Fix the conflict

samples/CMakeLists.txt

@@ -47,7 +47,6 @@ 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}")
@@ -80,4 +79,6 @@ add_subdirectory(uvc)
 
 # tutorials
 
-add_subdirectory(tutorials)
+if(WITH_API)
+  add_subdirectory(tutorials)
+endif()

samples/api/camera.cc

@@ -13,9 +13,9 @@
 // limitations under the License.
 #include <opencv2/highgui/highgui.hpp>
 
-#include "mynteye/api.h"
 #include "mynteye/logger.h"
-#include "mynteye/times.h"
+#include "mynteye/api/api.h"
+#include "mynteye/util/times.h"
 
 MYNTEYE_USE_NAMESPACE
 

samples/api/get_depth_with_region.cc

@@ -14,10 +14,7 @@
 #include <opencv2/highgui/highgui.hpp>
 #include <opencv2/imgproc/imgproc.hpp>
 
-#include "mynteye/api.h"
-
-#define WIN_FLAGS \
-  cv::WINDOW_AUTOSIZE | cv::WINDOW_KEEPRATIO | cv::WINDOW_GUI_NORMAL
+#include "mynteye/api/api.h"
 
 namespace {
 
@@ -32,7 +29,7 @@ class DepthRegion {
    * 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。
    */
   void OnMouse(const int &event, const int &x, const int &y, const int &flags) {
-    UNUSED(flags)
+    MYNTEYE_UNUSED(flags)
     if (event != CV_EVENT_MOUSEMOVE && event != CV_EVENT_LBUTTONDOWN) {
       return;
     }
@@ -157,14 +154,14 @@ int main(int argc, char *argv[]) {
 
   api->Start(Source::VIDEO_STREAMING);
 
-  cv::namedWindow("frame", WIN_FLAGS);
-  cv::namedWindow("depth", WIN_FLAGS);
-  cv::namedWindow("region", WIN_FLAGS);
+  cv::namedWindow("frame");
+  cv::namedWindow("depth");
+  cv::namedWindow("region");
 
   DepthRegion depth_region(3);
   auto depth_info = [](
       const cv::Mat &depth, const cv::Point &point, const std::uint32_t &n) {
-    UNUSED(depth)
+    MYNTEYE_UNUSED(depth)
     std::ostringstream os;
     os << "depth pos: [" << point.y << ", " << point.x << "]"
        << "±" << n << ", unit: mm";
@@ -187,7 +184,7 @@ int main(int argc, char *argv[]) {
       // Show disparity instead of depth, but show depth values in region.
       auto &&depth_frame = disp_data.frame;
 
-#ifdef USE_OPENCV3
+#ifdef WITH_OPENCV3
       // ColormapTypes
       //   http://docs.opencv.org/master/d3/d50/group__imgproc__colormap.html#ga9a805d8262bcbe273f16be9ea2055a65
       cv::applyColorMap(depth_frame, depth_frame, cv::COLORMAP_JET);

samples/device/camera.cc

@@ -15,11 +15,17 @@
 #include <opencv2/imgproc/imgproc.hpp>
 
 #include "mynteye/logger.h"
+<<<<<<< HEAD
 
 #include "mynteye/device.h"
 #include "mynteye/utils.h"
 
 #include "mynteye/times.h"
+=======
+#include "mynteye/device/device.h"
+#include "mynteye/device/utils.h"
+#include "mynteye/util/times.h"
+>>>>>>> origin/develop
 
 MYNTEYE_USE_NAMESPACE
 

samples/tutorials/CMakeLists.txt

@@ -64,7 +64,7 @@ macro(make_executable2 NAME)
   endif()
 endmacro()
 
-if(WITH_API)
+# packages
 
 # If you install PCL to different directory, please set CMAKE_PREFIX_PATH to find it.
 #LIST(APPEND CMAKE_PREFIX_PATH /usr/local/share)
@@ -115,6 +115,7 @@ make_executable2(get_with_plugin SRCS data/get_with_plugin.cc WITH_OPENCV)
 ## control
 
 make_executable2(ctrl_framerate SRCS control/framerate.cc WITH_OPENCV)
+make_executable2(ctrl_imu_range SRCS control/imu_range.cc WITH_OPENCV)
 make_executable2(ctrl_auto_exposure
   SRCS control/auto_exposure.cc util/cv_painter.cc
   WITH_OPENCV
@@ -125,8 +126,6 @@ make_executable2(ctrl_manual_exposure
 )
 make_executable2(ctrl_infrared SRCS control/infrared.cc WITH_OPENCV)
 
