tami/MYNT-EYE-S-SDK
6
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

feat(*): add record samples..

Browse Source
This commit is contained in:
TinyO 2019-09-02 10:17:06 +08:00
parent 80b6bc599b
commit 0f546e55fb
4 changed files with 417 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

8
samples/CMakeLists.txt
View File

@ -279,3 +279,11 @@ make_executable(save_all_infos
DLL_SEARCH_PATHS ${PRO_DIR}/_install/bin ${OpenCV_LIB_SEARCH_PATH}
)
## record
make_executable(record
SRCS record.cc dataset.cc
LINK_LIBS mynteye ${OpenCV_LIBS}
DLL_SEARCH_PATHS ${PRO_DIR}/_install/bin ${OpenCV_LIB_SEARCH_PATH}
)

203
samples/dataset.cc Normal file
View File

@ -0,0 +1,203 @@
// 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 "dataset.h"
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/imgproc/imgproc.hpp>
#include <iomanip>
#include <limits>
#include <stdexcept>
#include <utility>
#include "mynteye/logger.h"
#include "mynteye/util/files.h"
#define FULL_PRECISION \
std::fixed << std::setprecision(std::numeric_limits<double>::max_digits10)
#define IMAGE_FILENAME_WIDTH 6
MYNTEYE_BEGIN_NAMESPACE
namespace tools {
Dataset::Dataset(std::string outdir) : outdir_(std::move(outdir)) {
VLOG(2) << __func__;
if (!files::mkdir(outdir_)) {
LOG(FATAL) << "Create directory failed: " << outdir_;
}
}
Dataset::~Dataset() {
VLOG(2) << __func__;
for (auto &&it = stream_writers_.begin(); it != stream_writers_.end(); it++) {
if (it->second) {
it->second->ofs.flush();
it->second->ofs.close();
}
}
if (motion_writer_) {
motion_writer_->ofs.flush();
motion_writer_->ofs.close();
}
}
void Dataset::SaveStreamData(
const Stream &stream, const device::StreamData &data) {
auto &&writer = GetStreamWriter(stream);
auto seq = stream_counts_[stream];
writer->ofs << seq << ", " << data.img->frame_id << ", "
<< data.img->timestamp << ", " << data.img->exposure_time
<< std::endl;
if (data.frame) {
std::stringstream ss;
ss << writer->outdir << MYNTEYE_OS_SEP << std::dec
<< std::setw(IMAGE_FILENAME_WIDTH) << std::setfill('0') << seq << ".png";
if (data.frame->format() == Format::GREY) {
cv::Mat img(
data.frame->height(), data.frame->width(), CV_8UC1,
data.frame->data());
cv::imwrite(ss.str(), img);
} else if (data.frame->format() == Format::YUYV) {
cv::Mat img(
data.frame->height(), data.frame->width(), CV_8UC2,
data.frame->data());
cv::cvtColor(img, img, cv::COLOR_YUV2BGR_YUY2);
cv::imwrite(ss.str(), img);
} else if (data.frame->format() == Format::BGR888) {
cv::Mat img(
data.frame->height(), data.frame->width(), CV_8UC3,
data.frame->data());
cv::imwrite(ss.str(), img);
} else {
cv::Mat img(
data.frame->height(), data.frame->width(), CV_8UC1,
data.frame->data());
cv::imwrite(ss.str(), img);
}
}
++stream_counts_[stream];
}
void Dataset::SaveMotionData(const device::MotionData &data) {
auto &&writer = GetMotionWriter();
// auto seq = data.imu->serial_number;
auto seq = motion_count_;
writer->ofs << seq << ", " << static_cast<int>(data.imu->flag) << ", "
<< data.imu->timestamp << ", " << data.imu->accel[0] << ", "
<< data.imu->accel[1] << ", " << data.imu->accel[2] << ", "
<< data.imu->gyro[0] << ", " << data.imu->gyro[1] << ", "
<< data.imu->gyro[2] << ", " << data.imu->temperature
<< std::endl;
++motion_count_;
/*
if(motion_count_ != seq) {
LOG(INFO) << "motion_count_ != seq !" << " motion_count_: " << motion_count_
<< " seq: " << seq;
motion_count_ = seq;
}
*/
}
void Dataset::SaveStreamData(
const Stream &stream, const api::StreamData &data) {
auto &&writer = GetStreamWriter(stream);
auto seq = stream_counts_[stream];
writer->ofs << seq << ", " << data.img->frame_id << ", "
<< data.img->timestamp << ", " << data.img->exposure_time
<< std::endl;
if (!data.frame.empty()) {
std::stringstream ss;
ss << writer->outdir << MYNTEYE_OS_SEP << std::dec
<< std::setw(IMAGE_FILENAME_WIDTH) << std::setfill('0') << seq << ".png";
cv::imwrite(ss.str(), data.frame);
}
++stream_counts_[stream];
}
void Dataset::SaveMotionData(const api::MotionData &data) {
auto &&writer = GetMotionWriter();
// auto seq = data.imu->serial_number;
auto seq = motion_count_;
if (data.imu->flag == 1 || data.imu->flag == 2) {
writer->ofs << seq << ", " << static_cast<int>(data.imu->flag) << ", "
<< data.imu->timestamp << ", " << data.imu->accel[0] << ", "
<< data.imu->accel[1] << ", " << data.imu->accel[2] << ", "
<< data.imu->gyro[0] << ", " << data.imu->gyro[1] << ", "
<< data.imu->gyro[2] << ", " << data.imu->temperature
<< std::endl;
++motion_count_;
}
/*
if(motion_count_ != seq) {
LOG(INFO) << "motion_count_ != seq !" << " motion_count_: " << motion_count_
<< " seq: " << seq;
motion_count_ = seq;
}
*/
}
Dataset::writer_t Dataset::GetStreamWriter(const Stream &stream) {
try {
return stream_writers_.at(stream);
} catch (const std::out_of_range &e) {
writer_t writer = std::make_shared<Writer>();
switch (stream) {
case Stream::LEFT: {
writer->outdir = outdir_ + MYNTEYE_OS_SEP "left";
} break;
case Stream::RIGHT: {
writer->outdir = outdir_ + MYNTEYE_OS_SEP "right";
} break;
default:
LOG(FATAL) << "Unsupported stream: " << stream;
}
writer->outfile = writer->outdir + MYNTEYE_OS_SEP "stream.txt";
files::mkdir(writer->outdir);
writer->ofs.open(writer->outfile, std::ofstream::out);
writer->ofs << "seq, frame_id, timestamp, exposure_time" << std::endl;
writer->ofs << FULL_PRECISION;
stream_writers_[stream] = writer;
stream_counts_[stream] = 0;
return writer;
}
}
Dataset::writer_t Dataset::GetMotionWriter() {
if (motion_writer_ == nullptr) {
writer_t writer = std::make_shared<Writer>();
writer->outdir = outdir_;
writer->outfile = writer->outdir + MYNTEYE_OS_SEP "motion.txt";
files::mkdir(writer->outdir);
writer->ofs.open(writer->outfile, std::ofstream::out);
writer->ofs << "seq, flag, timestamp, accel_x, accel_y, accel_z, "
"gyro_x, gyro_y, gyro_z, temperature"
<< std::endl;
writer->ofs << FULL_PRECISION;
motion_writer_ = writer;
motion_count_ = 0;
accel_count_ = 0;
gyro_count_ = 0;
}
return motion_writer_;
}
} // namespace tools
MYNTEYE_END_NAMESPACE

