feat(*): sample record add feat.

samples/CMakeLists.txt

@@ -209,7 +209,6 @@ if(WITH_API)
   )
   make_executable2(get_imu SRCS get_imu.cc util_cv.cc WITH_OPENCV)
   make_executable2(save_single_image SRCS save_single_image.cc WITH_OPENCV)
-  make_executable2(save_depth_and_disparity SRCS save_depth_and_disparity.cc WITH_OPENCV)
   make_executable2(get_from_callbacks
   SRCS get_from_callbacks.cc util_cv.cc
   WITH_OPENCV

samples/dataset.cc

@@ -161,6 +161,12 @@ Dataset::writer_t Dataset::GetStreamWriter(const Stream &stream) {
       case Stream::RIGHT: {
         writer->outdir = outdir_ + MYNTEYE_OS_SEP "right";
       } break;
+      case Stream::DEPTH: {
+        writer->outdir = outdir_ + MYNTEYE_OS_SEP "depth";
+      } break;
+      case Stream::DISPARITY: {
+        writer->outdir = outdir_ + MYNTEYE_OS_SEP "disparity";
+      } break;
       default:
         LOG(FATAL) << "Unsupported stream: " << stream;
     }

samples/record.cc

@@ -26,19 +26,29 @@ MYNTEYE_USE_NAMESPACE
 int main(int argc, char *argv[]) {
   glog_init _(argc, argv);
 
-  auto &&device = device::select();
+  auto &&api = API::Create(argc, argv);
-  if (!device) return 1;
+  if (!api) return 1;
 
-  bool ok;
+  auto request = api->GetStreamRequest();
-  auto &&request = device::select_request(device, &ok);
-  if (!ok) return 1;
-  device->ConfigStreamRequest(request);
 
-  device->LogOptionInfos();
+//   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;
+//   }
 
-  // Enable this will cache the motion datas until you get them.
+  request.fps = 10;
-  device->EnableMotionDatas();
+  api->ConfigStreamRequest(request);
-  device->Start(Source::ALL);
+  api->EnableMotionDatas();
+
+  api->EnableStreamData(Stream::DEPTH);
+
+  api->Start(Source::ALL);
 
   const char *outdir;
   if (argc >= 2) {
@@ -54,17 +64,19 @@ int main(int argc, char *argv[]) {
   std::size_t imu_count = 0;
   auto &&time_beg = times::now();
   while (true) {
-    device->WaitForStreams();
+    api->WaitForStreams();
 
-    auto &&left_datas = device->GetStreamDatas(Stream::LEFT);
+    auto &&left_datas = api->GetStreamDatas(Stream::LEFT);
-    auto &&right_datas = device->GetStreamDatas(Stream::RIGHT);
+    auto &&right_datas = api->GetStreamDatas(Stream::RIGHT);
+    auto &&depth_datas = api->GetStreamDatas(Stream::DEPTH);
+    auto &&disparity_datas = api->GetStreamDatas(Stream::DISPARITY);
     img_count += left_datas.size();
 
-    auto &&motion_datas = device->GetMotionDatas();
+    auto &&motion_datas = api->GetMotionDatas();
     imu_count += motion_datas.size();
 
-    auto &&left_frame = left_datas.back().frame;
+    auto &&left_frame = left_datas.back().frame_raw;
-    auto &&right_frame = right_datas.back().frame;
+    auto &&right_frame = right_datas.back().frame_raw;
 
     cv::Mat img;
 
@@ -105,6 +117,12 @@ int main(int argc, char *argv[]) {
       for (auto &&right : right_datas) {
         dataset.SaveStreamData(Stream::RIGHT, right);
       }
+      for (auto &&depth : depth_datas) {
+        dataset.SaveStreamData(Stream::DEPTH, depth);
+      }
+      for (auto &&disparity : disparity_datas) {
+        dataset.SaveStreamData(Stream::DISPARITY, disparity);
+      }
 
       for (auto &&motion : motion_datas) {
         dataset.SaveMotionData(motion);
@@ -122,7 +140,7 @@ int main(int argc, char *argv[]) {
   std::cout << " to " << outdir << std::endl;
   auto &&time_end = times::now();
 
-  device->Stop(Source::ALL);
+  api->Stop(Source::ALL);
 
   float elapsed_ms =
       times::count<times::microseconds>(time_end - time_beg) * 0.001f;

samples/save_depth_and_disparity.cc

@@ -1,67 +0,0 @@
-#include <stdio.h>
-#include <opencv2/highgui/highgui.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;
-
-  bool ok;
-  auto &&request = api->SelectStreamRequest(&ok);
-  if (!ok) return 1;
-  api->ConfigStreamRequest(request);
-
-  api->EnableStreamData(Stream::DEPTH);
-
-  api->Start(Source::VIDEO_STREAMING);
-
-  cv::namedWindow("disparity");
-  cv::namedWindow("depth_real");
-
-  std::int32_t count = 0;
-  std::cout << "Press 'Space' 's' 'S' to save image." << std::endl;
-  while (true) {
-    api->WaitForStreams();
-
-    auto &&depth_data = api->GetStreamData(Stream::DEPTH);
-    if (!depth_data.frame.empty()) {
-      cv::imshow("depth_real", depth_data.frame);  // CV_16UC1
-    }
-
-    auto &&dis_data = api->GetStreamData(Stream::DISPARITY);
-    if (!dis_data.frame.empty()) {
-      cv::imshow("disparity", dis_data.frame);  // CV_16UC1
-    }
-
-    char key = static_cast<char>(cv::waitKey(1));
-    if (key == 27 || key == 'q' || key == 'Q') {  // ESC/Q
-      break;
-    } else {
-      if (!depth_data.frame.empty()) {
-        char d_name[20];
-        ++count;
-        snprintf(d_name, sizeof(d_name), "depth_%d.jpg", count);
-
-        cv::imwrite(d_name, depth_data.frame);
-
-        std::cout << "Saved " << d_name << " to current directory" << std::endl;
-      }
-
-      if (!dis_data.frame.empty()) {
-        char dis_name[20];
-        ++count;
-        snprintf(dis_name, sizeof(dis_name), "disparity_%d.jpg", count);
-
-        cv::imwrite(dis_name, dis_data.frame);
-
-        std::cout << "Saved " << dis_name << " to current directory" << std::endl;
-      }
-    }
-  }
-
-  api->Stop(Source::VIDEO_STREAMING);
-  return 0;
-}