feat: add open without select sample

samples/tutorials/CMakeLists.txt

@@ -99,6 +99,8 @@ make_executable2(get_stereo SRCS data/get_stereo.cc WITH_OPENCV)
 make_executable2(get_stereo_rectified SRCS data/get_stereo_rectified.cc WITH_OPENCV)
 make_executable2(get_disparity SRCS data/get_disparity.cc WITH_OPENCV)
 make_executable2(get_depth SRCS data/get_depth.cc WITH_OPENCV)
+
+make_executable2(get_data_without_select SRCS data/get_data_without_select.cc WITH_OPENCV)
 if(PCL_FOUND)
   make_executable2(get_points
     SRCS data/get_points.cc util/pc_viewer.cc

samples/tutorials/data/get_data_without_select.cc

@@ -0,0 +1,74 @@
+// 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 <string>
+#include <opencv2/highgui/highgui.hpp>
+#include <opencv2/imgproc/imgproc.hpp>
+
+#include "mynteye/api/api.h"
+
+MYNTEYE_USE_NAMESPACE
+
+int main(int argc, char *argv[]) {
+  auto &&api = API::Create(argc, argv);
+  if (!api) return 1;
+
+  auto request = api->GetStreamRequest();
+
+//   struct StreamRequest {
+//   /** Stream width in pixels */
+//   std::uint16_t width;
+//   /** Stream height in pixels */
+//   std::uint16_t height;
+//   /** Stream pixel format */
+//   Format format;
+//   /** Stream frames per second */
+//   std::uint16_t fps;
+//   }
+
+  request.fps = 10;
+  api->ConfigStreamRequest(request);
+
+  api->EnableStreamData(Stream::DEPTH);
+
+  api->Start(Source::VIDEO_STREAMING);
+
+  cv::namedWindow("frame");
+  cv::namedWindow("depth");
+  while (true) {
+    api->WaitForStreams();
+
+    auto &&left_data = api->GetStreamData(Stream::LEFT);
+    auto &&right_data = api->GetStreamData(Stream::RIGHT);
+
+    if (!left_data.frame.empty() && !right_data.frame.empty()) {
+      cv::Mat img;
+      cv::hconcat(left_data.frame, right_data.frame, img);
+      cv::imshow("frame", img);
+    }
+
+    // this code is for real depth data
+    auto &&depth_data = api->GetStreamData(Stream::DEPTH);
+    if (!depth_data.frame.empty()) {
+      cv::imshow("depth", depth_data.frame);  // CV_16UC1
+    }
+
+    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;
+}

samples/tutorials/data/get_depth.cc

@@ -28,7 +28,6 @@ int main(int argc, char *argv[]) {
   if (!ok) return 1;
   api->ConfigStreamRequest(request);
 
-  api->SetDisparityComputingMethodType(DisparityComputingMethod::BM);
   api->EnableStreamData(Stream::DEPTH);
   api->EnableStreamData(Stream::DISPARITY_NORMALIZED);