Add tutorial get_imu

samples/CMakeLists.txt

@@ -58,6 +58,11 @@ LIST(APPEND CMAKE_MODULE_PATH ${PRO_DIR}/cmake)
 
 find_package(OpenCV REQUIRED)
 message(STATUS "Found OpenCV: ${OpenCV_VERSION}")
+if(OpenCV_VERSION VERSION_LESS 3.0)
+  add_definitions(-DUSE_OPENCV2)
+else()
+  add_definitions(-DUSE_OPENCV3)
+endif()
 
 if(OS_WIN)
   get_filename_component(OpenCV_LIB_SEARCH_PATH "${OpenCV_LIB_PATH}/../bin" ABSOLUTE)

samples/tutorials/CMakeLists.txt

@@ -102,6 +102,7 @@ if(PCL_FOUND)
     WITH_OPENCV WITH_PCL
   )
 endif()
+make_executable(get_imu SRCS data/get_imu.cc data/cv_painter.cc WITH_OPENCV)
 make_executable(get_with_plugin SRCS data/get_with_plugin.cc WITH_OPENCV)
 
 # control

samples/tutorials/data/cv_painter.cc

@@ -0,0 +1,150 @@
+// 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 "data/cv_painter.h"
+
+#include <glog/logging.h>
+
+#include <opencv2/imgproc/imgproc.hpp>
+
+#include <iomanip>
+#include <iostream>
+#include <memory>
+#include <utility>
+
+#define FONT_FACE cv::FONT_HERSHEY_PLAIN
+#define FONT_SCALE 1
+#define FONT_COLOR cv::Scalar(255, 255, 255)
+#define THICKNESS 1
+
+namespace {
+
+std::shared_ptr<std::ios> NewFormat(int width, int prec, char fillch = ' ') {
+  auto fmt = std::make_shared<std::ios>(nullptr);
+  fmt->setf(std::ios::fixed);
+  fmt->width(std::move(width));
+  fmt->precision(std::move(prec));
+  fmt->fill(std::move(fillch));
+  return fmt;
+}
+
+std::ostringstream &Clear(std::ostringstream &os) {
+  os.str("");
+  os.clear();
+  return os;
+}
+
+}  // namespace
+
+std::ostream &operator<<(
+    std::ostream &os, const std::shared_ptr<std::ios> &fmt) {
+  if (fmt)
+    os.copyfmt(*fmt);
+  return os;
+}
+
+CVPainter::CVPainter() {
+  VLOG(2) << __func__;
+}
+
+CVPainter::~CVPainter() {
+  VLOG(2) << __func__;
+}
+
+cv::Rect CVPainter::DrawSize(const cv::Mat &img, const gravity_t &gravity) {
+  std::ostringstream ss;
+  ss << img.cols << "x" << img.rows;
+  return DrawText(img, ss.str(), gravity, 5);
+}
+
+cv::Rect CVPainter::DrawImuData(
+    const cv::Mat &img, const mynteye::ImuData &data,
+    const gravity_t &gravity) {
+  static std::ostringstream ss;
+  static auto fmt_imu = NewFormat(8, 4);
+  static auto fmt_temp = NewFormat(6, 4);
+
+  int sign = 1;
+  if (gravity == BOTTOM_LEFT || gravity == BOTTOM_RIGHT)
+    sign = -1;
+
+  Clear(ss) << "frame_id: " << data.frame_id << ", stamp: " << data.timestamp
+            << ", temp: " << fmt_temp << data.temperature;
+  cv::Rect rect_i = DrawText(img, ss.str(), gravity, 5);
+
+  Clear(ss) << "accel(x,y,z): " << fmt_imu << data.accel[0] << "," << fmt_imu
+            << data.accel[1] << "," << fmt_imu << data.accel[2];
+  cv::Rect rect_a =
+      DrawText(img, ss.str(), gravity, 5, 0, sign * (5 + rect_i.height));
+
+  Clear(ss) << "gyro(x,y,z): " << fmt_imu << data.gyro[0] << "," << fmt_imu
+            << data.gyro[1] << "," << fmt_imu << data.gyro[2];
+  cv::Rect rect_g = DrawText(
+      img, ss.str(), gravity, 5, 0,
+      sign * (10 + rect_i.height + rect_a.height));
+
+  // rect_i.width is the max one
+  if (sign > 0) {
+    return cv::Rect(
+        rect_i.tl(),
+        cv::Point(rect_i.x + rect_i.width, rect_g.y + rect_g.height));
+  } else {
+    return cv::Rect(rect_g.tl(), rect_i.br());
+  }
+}
+
+cv::Rect CVPainter::DrawText(
+    const cv::Mat &img, const std::string &text, const gravity_t &gravity,
+    const int &margin, const int &offset_x, const int &offset_y) {
+  int w = img.cols, h = img.rows;
+
+  int baseline = 0;
+  cv::Size textSize =
+      cv::getTextSize(text, FONT_FACE, FONT_SCALE, THICKNESS, &baseline);
+
+  int x, y;
+  switch (gravity) {
+    case TOP_LEFT:
+      x = margin;
+      y = margin + textSize.height;
+      break;
+    case TOP_RIGHT:
+      x = w - margin - textSize.width;
+      y = margin + textSize.height;
+      break;
+    case BOTTOM_LEFT:
+      x = margin;
+      y = h - margin;
+      break;
+    case BOTTOM_RIGHT:
+      x = w - margin - textSize.width;
+      y = h - margin;
+      break;
+    default:  // TOP_LEFT
+      x = margin;
+      y = margin + textSize.height;
+      break;
+  }
+  x += offset_x;
+  y += offset_y;
+
+  cv::Point org(x, y);
+#ifdef USE_OPENCV2
+  cv::putText(
+      const_cast<cv::Mat &>(img), text, org, FONT_FACE, FONT_SCALE, FONT_COLOR,
+      THICKNESS);
+#else
+  cv::putText(img, text, org, FONT_FACE, FONT_SCALE, FONT_COLOR, THICKNESS);
+#endif
+  return cv::Rect(org, textSize);
+}

