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Merge branch 'develop' of http://gitlab.mynt.com/mynteye/mynt-eye-sdk-3 into develop

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This commit is contained in:
Tiny
2018-12-26 13:14:12 +08:00
parent c490e09de0 56c4d50c93
commit 29569c5152
93 changed files with 3077 additions and 1350 deletions
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4
samples/CMakeLists.txt
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@@ -53,6 +53,10 @@ message(STATUS "Found mynteye: ${mynteye_VERSION}")
include(${PRO_DIR}/cmake/DetectOpenCV.cmake)
if(mynteye_WITH_GLOG)
include(${PRO_DIR}/cmake/DetectGLog.cmake)
endif()
#LIST(APPEND CMAKE_MODULE_PATH ${PRO_DIR}/cmake)
# targets

17
samples/api/camera.cc
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@@ -21,12 +21,13 @@ MYNTEYE_USE_NAMESPACE
int main(int argc, char *argv[]) {
auto &&api = API::Create(argc, argv);
if (!api)
return 1;
if (!api) return 1;
bool ok;
auto &&request = api->SelectStreamRequest(&ok);
if (!ok) return 1;
api->ConfigStreamRequest(request);
// 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;
@@ -55,8 +56,7 @@ int main(int argc, char *argv[]) {
CHECK_NOTNULL(data.imu);
++imu_count;
VLOG(2) << "Imu count: " << imu_count;
VLOG(2) << " frame_id: " << data.imu->frame_id
<< ", timestamp: " << data.imu->timestamp
VLOG(2) << ", timestamp: " << data.imu->timestamp
<< ", accel_x: " << data.imu->accel[0]
<< ", accel_y: " << data.imu->accel[1]
<< ", accel_z: " << data.imu->accel[2]
@@ -106,8 +106,7 @@ int main(int argc, char *argv[]) {
auto &&motion_datas = api->GetMotionDatas();
motion_count += motion_datas.size();
for (auto &&data : motion_datas) {
LOG(INFO) << "Imu frame_id: " << data.imu->frame_id
<< ", timestamp: " << data.imu->timestamp
LOG(INFO) << ", timestamp: " << data.imu->timestamp
<< ", accel_x: " << data.imu->accel[0]
<< ", accel_y: " << data.imu->accel[1]
<< ", accel_z: " << data.imu->accel[2]

8
samples/api/get_depth_with_region.cc
View File

@@ -144,8 +144,12 @@ MYNTEYE_USE_NAMESPACE
int main(int argc, char *argv[]) {
auto &&api = API::Create(argc, argv);
if (!api)
return 1;
if (!api) return 1;
bool ok;
auto &&request = api->SelectStreamRequest(&ok);
if (!ok) return 1;
api->ConfigStreamRequest(request);
api->SetOptionValue(Option::IR_CONTROL, 80);

4
samples/device/CMakeLists.txt
View File

@@ -14,6 +14,10 @@
get_filename_component(DIR_NAME ${CMAKE_CURRENT_LIST_DIR} NAME)
include_directories(
${PRO_DIR}/src
)
set_outdir(
"${OUT_DIR}/lib/${DIR_NAME}"
"${OUT_DIR}/lib/${DIR_NAME}"

