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change the way of split images

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This commit is contained in:
KalmanSLightech
2018-07-08 18:49:09 +08:00
parent 6c25f06005
commit 659f03ac18
5 changed files with 34 additions and 28 deletions
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20
samples/device/camera.cc
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@@ -46,8 +46,7 @@ int main(int argc, char *argv[]) {
device->SetOptionValue(Option::FRAME_RATE, 25);
device->SetOptionValue(Option::IMU_FREQUENCY, 500);
*/
device->LogOptionInfos();
// device->LogOptionInfos();
// device->RunOptionAction(Option::ZERO_DRIFT_CALIBRATION);
std::size_t left_count = 0;
@@ -72,6 +71,7 @@ int main(int argc, char *argv[]) {
});
std::size_t imu_count = 0;
/*
device->SetMotionCallback([&imu_count](const device::MotionData &data) {
CHECK_NOTNULL(data.imu);
++imu_count;
@@ -86,11 +86,10 @@ int main(int argc, char *argv[]) {
<< ", gyro_z: " << data.imu->gyro[2]
<< ", temperature: " << data.imu->temperature;
});
*/
// Enable this will cache the motion datas until you get them.
device->EnableMotionDatas();
device->Start(Source::ALL);
// device->EnableMotionDatas();
device->Start(Source::VIDEO_STREAMING);
cv::namedWindow("frame");
std::size_t motion_count = 0;
@@ -100,7 +99,7 @@ int main(int argc, char *argv[]) {
device::StreamData left_data = device->GetLatestStreamData(Stream::LEFT);
device::StreamData right_data = device->GetLatestStreamData(Stream::RIGHT);
/*
auto &&motion_datas = device->GetMotionDatas();
motion_count += motion_datas.size();
for (auto &&data : motion_datas) {
@@ -114,16 +113,17 @@ int main(int argc, char *argv[]) {
<< ", gyro_z: " << data.imu->gyro[2]
<< ", temperature: " << data.imu->temperature;
}
*/
cv::Mat left_img(
left_data.frame->height(), left_data.frame->width(), CV_8UC1,
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_8UC1,
right_data.frame->height(), right_data.frame->width(), CV_8UC2,
right_data.frame->data());
cv::Mat img;
cv::hconcat(left_img, right_img, img);
cv::cvtColor(img, img, cv::COLOR_YUV2BGR_YUY2);
cv::imshow("frame", img);
char key = static_cast<char>(cv::waitKey(1));