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Add some resolution,format and frame rate.

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This commit is contained in:
Kalman
2018-08-05 23:18:51 +08:00
parent b139fd21c3
commit 33d3f15b86
13 changed files with 205 additions and 75 deletions
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6
samples/device/camera.cc
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@@ -50,6 +50,8 @@ int main(int argc, char *argv[]) {
// device->RunOptionAction(Option::ZERO_DRIFT_CALIBRATION);
std::size_t left_count = 0;
device->SetStreamRequest(
Resolution::RES_2560x800, Format::YUYV, FrameRate::RATE_30_FPS);
device->SetStreamCallback(
Stream::LEFT, [&left_count](const device::StreamData &data) {
CHECK_NOTNULL(data.img);
@@ -75,7 +77,7 @@ int main(int argc, char *argv[]) {
device->SetMotionCallback([&imu_count](const device::MotionData &data) {
CHECK_NOTNULL(data.imu);
++imu_count;
VLOG(2) << "Imu count: " << imu_count;
VLOG(2) << "Imu count: " << imu_count;
VLOG(2) << ", timestamp: " << data.imu->timestamp
<< ", accel_x: " << data.imu->accel[0]
<< ", accel_y: " << data.imu->accel[1]
@@ -101,7 +103,7 @@ int main(int argc, char *argv[]) {
auto &&motion_datas = device->GetMotionDatas();
motion_count += motion_datas.size();
for (auto &&data : motion_datas) {
for (auto &&data : motion_datas) {
LOG(INFO) << ", timestamp: " << data.imu->timestamp
<< ", accel_x: " << data.imu->accel[0]
<< ", accel_y: " << data.imu->accel[1]