69
samples/dataset.h Normal file
View File

@ -0,0 +1,69 @@
// 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.
#ifndef MYNTEYE_TOOLS_DATASET_H_ // NOLINT
#define MYNTEYE_TOOLS_DATASET_H_
#pragma once
#include <fstream>
#include <map>
#include <memory>
#include <string>
#include "mynteye/mynteye.h"
#include "mynteye/api/api.h"
#include "mynteye/device/callbacks.h"
MYNTEYE_BEGIN_NAMESPACE
namespace tools {
class Dataset {
public:
struct Writer {
std::ofstream ofs;
std::string outdir;
std::string outfile;
};
using writer_t = std::shared_ptr<Writer>;
explicit Dataset(std::string outdir);
~Dataset();
void SaveStreamData(const Stream &stream, const device::StreamData &data);
void SaveMotionData(const device::MotionData &data);
void SaveStreamData(const Stream &stream, const api::StreamData &data);
void SaveMotionData(const api::MotionData &data);
private:
writer_t GetStreamWriter(const Stream &stream);
writer_t GetMotionWriter();
std::string outdir_;
std::map<Stream, writer_t> stream_writers_;
writer_t motion_writer_;
std::map<Stream, std::size_t> stream_counts_;
std::size_t motion_count_;
std::size_t accel_count_;
std::size_t gyro_count_;
};
} // namespace tools
MYNTEYE_END_NAMESPACE
#endif // MYNTEYE_TOOLS_DATASET_H_ NOLINT