-endif()
-
 # intermediate level
 
 make_executable2(get_all_device_info SRCS intermediate/get_all_device_info.cc WITH_OPENCV)

samples/tutorials/control/auto_exposure.cc

@@ -13,8 +13,13 @@
 // limitations under the License.
 #include <opencv2/highgui/highgui.hpp>
 
+<<<<<<< HEAD
 #include "mynteye/api.h"
 #include "mynteye/logger.h"
+=======
+#include "mynteye/logger.h"
+#include "mynteye/api/api.h"
+>>>>>>> origin/develop
 
 #include "util/cv_painter.h"
 

samples/tutorials/control/framerate.cc

@@ -11,6 +11,7 @@
 // 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.
+<<<<<<< HEAD
 #include <opencv2/highgui/highgui.hpp>
 
 #include <atomic>
@@ -18,6 +19,15 @@
 #include "mynteye/api.h"
 #include "mynteye/logger.h"
 #include "mynteye/times.h"
+=======
+#include <atomic>
+
+#include <opencv2/highgui/highgui.hpp>
+
+#include "mynteye/logger.h"
+#include "mynteye/api/api.h"
+#include "mynteye/util/times.h"
+>>>>>>> origin/develop
 
 MYNTEYE_USE_NAMESPACE
 

samples/tutorials/control/imu_range.cc

@@ -0,0 +1,89 @@
+// 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 <atomic>
+
+#include <opencv2/highgui/highgui.hpp>
+
+#include "mynteye/logger.h"
+#include "mynteye/api/api.h"
+#include "mynteye/util/times.h"
+
+MYNTEYE_USE_NAMESPACE
+
+int main(int argc, char *argv[]) {
+  auto &&api = API::Create(argc, argv);
+  if (!api)
+    return 1;
+
+  // ACCELEROMETER_RANGE values: 4, 8, 16, 32
+  api->SetOptionValue(Option::ACCELEROMETER_RANGE, 8);
+  // GYROSCOPE_RANGE values: 500, 1000, 2000, 4000
+  api->SetOptionValue(Option::GYROSCOPE_RANGE, 1000);
+
+  LOG(INFO) << "Set ACCELEROMETER_RANGE to "
+            << api->GetOptionValue(Option::ACCELEROMETER_RANGE);
+  LOG(INFO) << "Set GYROSCOPE_RANGE to "
+            << api->GetOptionValue(Option::GYROSCOPE_RANGE);
+
+  // Count img
+  std::atomic_uint img_count(0);
+  api->SetStreamCallback(
+      Stream::LEFT, [&img_count](const api::StreamData &data) {
+        CHECK_NOTNULL(data.img);
+        ++img_count;
+      });
+
+  // Count imu
+  std::atomic_uint imu_count(0);
+  api->SetMotionCallback([&imu_count](const api::MotionData &data) {
+    CHECK_NOTNULL(data.imu);
+    ++imu_count;
+  });
+
+  api->Start(Source::ALL);
+
+  cv::namedWindow("frame");
+
+  auto &&time_beg = times::now();
+  while (true) {
+    api->WaitForStreams();
+
+    auto &&left_data = api->GetStreamData(Stream::LEFT);
+    auto &&right_data = api->GetStreamData(Stream::RIGHT);
+
+    cv::Mat img;
+    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;
+    }
+  }
+  auto &&time_end = times::now();
+
+  api->Stop(Source::ALL);
+
+  // Calculate img fps and imu hz
+  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;
+}

samples/tutorials/control/infrared.cc

@@ -13,8 +13,13 @@
 // limitations under the License.
 #include <opencv2/highgui/highgui.hpp>
 
+<<<<<<< HEAD
 #include "mynteye/api.h"
 #include "mynteye/logger.h"
+=======
+#include "mynteye/logger.h"
+#include "mynteye/api/api.h"
+>>>>>>> origin/develop
 
 MYNTEYE_USE_NAMESPACE
 

samples/tutorials/control/manual_exposure.cc

@@ -13,8 +13,13 @@
 // limitations under the License.
 #include <opencv2/highgui/highgui.hpp>
 