86
samples/device/camera.cc
View File

@@ -25,35 +25,19 @@ int main(int argc, char *argv[]) {
glog_init _(argc, argv);
auto &&device = device::select();
if (!device)
return 1;
/*
{ // auto-exposure
device->SetOptionValue(Option::EXPOSURE_MODE, 0);
device->SetOptionValue(Option::MAX_GAIN, 40); // [0.48]
device->SetOptionValue(Option::MAX_EXPOSURE_TIME, 120); // [0,240]
device->SetOptionValue(Option::DESIRED_BRIGHTNESS, 200); // [0,255]
}
{ // manual-exposure
device->SetOptionValue(Option::EXPOSURE_MODE, 1);
device->SetOptionValue(Option::GAIN, 20); // [0.48]
device->SetOptionValue(Option::BRIGHTNESS, 20); // [0,240]
device->SetOptionValue(Option::CONTRAST, 20); // [0,255]
}
device->SetOptionValue(Option::IR_CONTROL, 80);
device->SetOptionValue(Option::FRAME_RATE, 25);
device->SetOptionValue(Option::IMU_FREQUENCY, 500);
*/
device->LogOptionInfos();
if (!device) return 1;
// device->RunOptionAction(Option::ZERO_DRIFT_CALIBRATION);
bool ok;
auto &&request = device::select_request(device, &ok);
if (!ok) return 1;
device->ConfigStreamRequest(request);
std::size_t left_count = 0;
device->SetStreamCallback(
Stream::LEFT, [&left_count](const device::StreamData &data) {
CHECK_NOTNULL(data.img);
++left_count;
VLOG(2) << Stream::LEFT << ", count: " << left_count;
VLOG(2) << Stream::LEFT << "count: " << left_count;
VLOG(2) << " frame_id: " << data.img->frame_id
<< ", timestamp: " << data.img->timestamp
<< ", exposure_time: " << data.img->exposure_time;
@@ -63,19 +47,19 @@ int main(int argc, char *argv[]) {
Stream::RIGHT, [&right_count](const device::StreamData &data) {
CHECK_NOTNULL(data.img);
++right_count;
VLOG(2) << Stream::RIGHT << ", count: " << right_count;
VLOG(2) << Stream::RIGHT << "count: " << right_count;
VLOG(2) << " frame_id: " << data.img->frame_id
<< ", timestamp: " << data.img->timestamp
<< ", exposure_time: " << data.img->exposure_time;
});
std::size_t imu_count = 0;
device->SetMotionCallback([&imu_count](const device::MotionData &data) {
CHECK_NOTNULL(data.imu);
++imu_count;
VLOG(2) << "Imu count: " << imu_count;
VLOG(2) << " frame_id: " << data.imu->frame_id
<< ", timestamp: " << data.imu->timestamp
VLOG(2) << ", timestamp: " << data.imu->timestamp
<< ", accel_x: " << data.imu->accel[0]
<< ", accel_y: " << data.imu->accel[1]
<< ", accel_z: " << data.imu->accel[2]
@@ -88,7 +72,6 @@ int main(int argc, char *argv[]) {
// Enable this will cache the motion datas until you get them.
device->EnableMotionDatas();
device->Start(Source::ALL);
cv::namedWindow("frame");
std::size_t motion_count = 0;
@@ -96,14 +79,13 @@ int main(int argc, char *argv[]) {
while (true) {
device->WaitForStreams();
device::StreamData left_data = device->GetLatestStreamData(Stream::LEFT);
device::StreamData right_data = device->GetLatestStreamData(Stream::RIGHT);
device::StreamData left_data = device->GetStreamData(Stream::LEFT);
device::StreamData right_data = device->GetStreamData(Stream::RIGHT);
auto &&motion_datas = device->GetMotionDatas();
motion_count += motion_datas.size();
for (auto &&data : motion_datas) {
LOG(INFO) << "Imu frame_id: " << data.imu->frame_id
<< ", timestamp: " << data.imu->timestamp
LOG(INFO) << "timestamp: " << data.imu->timestamp
<< ", accel_x: " << data.imu->accel[0]
<< ", accel_y: " << data.imu->accel[1]
<< ", accel_z: " << data.imu->accel[2]
@@ -113,15 +95,39 @@ int main(int argc, char *argv[]) {
<< ", temperature: " << data.imu->temperature;
}
cv::Mat left_img(
left_data.frame->height(), left_data.frame->width(), CV_8UC1,
left_data.frame->data());
cv::Mat right_img(
right_data.frame->height(), right_data.frame->width(), CV_8UC1,
right_data.frame->data());
cv::Mat img;
cv::hconcat(left_img, right_img, img);
// TODO(Kalman): Extract into public or internal method
if (left_data.frame->format() == Format::GREY) {
cv::Mat left_img(
left_data.frame->height(), left_data.frame->width(), CV_8UC1,
left_data.frame->data());
cv::Mat right_img(
right_data.frame->height(), right_data.frame->width(), CV_8UC1,
right_data.frame->data());
cv::hconcat(left_img, right_img, img);
} else if (left_data.frame->format() == Format::YUYV) {
cv::Mat left_img(
left_data.frame->height(), left_data.frame->width(), CV_8UC2,
left_data.frame->data());
cv::Mat right_img(
right_data.frame->height(), right_data.frame->width(), CV_8UC2,
right_data.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_data.frame->format() == Format::BGR888) {
cv::Mat left_img(
left_data.frame->height(), left_data.frame->width(), CV_8UC3,
left_data.frame->data());
cv::Mat right_img(
right_data.frame->height(), right_data.frame->width(), CV_8UC3,
right_data.frame->data());
cv::hconcat(left_img, right_img, img);
} else {
return -1;
}
cv::imshow("frame", img);
char key = static_cast<char>(cv::waitKey(1));
@@ -144,7 +150,7 @@ int main(int argc, char *argv[]) {
<< ", fps: " << (1000.f * right_count / elapsed_ms);
LOG(INFO) << "Imu count: " << imu_count
<< ", hz: " << (1000.f * imu_count / elapsed_ms);
// LOG(INFO) << "Motion count: " << motion_count
// << ", hz: " << (1000.f * motion_count / elapsed_ms);
LOG(INFO) << "Motion count: " << motion_count
<< ", hz: " << (1000.f * motion_count / elapsed_ms);
return 0;
}

