
|
|
||||||
# targets
|
|
||||||
|
|
||||||
set(OUT_DIR "${CMAKE_CURRENT_SOURCE_DIR}/_output")
|
|
||||||
|
|
||||||
set_outdir(
|
|
||||||
"${OUT_DIR}/lib"
|
|
||||||
"${OUT_DIR}/lib"
|
|
||||||
"${OUT_DIR}/bin"
|
|
||||||
)
|
|
||||||
|
|
||||||
include_directories(
|
|
||||||
${GTEST_DIR}/include
|
|
||||||
${PRO_DIR}/src
|
|
||||||
)
|
|
||||||
|
|
||||||
file(GLOB TEST_INTERNAL_SRC "internal/*.cc")
|
|
||||||
file(GLOB TEST_PUBLIC_SRC "public/*.cc")
|
|
||||||
|
|
||||||
make_executable(${PROJECT_NAME}
|
|
||||||
SRCS gtest_main.cc ${TEST_INTERNAL_SRC} ${TEST_PUBLIC_SRC}
|
|
||||||
LINK_LIBS mynteye ${GTEST_LIBS} ${OpenCV_LIBS}
|
|
||||||
DLL_SEARCH_PATHS ${PRO_DIR}/_install/bin ${OpenCV_LIB_SEARCH_PATH}
|
|
||||||
)
|
|
||||||
|
|
@ -1,125 +0,0 @@
|
||||||
// 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 "gtest/gtest.h"
|
|
||||||
|
|
||||||
#include "mynteye/device/types.h"
|
|
||||||
|
|
||||||
MYNTEYE_USE_NAMESPACE
|
|
||||||
|
|
||||||
class VersionTest : public ::testing::Test {
|
|
||||||
protected:
|
|
||||||
VersionTest()
|
|
||||||
: ver_1_0(Version(1, 0)),
|
|
||||||
ver_1_2(Version(1, 2)),
|
|
||||||
ver_2_0(Version(2, 0)) {}
|
|
||||||
|
|
||||||
virtual ~VersionTest() {}
|
|
||||||
|
|
||||||
virtual void SetUp() {}
|
|
||||||
|
|
||||||
virtual void TearDown() {}
|
|
||||||
|
|
||||||
Version ver_1_0;
|
|
||||||
Version ver_1_2;
|
|
||||||
Version ver_2_0;
|
|
||||||
};
|
|
||||||
|
|
||||||
TEST_F(VersionTest, Properties) {
|
|
||||||
EXPECT_EQ(1, ver_1_0.major());
|
|
||||||
EXPECT_EQ(0, ver_1_0.minor());
|
|
||||||
}
|
|
||||||
|
|
||||||
TEST_F(VersionTest, Operators) {
|
|
||||||
EXPECT_TRUE(ver_1_0 == ver_1_0);
|
|
||||||
EXPECT_TRUE(ver_1_0 <= ver_1_2);
|
|
||||||
EXPECT_TRUE(ver_1_0 != ver_1_2);
|
|
||||||
EXPECT_TRUE(ver_1_0 < ver_1_2);
|
|
||||||
EXPECT_TRUE(ver_1_2 > ver_1_0);
|
|
||||||
EXPECT_TRUE(ver_1_2 >= ver_1_0);
|
|
||||||
|
|
||||||
EXPECT_TRUE(ver_1_0 <= ver_1_0);
|
|
||||||
EXPECT_TRUE(ver_1_2 >= ver_1_2);
|
|
||||||
|
|
||||||
EXPECT_TRUE(ver_1_2 == ver_1_2);
|
|
||||||
EXPECT_TRUE(ver_1_2 <= ver_2_0);
|
|
||||||
EXPECT_TRUE(ver_1_2 != ver_2_0);
|
|
||||||
EXPECT_TRUE(ver_1_2 < ver_2_0);
|
|
||||||
EXPECT_TRUE(ver_2_0 > ver_1_2);
|
|
||||||
EXPECT_TRUE(ver_2_0 >= ver_1_2);
|
|
||||||
|
|
||||||
EXPECT_TRUE(ver_1_2 <= ver_1_2);
|
|
||||||
EXPECT_TRUE(ver_2_0 >= ver_2_0);
|
|
||||||
}
|
|
||||||
|
|
||||||
TEST_F(VersionTest, Between) {
|
|
||||||