+<<<<<<< HEAD
 #include "mynteye/api.h"
 #include "mynteye/logger.h"
+=======
+#include "mynteye/logger.h"
+#include "mynteye/api/api.h"
+>>>>>>> origin/develop
 
 #include "util/cv_painter.h"
 

samples/tutorials/data/get_depth.cc

@@ -13,8 +13,12 @@
 // limitations under the License.
 #include <opencv2/highgui/highgui.hpp>
 
+<<<<<<< HEAD
 #include "mynteye/api.h"
 #include "mynteye/logger.h"
+=======
+#include "mynteye/api/api.h"
+>>>>>>> origin/develop
 
 MYNTEYE_USE_NAMESPACE
 

samples/tutorials/data/get_device_info.cc

@@ -11,8 +11,13 @@
 // 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.
+<<<<<<< HEAD
 #include "mynteye/api.h"
 #include "mynteye/logger.h"
+=======
+#include "mynteye/logger.h"
+#include "mynteye/api/api.h"
+>>>>>>> origin/develop
 
 MYNTEYE_USE_NAMESPACE
 

samples/tutorials/data/get_disparity.cc

@@ -13,9 +13,13 @@
 // limitations under the License.
 #include <opencv2/highgui/highgui.hpp>
 
+<<<<<<< HEAD
 
 #include "mynteye/api.h"
 #include "mynteye/logger.h"
+=======
+#include "mynteye/api/api.h"
+>>>>>>> origin/develop
 
 MYNTEYE_USE_NAMESPACE
 

samples/tutorials/data/get_from_callbacks.cc

@@ -11,15 +11,25 @@
 // 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.
+<<<<<<< HEAD
 #include <opencv2/highgui/highgui.hpp>
 
+=======
+>>>>>>> origin/develop
 #include <atomic>
 #include <memory>
 #include <mutex>
 #include <sstream>
 
+<<<<<<< HEAD
 #include "mynteye/api.h"
 #include "mynteye/logger.h"
+=======
+#include <opencv2/highgui/highgui.hpp>
+
+#include "mynteye/logger.h"
+#include "mynteye/api/api.h"
+>>>>>>> origin/develop
 
 #include "util/cv_painter.h"
 
@@ -52,7 +62,7 @@ int main(int argc, char *argv[]) {
   api->SetStreamCallback(
       Stream::DEPTH,
       [&depth_count, &depth, &depth_mtx](const api::StreamData &data) {
-        UNUSED(data)
+        MYNTEYE_UNUSED(data)
         ++depth_count;
         {
           std::lock_guard<std::mutex> _(depth_mtx);

samples/tutorials/data/get_img_params.cc

@@ -11,8 +11,13 @@
 // 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.
+<<<<<<< HEAD
 #include "mynteye/api.h"
 #include "mynteye/logger.h"
+=======
+#include "mynteye/logger.h"
+#include "mynteye/api/api.h"
+>>>>>>> origin/develop
 
 MYNTEYE_USE_NAMESPACE
 
@@ -24,8 +29,8 @@ int main(int argc, char *argv[]) {
   LOG(INFO) << "Intrinsics left: {" << api->GetIntrinsics(Stream::LEFT) << "}";
   LOG(INFO) << "Intrinsics right: {" << api->GetIntrinsics(Stream::RIGHT)
             << "}";
-  LOG(INFO) << "Extrinsics left to right: {"
-            << api->GetExtrinsics(Stream::LEFT, Stream::RIGHT) << "}";
+  LOG(INFO) << "Extrinsics right to left: {"
+            << api->GetExtrinsics(Stream::RIGHT, Stream::LEFT) << "}";
 
   return 0;
 }

samples/tutorials/data/get_imu.cc

@@ -13,8 +13,13 @@
 // limitations under the License.
 #include <opencv2/highgui/highgui.hpp>
 
+<<<<<<< HEAD
 #include "mynteye/api.h"
 #include "mynteye/logger.h"
+=======
+#include "mynteye/logger.h"
+#include "mynteye/api/api.h"
+>>>>>>> origin/develop
 
 #include "util/cv_painter.h"
 

samples/tutorials/data/get_imu_params.cc

@@ -11,8 +11,13 @@
 // 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.
+<<<<<<< HEAD
 #include "mynteye/api.h"
 #include "mynteye/logger.h"
+=======
+#include "mynteye/logger.h"
+#include "mynteye/api/api.h"
+>>>>>>> origin/develop
 