2
samples/tutorials/CMakeLists.txt
View File

@@ -16,6 +16,7 @@ get_filename_component(DIR_NAME ${CMAKE_CURRENT_LIST_DIR} NAME)
include_directories(
${CMAKE_CURRENT_SOURCE_DIR}
${PRO_DIR}/src
)
set_outdir(
@@ -123,7 +124,6 @@ make_executable2(ctrl_manual_exposure
SRCS control/manual_exposure.cc util/cv_painter.cc
WITH_OPENCV
)
make_executable2(ctrl_infrared SRCS control/infrared.cc WITH_OPENCV)
# intermediate level

26
samples/tutorials/control/auto_exposure.cc
View File

@@ -22,18 +22,24 @@ MYNTEYE_USE_NAMESPACE
int main(int argc, char *argv[]) {
auto &&api = API::Create(argc, argv);
if (!api)
return 1;
if (!api) return 1;
bool ok;
auto &&request = api->SelectStreamRequest(&ok);
if (!ok) return 1;
api->ConfigStreamRequest(request);
// auto-exposure: 0
api->SetOptionValue(Option::EXPOSURE_MODE, 0);
// max_gain: range [0,48], default 48
api->SetOptionValue(Option::MAX_GAIN, 48);
// max_exposure_time: range [0,240], default 240
api->SetOptionValue(Option::MAX_EXPOSURE_TIME, 240);
// desired_brightness: range [0,255], default 192
api->SetOptionValue(Option::DESIRED_BRIGHTNESS, 192);
// max_gain: range [0,255], default 8
api->SetOptionValue(Option::MAX_GAIN, 8);
// max_exposure_time: range [0,1000], default 333
api->SetOptionValue(Option::MAX_EXPOSURE_TIME, 333);
// desired_brightness: range [1,255], default 122
api->SetOptionValue(Option::DESIRED_BRIGHTNESS, 122);
// min_exposure_time: range [0,1000], default 0
api->SetOptionValue(Option::MIN_EXPOSURE_TIME, 0);
LOG(INFO) << "Enable auto-exposure";
LOG(INFO) << "Set MAX_GAIN to " << api->GetOptionValue(Option::MAX_GAIN);
@@ -41,10 +47,12 @@ int main(int argc, char *argv[]) {
<< api->GetOptionValue(Option::MAX_EXPOSURE_TIME);
LOG(INFO) << "Set DESIRED_BRIGHTNESS to "
<< api->GetOptionValue(Option::DESIRED_BRIGHTNESS);
LOG(INFO) << "Set MIN_EXPOSURE_TIME to "
<< api->GetOptionValue(Option::MIN_EXPOSURE_TIME);
api->Start(Source::VIDEO_STREAMING);
CVPainter painter(api->GetOptionValue(Option::FRAME_RATE));
CVPainter painter(30);
cv::namedWindow("frame");