EXPECT_TRUE(ver_1_0.is_between(ver_1_0, ver_2_0));
|
|
||||||
EXPECT_TRUE(ver_1_2.is_between(ver_1_0, ver_2_0));
|
|
||||||
EXPECT_TRUE(ver_2_0.is_between(ver_1_0, ver_2_0));
|
|
||||||
|
|
||||||
EXPECT_FALSE(ver_1_0.is_between(ver_1_2, ver_2_0));
|
|
||||||
EXPECT_FALSE(ver_2_0.is_between(ver_1_0, ver_1_2));
|
|
||||||
}
|
|
||||||
|
|
||||||
TEST_F(VersionTest, Strings) {
|
|
||||||
EXPECT_EQ("1.0", ver_1_0.to_string());
|
|
||||||
EXPECT_EQ("1.2", ver_1_2.to_string());
|
|
||||||
EXPECT_EQ("2.0", ver_2_0.to_string());
|
|
||||||
|
|
||||||
EXPECT_EQ("1.0", Version("1.0").to_string());
|
|
||||||
EXPECT_EQ("1.2", Version("1.2").to_string());
|
|
||||||
EXPECT_EQ("2.0", Version("2.0").to_string());
|
|
||||||
}
|
|
||||||
|
|
||||||
class HardwareVersionTest : public ::testing::Test {
|
|
||||||
protected:
|
|
||||||
HardwareVersionTest() : ver_1_0(HardwareVersion(1, 0)) {}
|
|
||||||
|
|
||||||
HardwareVersion ver_1_0;
|
|
||||||
};
|
|
||||||
|
|
||||||
TEST_F(HardwareVersionTest, Properties) {
|
|
||||||
EXPECT_EQ(1, ver_1_0.major());
|
|
||||||
EXPECT_EQ(0, ver_1_0.minor());
|
|
||||||
}
|
|
||||||
|
|
||||||
TEST_F(HardwareVersionTest, Strings) {
|
|
||||||
EXPECT_EQ("1.0", ver_1_0.to_string());
|
|
||||||
EXPECT_EQ("1.0", HardwareVersion("1.0").to_string());
|
|
||||||
}
|
|
||||||
|
|
||||||
TEST_F(HardwareVersionTest, Flags) {
|
|
||||||
auto flag = ver_1_0.flag();
|
|
||||||
EXPECT_EQ("00000000", flag.to_string());
|
|
||||||
|
|
||||||
flag[0] = true;
|
|
||||||
flag[flag.size() - 1] = true;
|
|
||||||
EXPECT_EQ("10000001", flag.to_string());
|
|
||||||
}
|
|
||||||
|
|
||||||
class TypeTest : public ::testing::Test {
|
|
||||||
protected:
|
|
||||||
TypeTest() : type_1_2a(Type(1, 0x2A)) {}
|
|
||||||
|
|
||||||
Type type_1_2a;
|
|
||||||
};
|
|
||||||
|
|
||||||
TEST_F(TypeTest, Properties) {
|
|
||||||
EXPECT_EQ(1, type_1_2a.vendor());
|
|
||||||
EXPECT_EQ(0x2A, type_1_2a.product());
|
|
||||||
}
|
|
||||||
|
|
||||||
TEST_F(TypeTest, Strings) {
|
|
||||||
EXPECT_EQ("012A", type_1_2a.to_string());
|
|
||||||
EXPECT_EQ("010A", Type("010A").to_string());
|
|
||||||
}
|
|
||||||
|
|
@ -1 +0,0 @@
|
||||||
Subproject commit 7888184f28509dba839e3683409443e0b5bb8948
|
|
||||||
|
|
@ -1,26 +0,0 @@
|
||||||
// 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 <stdio.h>
|
|
||||||
|
|
||||||
#include "gtest/gtest.h"
|
|
||||||
|
|
||||||
#include "mynteye/logger.h"
|
|
||||||
|
|
||||||