 MYNTEYE_USE_NAMESPACE
 

samples/tutorials/data/get_points.cc

@@ -13,8 +13,12 @@
 // limitations under the License.
 #include <opencv2/highgui/highgui.hpp>
 
+<<<<<<< HEAD
 #include "mynteye/api.h"
 #include "mynteye/logger.h"
+=======
+#include "mynteye/api/api.h"
+>>>>>>> origin/develop
 
 #include "util/pc_viewer.h"
 

samples/tutorials/data/get_stereo.cc

@@ -13,8 +13,12 @@
 // limitations under the License.
 #include <opencv2/highgui/highgui.hpp>
 
+<<<<<<< HEAD
 #include "mynteye/api.h"
 #include "mynteye/logger.h"
+=======
+#include "mynteye/api/api.h"
+>>>>>>> origin/develop
 
 MYNTEYE_USE_NAMESPACE
 

samples/tutorials/data/get_stereo_rectified.cc

@@ -13,8 +13,12 @@
 // limitations under the License.
 #include <opencv2/highgui/highgui.hpp>
 
+<<<<<<< HEAD
 #include "mynteye/api.h"
 #include "mynteye/logger.h"
+=======
+#include "mynteye/api/api.h"
+>>>>>>> origin/develop
 
 MYNTEYE_USE_NAMESPACE
 

samples/tutorials/data/get_with_plugin.cc

@@ -13,8 +13,12 @@
 // limitations under the License.
 #include <opencv2/highgui/highgui.hpp>
 
+<<<<<<< HEAD
 #include "mynteye/api.h"
 #include "mynteye/logger.h"
+=======
+#include "mynteye/api/api.h"
+>>>>>>> origin/develop
 
 MYNTEYE_USE_NAMESPACE
 

samples/tutorials/intermediate/get_all_device_info.cc

@@ -11,9 +11,15 @@
 // 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.
+<<<<<<< HEAD
 #include "mynteye/context.h"
 #include "mynteye/device.h"
 #include "mynteye/logger.h"
+=======
+#include "mynteye/logger.h"
+#include "mynteye/device/context.h"
+#include "mynteye/device/device.h"
+>>>>>>> origin/develop
 
 MYNTEYE_USE_NAMESPACE
 

samples/tutorials/intermediate/get_depth_and_points.cc

@@ -14,15 +14,17 @@
 #include <opencv2/highgui/highgui.hpp>
 #include <opencv2/imgproc/imgproc.hpp>
 
+<<<<<<< HEAD
 
 #include "mynteye/api.h"
+=======
+// #include "mynteye/logger.h"
+#include "mynteye/api/api.h"
+>>>>>>> origin/develop
 
 #include "util/cv_painter.h"
 #include "util/pc_viewer.h"
 
-#define WIN_FLAGS \
-  cv::WINDOW_AUTOSIZE | cv::WINDOW_KEEPRATIO | cv::WINDOW_GUI_NORMAL
-
 namespace {
 
 class DepthRegion {
@@ -36,7 +38,7 @@ class DepthRegion {
    * 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。
    */
   void OnMouse(const int &event, const int &x, const int &y, const int &flags) {
-    UNUSED(flags)
+    MYNTEYE_UNUSED(flags)
     if (event != CV_EVENT_MOUSEMOVE && event != CV_EVENT_LBUTTONDOWN) {
       return;
     }
@@ -161,14 +163,14 @@ int main(int argc, char *argv[]) {
 
   api->Start(Source::VIDEO_STREAMING);
 
-  cv::namedWindow("frame", WIN_FLAGS);
-  cv::namedWindow("depth", WIN_FLAGS);
-  cv::namedWindow("region", WIN_FLAGS);
+  cv::namedWindow("frame");
+  cv::namedWindow("depth");
+  cv::namedWindow("region");
 