137
samples/record.cc Normal file
View File

@ -0,0 +1,137 @@
// 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 <opencv2/imgproc/imgproc.hpp>
#include "mynteye/logger.h"
#include "mynteye/device/device.h"
#include "mynteye/device/utils.h"
#include "mynteye/util/times.h"
#include "dataset.h"
MYNTEYE_USE_NAMESPACE
int main(int argc, char *argv[]) {
glog_init _(argc, argv);
auto &&device = device::select();
if (!device) return 1;
bool ok;
auto &&request = device::select_request(device, &ok);
if (!ok) return 1;
device->ConfigStreamRequest(request);
device->LogOptionInfos();
// Enable this will cache the motion datas until you get them.
device->EnableMotionDatas();
device->Start(Source::ALL);
const char *outdir;
if (argc >= 2) {
outdir = argv[1];
} else {
outdir = "./dataset";
}
tools::Dataset dataset(outdir);
cv::namedWindow("frame");
std::size_t img_count = 0;
std::size_t imu_count = 0;
auto &&time_beg = times::now();
while (true) {
device->WaitForStreams();
auto &&left_datas = device->GetStreamDatas(Stream::LEFT);
auto &&right_datas = device->GetStreamDatas(Stream::RIGHT);
img_count += left_datas.size();
auto &&motion_datas = device->GetMotionDatas();
imu_count += motion_datas.size();
auto &&left_frame = left_datas.back().frame;
auto &&right_frame = right_datas.back().frame;
cv::Mat img;
if (left_frame->format() == Format::GREY) {
cv::Mat left_img(
left_frame->height(), left_frame->width(), CV_8UC1,
left_frame->data());
cv::Mat right_img(
right_frame->height(), right_frame->width(), CV_8UC1,
right_frame->data());
cv::hconcat(left_img, right_img, img);
} else if (left_frame->format() == Format::YUYV) {
cv::Mat left_img(
left_frame->height(), left_frame->width(), CV_8UC2,
left_frame->data());
cv::Mat right_img(
right_frame->height(), right_frame->width(), CV_8UC2,
right_frame->data());
cv::cvtColor(left_img, left_img, cv::COLOR_YUV2BGR_YUY2);
cv::cvtColor(right_img, right_img, cv::COLOR_YUV2BGR_YUY2);
cv::hconcat(left_img, right_img, img);
} else if (left_frame->format() == Format::BGR888) {
cv::Mat left_img(
left_frame->height(), left_frame->width(), CV_8UC3,
left_frame->data());
cv::Mat right_img(
right_frame->height(), right_frame->width(), CV_8UC3,
right_frame->data());
cv::hconcat(left_img, right_img, img);
} else {
return -1;
}
cv::imshow("frame", img);
if (img_count > 10 && imu_count > 50) { // save
for (auto &&left : left_datas) {
dataset.SaveStreamData(Stream::LEFT, left);
}
for (auto &&right : right_datas) {
dataset.SaveStreamData(Stream::RIGHT, right);
}
for (auto &&motion : motion_datas) {
dataset.SaveMotionData(motion);
}
std::cout << "\rSaved " << img_count << " imgs"
<< ", " << imu_count << " imus" << std::flush;
}
char key = static_cast<char>(cv::waitKey(1));
if (key == 27 || key == 'q' || key == 'Q') { // ESC/Q
break;
}
}
std::cout << " to " << outdir << std::endl;
auto &&time_end = times::now();
device->Stop(Source::ALL);
float elapsed_ms =
times::count<times::microseconds>(time_end - time_beg) * 0.001f;
LOG(INFO) << "Time beg: " << times::to_local_string(time_beg)
<< ", end: " << times::to_local_string(time_end)
<< ", cost: " << elapsed_ms << "ms";
LOG(INFO) << "Img count: " << img_count
<< ", fps: " << (1000.f * img_count / elapsed_ms);
LOG(INFO) << "Imu count: " << imu_count
<< ", hz: " << (1000.f * imu_count / elapsed_ms);
return 0;
}