int main(int argc, char **argv) {
|
|
||||||
glog_init _(argc, argv);
|
|
||||||
|
|
||||||
printf("Running main() from gtest_main.cc\n");
|
|
||||||
testing::InitGoogleTest(&argc, argv);
|
|
||||||
return RUN_ALL_TESTS();
|
|
||||||
}
|
|
||||||
|
|
@ -1,95 +0,0 @@
|
||||||
// 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 "gtest/gtest.h"
|
|
||||||
|
|
||||||
#include "mynteye/types.h"
|
|
||||||
|
|
||||||
MYNTEYE_USE_NAMESPACE
|
|
||||||
|
|
||||||
TEST(Model, VerifyToString) {
|
|
||||||
EXPECT_STREQ("Model::STANDARD", to_string(Model::STANDARD));
|
|
||||||
}
|
|
||||||
|
|
||||||
TEST(Stream, VerifyToString) {
|
|
||||||
EXPECT_STREQ("Stream::LEFT", to_string(Stream::LEFT));
|
|
||||||
EXPECT_STREQ("Stream::RIGHT", to_string(Stream::RIGHT));
|
|
||||||
EXPECT_STREQ("Stream::LEFT_RECTIFIED", to_string(Stream::LEFT_RECTIFIED));
|
|
||||||
EXPECT_STREQ("Stream::RIGHT_RECTIFIED", to_string(Stream::RIGHT_RECTIFIED));
|
|
||||||
EXPECT_STREQ("Stream::DISPARITY", to_string(Stream::DISPARITY));
|
|
||||||
EXPECT_STREQ(
|
|
||||||
"Stream::DISPARITY_NORMALIZED", to_string(Stream::DISPARITY_NORMALIZED));
|
|
||||||
EXPECT_STREQ("Stream::DEPTH", to_string(Stream::DEPTH));
|
|
||||||
EXPECT_STREQ("Stream::POINTS", to_string(Stream::POINTS));
|
|
||||||
}
|
|
||||||
|
|
||||||
TEST(Capabilities, VerifyToString) {
|
|
||||||
EXPECT_STREQ("Capabilities::STEREO", to_string(Capabilities::STEREO));
|
|
||||||
EXPECT_STREQ("Capabilities::COLOR", to_string(Capabilities::COLOR));
|
|
||||||
EXPECT_STREQ("Capabilities::DEPTH", to_string(Capabilities::DEPTH));
|
|
||||||
EXPECT_STREQ("Capabilities::POINTS", to_string(Capabilities::POINTS));
|
|
||||||
EXPECT_STREQ("Capabilities::FISHEYE", to_string(Capabilities::FISHEYE));
|
|
||||||
EXPECT_STREQ("Capabilities::INFRARED", to_string(Capabilities::INFRARED));
|
|
||||||
EXPECT_STREQ("Capabilities::INFRARED2", to_string(Capabilities::INFRARED2));
|
|
||||||
EXPECT_STREQ("Capabilities::IMU", to_string(Capabilities::IMU));
|
|
||||||
}
|
|
||||||
|
|
||||||
TEST(Info, VerifyToString) {
|
|
||||||
EXPECT_STREQ("Info::DEVICE_NAME", to_string(Info::DEVICE_NAME));
|
|
||||||
EXPECT_STREQ("Info::SERIAL_NUMBER", to_string(Info::SERIAL_NUMBER));
|
|
||||||
EXPECT_STREQ("Info::FIRMWARE_VERSION", to_string(Info::FIRMWARE_VERSION));
|
|
||||||
EXPECT_STREQ("Info::HARDWARE_VERSION", to_string(Info::HARDWARE_VERSION));
|
|
||||||
EXPECT_STREQ("Info::SPEC_VERSION", to_string(Info::SPEC_VERSION));
