feat(api): add timestamp correspondence

2019-02-21 22:37:55 +08:00
parent c6aa8d93ca
commit 73cca48f57
7 changed files with 245 additions and 8 deletions
--- a/samples/tutorials/data/get_imu_correspondence.cc
+++ b/samples/tutorials/data/get_imu_correspondence.cc
@@ -0,0 +1,77 @@
+// 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"
+
+#include "util/cv_painter.h"
+
+MYNTEYE_USE_NAMESPACE
+
+int main(int argc, char *argv[]) {
+  auto &&api = API::Create(argc, argv);
+  if (!api) return 1;
+
+  bool ok;
+  auto &&request = api->SelectStreamRequest(&ok);
+  if (!ok) return 1;
+  api->ConfigStreamRequest(request);
+
+  // Enable motion datas with timestamp correspondence of some stream
+  api->EnableTimestampCorrespondence(Stream::LEFT);
+
+  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);
+
+    LOG(INFO) << "Img frame_id: " << left_data.img->frame_id
+              << ", timestamp: " << left_data.img->timestamp;
+
+    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;
+    }
+    LOG(INFO);
+
+    /*
+    painter.DrawImgData(img, *left_data.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;
+}