Add tutorial get_with_plugin

.gitignore

@@ -12,6 +12,8 @@ _output/
 /*ERROR*
 /*FATAL*
 
+/plugins/
+
 # ros
 
 /wrappers/ros/build

samples/tutorials/CMakeLists.txt

@@ -37,6 +37,7 @@ endmacro()
 if(WITH_API)
 
 make_executable(get_device_info SRCS data/get_device_info.cc)
+make_executable(get_with_plugin SRCS data/get_with_plugin.cc)
 
 make_executable(ctrl_infrared SRCS control/infrared.cc WITH_OPENCV)
 

samples/tutorials/data/get_with_plugin.cc

@@ -0,0 +1,44 @@
+#include <opencv2/highgui/highgui.hpp>
+
+#include <glog/logging.h>
+
+#include "mynteye/api.h"
+
+MYNTEYE_USE_NAMESPACE
+
+int main(int argc, char *argv[]) {
+  auto &&api = API::Create(argc, argv);
+
+  api->EnablePlugin("plugins/linux-x86_64/libplugin_g_cuda9.1_opencv3.4.0.so");
+
+  api->EnableStreamData(Stream::DISPARITY_NORMALIZED);
+
+  api->Start(Source::VIDEO_STREAMING);
+
+  cv::namedWindow("frame");
+  cv::namedWindow("disparity");
+
+  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);
+
+    auto &&disp_data = api->GetStreamData(Stream::DISPARITY_NORMALIZED);
+    if (!disp_data.frame.empty()) {
+      cv::imshow("disparity", disp_data.frame);
+    }
+
+    char key = static_cast<char>(cv::waitKey(1));
+    if (key == 27 || key == 'q' || key == 'Q') {  // ESC/Q
+      break;
+    }
+  }
+
+  api->Stop(Source::ALL);
+  return 0;
+}

src/api/api.cc

@@ -195,7 +195,7 @@ std::vector<api::MotionData> API::GetMotionDatas() {
 }
 
 void API::EnablePlugin(const std::string &path) {
-  DL dl;
+  static DL dl;
   CHECK(dl.Open(path.c_str())) << "Open plugin failed: " << path;
 
   plugin_version_code_t *plugin_version_code =