|
|
||||||
EXPECT_STREQ("Info::LENS_TYPE", to_string(Info::LENS_TYPE));
|
|
||||||
EXPECT_STREQ("Info::IMU_TYPE", to_string(Info::IMU_TYPE));
|
|
||||||
EXPECT_STREQ("Info::NOMINAL_BASELINE", to_string(Info::NOMINAL_BASELINE));
|
|
||||||
EXPECT_STREQ("Info::AUXILIARY_CHIP_VERSION", to_string(Info::AUXILIARY_CHIP_VERSION));
|
|
||||||
EXPECT_STREQ("Info::ISP_VERSION", to_string(Info::ISP_VERSION));
|
|
||||||
}
|
|
||||||
|
|
||||||
TEST(Option, VerifyToString) {
|
|
||||||
EXPECT_STREQ("Option::GAIN", to_string(Option::GAIN));
|
|
||||||
EXPECT_STREQ("Option::BRIGHTNESS", to_string(Option::BRIGHTNESS));
|
|
||||||
EXPECT_STREQ("Option::CONTRAST", to_string(Option::CONTRAST));
|
|
||||||
EXPECT_STREQ("Option::FRAME_RATE", to_string(Option::FRAME_RATE));
|
|
||||||
EXPECT_STREQ("Option::IMU_FREQUENCY", to_string(Option::IMU_FREQUENCY));
|
|
||||||
EXPECT_STREQ("Option::EXPOSURE_MODE", to_string(Option::EXPOSURE_MODE));
|
|
||||||
EXPECT_STREQ("Option::MAX_GAIN", to_string(Option::MAX_GAIN));
|
|
||||||
EXPECT_STREQ(
|
|
||||||
"Option::MAX_EXPOSURE_TIME", to_string(Option::MAX_EXPOSURE_TIME));
|
|
||||||
EXPECT_STREQ(
|
|
||||||
"Option::DESIRED_BRIGHTNESS", to_string(Option::DESIRED_BRIGHTNESS));
|
|
||||||
EXPECT_STREQ("Option::IR_CONTROL", to_string(Option::IR_CONTROL));
|
|
||||||
EXPECT_STREQ("Option::HDR_MODE", to_string(Option::HDR_MODE));
|
|
||||||
EXPECT_STREQ(
|
|
||||||
"Option::ZERO_DRIFT_CALIBRATION",
|
|
||||||
to_string(Option::ZERO_DRIFT_CALIBRATION));
|
|
||||||
EXPECT_STREQ("Option::ERASE_CHIP", to_string(Option::ERASE_CHIP));
|
|
||||||
EXPECT_STREQ("Option::SYNC_TIMESTAMP", to_string(Option::SYNC_TIMESTAMP));
|
|
||||||
}
|
|
||||||
|
|
||||||
TEST(Source, VerifyToString) {
|
|
||||||
EXPECT_STREQ("Source::VIDEO_STREAMING", to_string(Source::VIDEO_STREAMING));
|
|
||||||
EXPECT_STREQ("Source::MOTION_TRACKING", to_string(Source::MOTION_TRACKING));
|
|
||||||
EXPECT_STREQ("Source::ALL", to_string(Source::ALL));
|
|
||||||
}
|
|
||||||
|
|
||||||
TEST(AddOns, VerifyToString) {
|
|
||||||
EXPECT_STREQ("AddOns::INFRARED", to_string(AddOns::INFRARED));
|
|
||||||
EXPECT_STREQ("AddOns::INFRARED2", to_string(AddOns::INFRARED2));
|
|
||||||
}
|
|
||||||
|
|
||||||
TEST(Format, VerifyToString) {
|
|
||||||
EXPECT_STREQ("Format::GREY", to_string(Format::GREY));
|
|
||||||
EXPECT_STREQ("Format::YUYV", to_string(Format::YUYV));
|
|
||||||
}
|
|
||||||
Loading…
Reference in New Issue
Block a user