27
samples/tutorials/control/framerate.cc
View File

@@ -23,20 +23,12 @@ MYNTEYE_USE_NAMESPACE
int main(int argc, char *argv[]) {
auto &&api = API::Create(argc, argv);
if (!api)
return 1;
if (!api) return 1;
// Attention: must set FRAME_RATE and IMU_FREQUENCY together, otherwise won't
// succeed.
// FRAME_RATE values: 10, 15, 20, 25, 30, 35, 40, 45, 50, 55, 60
api->SetOptionValue(Option::FRAME_RATE, 25);
// IMU_FREQUENCY values: 100, 200, 250, 333, 500
api->SetOptionValue(Option::IMU_FREQUENCY, 500);
LOG(INFO) << "Set FRAME_RATE to " << api->GetOptionValue(Option::FRAME_RATE);
LOG(INFO) << "Set IMU_FREQUENCY to "
<< api->GetOptionValue(Option::IMU_FREQUENCY);
bool ok;
auto &&request = api->SelectStreamRequest(&ok);
if (!ok) return 1;
api->ConfigStreamRequest(request);
// Count img
std::atomic_uint img_count(0);
@@ -46,13 +38,6 @@ int main(int argc, char *argv[]) {
++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");
@@ -85,7 +70,5 @@ int main(int argc, char *argv[]) {
<< ", 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;
}

14
samples/tutorials/control/imu_range.cc
View File

@@ -23,12 +23,16 @@ MYNTEYE_USE_NAMESPACE
int main(int argc, char *argv[]) {
auto &&api = API::Create(argc, argv);
if (!api)
return 1;
if (!api) return 1;
// ACCELEROMETER_RANGE values: 4, 8, 16, 32
api->SetOptionValue(Option::ACCELEROMETER_RANGE, 8);
// GYROSCOPE_RANGE values: 500, 1000, 2000, 4000
bool ok;
auto &&request = api->SelectStreamRequest(&ok);
if (!ok) return 1;
api->ConfigStreamRequest(request);
// ACCELEROMETER_RANGE values: 6, 12, 24, 32
api->SetOptionValue(Option::ACCELEROMETER_RANGE, 6);
// GYROSCOPE_RANGE values: 250, 500, 1000, 2000, 4000
api->SetOptionValue(Option::GYROSCOPE_RANGE, 1000);
LOG(INFO) << "Set ACCELEROMETER_RANGE to "

61
samples/tutorials/control/infrared.cc
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@@ -1,61 +0,0 @@
// 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 "mynteye/logger.h"
#include "mynteye/api/api.h"
MYNTEYE_USE_NAMESPACE
int main(int argc, char *argv[]) {
auto &&api = API::Create(argc, argv);
if (!api)
return 1;
// Detect infrared add-ons
LOG(INFO) << "Support infrared: " << std::boolalpha
<< api->Supports(AddOns::INFRARED);
LOG(INFO) << "Support infrared2: " << std::boolalpha
<< api->Supports(AddOns::INFRARED2);
// Get infrared intensity range
auto &&info = api->GetOptionInfo(Option::IR_CONTROL);
LOG(INFO) << Option::IR_CONTROL << ": {" << info << "}";
// Set infrared intensity value
api->SetOptionValue(Option::IR_CONTROL, 80);
api->Start(Source::VIDEO_STREAMING);
cv::namedWindow("frame");
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;
}
}
api->Stop(Source::VIDEO_STREAMING);
return 0;
}

16
samples/tutorials/control/manual_exposure.cc
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@@ -22,27 +22,25 @@ MYNTEYE_USE_NAMESPACE
int main(int argc, char *argv[]) {
auto &&api = API::Create(argc, argv);
if (!api)
return 1;
if (!api) return 1;
bool ok;
auto &&request = api->SelectStreamRequest(&ok);
if (!ok) return 1;
api->ConfigStreamRequest(request);
// manual-exposure: 1
api->SetOptionValue(Option::EXPOSURE_MODE, 1);
// gain: range [0,48], default 24
api->SetOptionValue(Option::GAIN, 24);
// brightness/exposure_time: range [0,240], default 120
api->SetOptionValue(Option::BRIGHTNESS, 120);
// contrast/black_level_calibration: range [0,255], default 127
api->SetOptionValue(Option::CONTRAST, 127);
LOG(INFO) << "Enable manual-exposure";
LOG(INFO) << "Set GAIN to " << api->GetOptionValue(Option::GAIN);
LOG(INFO) << "Set BRIGHTNESS to " << api->GetOptionValue(Option::BRIGHTNESS);
LOG(INFO) << "Set CONTRAST to " << api->GetOptionValue(Option::CONTRAST);
api->Start(Source::VIDEO_STREAMING);
CVPainter painter(api->GetOptionValue(Option::FRAME_RATE));
CVPainter painter(30);
cv::namedWindow("frame");

