From 0f546e55fb08a3d40c5dd627a4a39d8461e1fbf5 Mon Sep 17 00:00:00 2001 From: TinyO Date: Mon, 2 Sep 2019 10:17:06 +0800 Subject: [PATCH] feat(*): add record samples.. --- samples/CMakeLists.txt | 8 ++ samples/dataset.cc | 203 +++++++++++++++++++++++++++++++++++++++++ samples/dataset.h | 69 ++++++++++++++ samples/record.cc | 137 +++++++++++++++++++++++++++ 4 files changed, 417 insertions(+) create mode 100644 samples/dataset.cc create mode 100644 samples/dataset.h create mode 100644 samples/record.cc diff --git a/samples/CMakeLists.txt b/samples/CMakeLists.txt index 74212b8..807c203 100644 --- a/samples/CMakeLists.txt +++ b/samples/CMakeLists.txt @@ -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} +) + diff --git a/samples/dataset.cc b/samples/dataset.cc new file mode 100644 index 0000000..cf4a4d7 --- /dev/null +++ b/samples/dataset.cc @@ -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 +#include + +#include +#include +#include +#include + +#include "mynteye/logger.h" +#include "mynteye/util/files.h" + +#define FULL_PRECISION \ + std::fixed << std::setprecision(std::numeric_limits::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(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(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(); + 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->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 diff --git a/samples/dataset.h b/samples/dataset.h new file mode 100644 index 0000000..2a44203 --- /dev/null +++ b/samples/dataset.h @@ -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 +#include +#include +#include + +#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; + + 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_writers_; + writer_t motion_writer_; + + std::map 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 diff --git a/samples/record.cc b/samples/record.cc new file mode 100644 index 0000000..b29a9f6 --- /dev/null +++ b/samples/record.cc @@ -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 +#include + +#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(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(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; +} \ No newline at end of file