   DepthRegion depth_region(3);
   auto depth_info = [](
       const cv::Mat &depth, const cv::Point &point, const std::uint32_t &n) {
-    UNUSED(depth)
+    MYNTEYE_UNUSED(depth)
     std::ostringstream os;
     os << "depth pos: [" << point.y << ", " << point.x << "]"
        << "±" << n << ", unit: mm";
@@ -190,6 +192,8 @@ int main(int argc, char *argv[]) {
     painter.DrawImgData(img, *left_data.img);
 
     cv::imshow("frame", img);
+    // LOG(INFO) << "left id: " << left_data.frame_id
+    //     << ", right id: " << right_data.frame_id;
 
     auto &&disp_data = api->GetStreamData(Stream::DISPARITY_NORMALIZED);
     auto &&depth_data = api->GetStreamData(Stream::DEPTH);
@@ -197,7 +201,7 @@ int main(int argc, char *argv[]) {
       // Show disparity instead of depth, but show depth values in region.
       auto &&depth_frame = disp_data.frame;
 
-#ifdef USE_OPENCV3
+#ifdef WITH_OPENCV3
       // ColormapTypes
       //   http://docs.opencv.org/master/d3/d50/group__imgproc__colormap.html#ga9a805d8262bcbe273f16be9ea2055a65
       cv::applyColorMap(depth_frame, depth_frame, cv::COLORMAP_JET);
@@ -208,6 +212,7 @@ int main(int argc, char *argv[]) {
       depth_region.DrawRect(depth_frame);
 
       cv::imshow("depth", depth_frame);
+      // LOG(INFO) << "depth id: " << disp_data.frame_id;
 
       depth_region.ShowElems<ushort>(
           depth_data.frame,
@@ -227,6 +232,7 @@ int main(int argc, char *argv[]) {
     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));

samples/tutorials/util/cv_painter.cc

@@ -13,15 +13,25 @@
 // limitations under the License.
 #include "util/cv_painter.h"
 
+<<<<<<< HEAD
 #include <opencv2/imgproc/imgproc.hpp>
 
+=======
+>>>>>>> origin/develop
 #include <iomanip>
 #include <iostream>
 #include <memory>
 #include <utility>
 
+<<<<<<< HEAD
 #include "mynteye/logger.h"
 #include "mynteye/utils.h"
+=======
+#include <opencv2/imgproc/imgproc.hpp>
+
+#include "mynteye/logger.h"
+#include "mynteye/device/utils.h"
+>>>>>>> origin/develop
 
 #define FONT_FACE cv::FONT_HERSHEY_PLAIN
 #define FONT_SCALE 1
@@ -178,7 +188,7 @@ cv::Rect CVPainter::DrawText(
   y += offset_y;
 
   cv::Point org(x, y);
-#ifdef USE_OPENCV2
+#ifdef WITH_OPENCV2
   cv::putText(
       const_cast<cv::Mat &>(img), text, org, FONT_FACE, FONT_SCALE, FONT_COLOR,
       THICKNESS);

samples/tutorials/util/cv_painter.h

@@ -15,10 +15,10 @@
 #define MYNTEYE_TUTORIALS_CV_PAINTER_H_
 #pragma once
 
-#include <opencv2/core/core.hpp>
-
 #include <string>
 
+#include <opencv2/core/core.hpp>
+
 #include "mynteye/types.h"
 
 class CVPainter {

samples/tutorials/util/pc_viewer.h

@@ -15,12 +15,12 @@
 #define MYNTEYE_TUTORIALS_PC_VIEWER_H_
 #pragma once
 
+#include <memory>
+
 #include <opencv2/core/core.hpp>
 
 #include <pcl/visualization/pcl_visualizer.h>
 
-#include <memory>
-
 class PCViewer {
  public:
   PCViewer();

samples/uvc/camera.cc

@@ -11,19 +11,22 @@
 // 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 <chrono>
 #include <condition_variable>
 #include <iomanip>
 #include <iostream>
 #include <mutex>
 
+<<<<<<< HEAD
+=======
+#include <opencv2/highgui/highgui.hpp>
+#include <opencv2/imgproc/imgproc.hpp>
+
+>>>>>>> origin/develop
 #include "mynteye/logger.h"
 #include "mynteye/mynteye.h"
 #include "mynteye/types.h"
-#include "uvc/uvc.h"
+#include "mynteye/uvc/uvc.h"
 
 struct frame {
   const void *data = nullptr;
@@ -157,7 +160,7 @@ int main(int argc, char *argv[]) {
     t = static_cast<double>(cv::getTickCount() - t);
     fps = cv::getTickFrequency() / t;
   }
-  UNUSED(fps)
+  MYNTEYE_UNUSED(fps)
 
   uvc::stop_streaming(*device);
   // cv::destroyAllWindows();