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Done points and depth processor

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This commit is contained in:
John Zhao
2018-04-28 14:27:43 +08:00
parent c49342f9f7
commit 2111a183d0
6 changed files with 40 additions and 15 deletions
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17
samples/api/camera.cc
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@@ -12,6 +12,10 @@ int main(int argc, char *argv[]) {
glog_init _(argc, argv);
auto &&api = API::Create();
// api->SetOptionValue(Option::FRAME_RATE, 25);
// api->SetOptionValue(Option::IMU_FREQUENCY, 500);
api->SetOptionValue(Option::IR_CONTROL, 80);
api->LogOptionInfos();
std::size_t left_count = 0;
@@ -51,15 +55,17 @@ int main(int argc, char *argv[]) {
<< ", temperature: " << data.imu->temperature;
});
api->EnableStreamData(Stream::LEFT_RECTIFIED);
api->EnableStreamData(Stream::RIGHT_RECTIFIED);
// api->EnableStreamData(Stream::LEFT_RECTIFIED);
// api->EnableStreamData(Stream::RIGHT_RECTIFIED);
api->EnableStreamData(Stream::DISPARITY_NORMALIZED);
api->EnableStreamData(Stream::DEPTH);
// Enable this will cache the motion datas until you get them.
api->EnableMotionDatas();
api->Start(Source::ALL);
cv::namedWindow("frame");
cv::namedWindow("disparity");
cv::namedWindow("depth");
std::size_t motion_count = 0;
auto &&time_beg = times::now();
@@ -78,7 +84,12 @@ int main(int argc, char *argv[]) {
auto &&disp_data = api->GetStreamData(Stream::DISPARITY_NORMALIZED);
if (!disp_data.frame.empty()) {
cv::imshow("disparity", disp_data.frame);
cv::imshow("disparity", disp_data.frame); // CV_8UC1
}
auto &&depth_data = api->GetStreamData(Stream::DEPTH);
if (!depth_data.frame.empty()) {
cv::imshow("depth", depth_data.frame); // CV_16UC1
}
auto &&motion_datas = api->GetMotionDatas();