8
samples/tutorials/data/get_depth.cc
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@@ -19,8 +19,12 @@ MYNTEYE_USE_NAMESPACE
int main(int argc, char *argv[]) {
auto &&api = API::Create(argc, argv);
if (!api)
return 1;
if (!api) return 1;
bool ok;
auto &&request = api->SelectStreamRequest(&ok);
if (!ok) return 1;
api->ConfigStreamRequest(request);
api->EnableStreamData(Stream::DEPTH);

3
samples/tutorials/data/get_device_info.cc
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@@ -18,8 +18,7 @@ MYNTEYE_USE_NAMESPACE
int main(int argc, char *argv[]) {
auto &&api = API::Create(argc, argv);
if (!api)
return 1;
if (!api) return 1;
LOG(INFO) << "Device name: " << api->GetInfo(Info::DEVICE_NAME);
LOG(INFO) << "Serial number: " << api->GetInfo(Info::SERIAL_NUMBER);

8
samples/tutorials/data/get_disparity.cc
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@@ -19,8 +19,12 @@ MYNTEYE_USE_NAMESPACE
int main(int argc, char *argv[]) {
auto &&api = API::Create(argc, argv);
if (!api)
return 1;
if (!api) return 1;
bool ok;
auto &&request = api->SelectStreamRequest(&ok);
if (!ok) return 1;
api->ConfigStreamRequest(request);
// api->EnableStreamData(Stream::DISPARITY);
api->EnableStreamData(Stream::DISPARITY_NORMALIZED);

8
samples/tutorials/data/get_from_callbacks.cc
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@@ -27,8 +27,12 @@ MYNTEYE_USE_NAMESPACE
int main(int argc, char *argv[]) {
auto &&api = API::Create(argc, argv);
if (!api)
return 1;
if (!api) return 1;
bool ok;
auto &&request = api->SelectStreamRequest(&ok);
if (!ok) return 1;
api->ConfigStreamRequest(request);
// Attention: must not block the callbacks.

8
samples/tutorials/data/get_img_params.cc
View File

@@ -18,8 +18,12 @@ MYNTEYE_USE_NAMESPACE
int main(int argc, char *argv[]) {
auto &&api = API::Create(argc, argv);
if (!api)
return 1;
if (!api) return 1;
bool ok;
auto &&request = api->SelectStreamRequest(&ok);
if (!ok) return 1;
api->ConfigStreamRequest(request);
LOG(INFO) << "Intrinsics left: {" << api->GetIntrinsics(Stream::LEFT) << "}";
LOG(INFO) << "Intrinsics right: {" << api->GetIntrinsics(Stream::RIGHT)

8
samples/tutorials/data/get_imu.cc
View File

@@ -22,8 +22,12 @@ MYNTEYE_USE_NAMESPACE
int main(int argc, char *argv[]) {
auto &&api = API::Create(argc, argv);
if (!api)
return 1;
if (!api) return 1;
bool ok;
auto &&request = api->SelectStreamRequest(&ok);
if (!ok) return 1;
api->ConfigStreamRequest(request);
// Enable this will cache the motion datas until you get them.
api->EnableMotionDatas();

3
samples/tutorials/data/get_imu_params.cc
View File

@@ -18,8 +18,7 @@ MYNTEYE_USE_NAMESPACE
int main(int argc, char *argv[]) {
auto &&api = API::Create(argc, argv);
if (!api)
return 1;
if (!api) return 1;
LOG(INFO) << "Motion intrinsics: {" << api->GetMotionIntrinsics() << "}";
LOG(INFO) << "Motion extrinsics left to imu: {"