samples/tutorials/data/cv_painter.h

@@ -0,0 +1,47 @@
+// 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.
+#ifndef MYNTEYE_TUTORIALS_CV_PAINTER_H_  // NOLINT
+#define MYNTEYE_TUTORIALS_CV_PAINTER_H_
+#pragma once
+
+#include <opencv2/core/core.hpp>
+
+#include <string>
+
+#include "mynteye/types.h"
+
+class CVPainter {
+ public:
+  typedef enum Gravity {
+    TOP_LEFT,
+    TOP_RIGHT,
+    BOTTOM_LEFT,
+    BOTTOM_RIGHT
+  } gravity_t;
+
+  CVPainter();
+  ~CVPainter();
+
+  cv::Rect DrawSize(const cv::Mat &img, const gravity_t &gravity = TOP_LEFT);
+  cv::Rect DrawImuData(
+      const cv::Mat &img, const mynteye::ImuData &data,
+      const gravity_t &gravity = TOP_RIGHT);
+
+  cv::Rect DrawText(
+      const cv::Mat &img, const std::string &text,
+      const gravity_t &gravity = TOP_LEFT, const int &margin = 5,
+      const int &offset_x = 0, const int &offset_y = 0);
+};
+
+#endif  // MYNTEYE_TUTORIALS_CV_PAINTER_H_ NOLINT

samples/tutorials/data/get_imu.cc

@@ -0,0 +1,75 @@
+// 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 <glog/logging.h>
+
+#include "mynteye/api.h"
+
+#include "data/cv_painter.h"
+
+MYNTEYE_USE_NAMESPACE
+
+int main(int argc, char *argv[]) {
+  auto &&api = API::Create(argc, argv);
+
+  // Enable this will cache the motion datas until you get them.
+  api->EnableMotionDatas();
+
+  api->Start(Source::ALL);
+
+  CVPainter painter;
+
+  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);
+
+    auto &&motion_datas = api->GetMotionDatas();
+    /*
+    for (auto &&data : motion_datas) {
+      LOG(INFO) << "Imu frame_id: " << data.imu->frame_id
+                << ", timestamp: " << data.imu->timestamp
+                << ", accel_x: " << data.imu->accel[0]
+                << ", accel_y: " << data.imu->accel[1]
+                << ", accel_z: " << data.imu->accel[2]
+                << ", gyro_x: " << data.imu->gyro[0]
+                << ", gyro_y: " << data.imu->gyro[1]
+                << ", gyro_z: " << data.imu->gyro[2]
+                << ", temperature: " << data.imu->temperature;
+    }
+    */
+
+    painter.DrawSize(img);
+    if (!motion_datas.empty()) {
+      painter.DrawImuData(img, *motion_datas[0].imu);
+    }
+
+    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::ALL);
+  return 0;
+}