8
samples/tutorials/data/get_points.cc
View File

@@ -21,8 +21,12 @@ MYNTEYE_USE_NAMESPACE
int main(int argc, char *argv[]) {
auto &&api = API::Create(argc, argv);
if (!api)
return 1;
if (!api) return 1;
bool ok;
auto &&request = api->SelectStreamRequest(&ok);
if (!ok) return 1;
api->ConfigStreamRequest(request);
api->EnableStreamData(Stream::POINTS);

8
samples/tutorials/data/get_stereo.cc
View File

@@ -19,8 +19,12 @@ MYNTEYE_USE_NAMESPACE
int main(int argc, char *argv[]) {
auto &&api = API::Create(argc, argv);
if (!api)
return 1;
if (!api) return 1;
bool ok;
auto &&request = api->SelectStreamRequest(&ok);
if (!ok) return 1;
api->ConfigStreamRequest(request);
api->Start(Source::VIDEO_STREAMING);

8
samples/tutorials/data/get_stereo_rectified.cc
View File

@@ -19,8 +19,12 @@ MYNTEYE_USE_NAMESPACE
int main(int argc, char *argv[]) {
auto &&api = API::Create(argc, argv);
if (!api)
return 1;
if (!api) return 1;
bool ok;
auto &&request = api->SelectStreamRequest(&ok);
if (!ok) return 1;
api->ConfigStreamRequest(request);
api->EnableStreamData(Stream::LEFT_RECTIFIED);
api->EnableStreamData(Stream::RIGHT_RECTIFIED);

8
samples/tutorials/data/get_with_plugin.cc
View File

@@ -19,8 +19,12 @@ MYNTEYE_USE_NAMESPACE
int main(int argc, char *argv[]) {
auto &&api = API::Create(argc, argv);
if (!api)
return 1;
if (!api) return 1;
bool ok;
auto &&request = api->SelectStreamRequest(&ok);
if (!ok) return 1;
api->ConfigStreamRequest(request);
api->EnablePlugin("plugins/linux-x86_64/libplugin_g_cuda9.1_opencv3.4.0.so");

8
samples/tutorials/intermediate/get_depth_and_points.cc
View File

@@ -148,8 +148,12 @@ MYNTEYE_USE_NAMESPACE
int main(int argc, char *argv[]) {
auto &&api = API::Create(argc, argv);
if (!api)
return 1;
if (!api) return 1;
bool ok;
auto &&request = api->SelectStreamRequest(&ok);
if (!ok) return 1;
api->ConfigStreamRequest(request);
api->SetOptionValue(Option::IR_CONTROL, 80);

2
samples/tutorials/util/cv_painter.cc
View File

@@ -117,7 +117,7 @@ cv::Rect CVPainter::DrawImuData(
if (gravity == BOTTOM_LEFT || gravity == BOTTOM_RIGHT)
sign = -1;
Clear(ss) << "frame_id: " << data.frame_id << ", stamp: " << data.timestamp
Clear(ss) << "stamp: " << data.timestamp
<< ", temp: " << fmt_temp << data.temperature;
cv::Rect rect_i = DrawText(img, ss.str(), gravity, 5);

8
samples/uvc/camera.cc
View File

@@ -108,7 +108,11 @@ int main(int argc, char *argv[]) {
const auto frame_empty = [&frame]() { return frame == nullptr; };
uvc::set_device_mode(
#ifdef MYNTEYE_OS_MAC
*device, 752, 480, static_cast<int>(Format::YUYV), 25,
#else
*device, 1280, 400, static_cast<int>(Format::BGR888), 20,
#endif
[&mtx, &cv, &frame, &frame_ready](
const void *data, std::function<void()> continuation) {
// reinterpret_cast<const std::uint8_t *>(data);
@@ -143,8 +147,12 @@ int main(int argc, char *argv[]) {
}
// only lastest frame is valid
#ifdef MYNTEYE_OS_MAC
cv::Mat img(480, 752, CV_8UC2, const_cast<void *>(frame->data));
cv::cvtColor(img, img, cv::COLOR_YUV2BGR_YUY2);
#else
cv::Mat img(400, 1280, CV_8UC3, const_cast<void *>(frame->data));
#endif
cv::imshow("frame", img);
frame = nullptr;