Add tutorial get_from_callbacks

samples/tutorials/CMakeLists.txt

@@ -103,6 +103,10 @@ if(PCL_FOUND)
   )
 endif()
 make_executable(get_imu SRCS data/get_imu.cc data/cv_painter.cc WITH_OPENCV)
+make_executable(get_from_callbacks
+  SRCS data/get_from_callbacks.cc data/cv_painter.cc
+  WITH_OPENCV
+)
 make_executable(get_with_plugin SRCS data/get_with_plugin.cc WITH_OPENCV)
 
 # control

samples/tutorials/data/get_from_callbacks.cc

@@ -0,0 +1,139 @@
+// 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 <atomic>
+#include <memory>
+#include <mutex>
+#include <sstream>
+
+#include "mynteye/api.h"
+
+#include "data/cv_painter.h"
+
+MYNTEYE_USE_NAMESPACE
+
+int main(int argc, char *argv[]) {
+  auto &&api = API::Create(argc, argv);
+
+  // Attention: must not block the callbacks.
+
+  std::atomic_uint left_count(0);
+  api->SetStreamCallback(
+      Stream::LEFT, [&left_count](const api::StreamData &data) {
+        CHECK_NOTNULL(data.img);
+        ++left_count;
+        // LOG(INFO) << Stream::LEFT << ", count: " << left_count;
+        // LOG(INFO) << "  frame_id: " << data.img->frame_id
+        //           << ", timestamp: " << data.img->timestamp
+        //           << ", exposure_time: " << data.img->exposure_time;
+      });
+
+  // Get stream data from callback
+  api->EnableStreamData(Stream::DEPTH);
+  std::atomic_uint depth_count(0);
+  cv::Mat depth;
+  std::mutex depth_mtx;
+  api->SetStreamCallback(
+      Stream::DEPTH,
+      [&depth_count, &depth, &depth_mtx](const api::StreamData &data) {
+        UNUSED(data)
+        ++depth_count;
+        {
+          std::lock_guard<std::mutex> _(depth_mtx);
+          depth = data.frame;
+        }
+        // LOG(INFO) << Stream::DEPTH << ", count: " << depth_count;
+      });
+
+  // Get motion data from callback
+  std::atomic_uint imu_count(0);
+  std::shared_ptr<mynteye::ImuData> imu;
+  std::mutex imu_mtx;
+  api->SetMotionCallback(
+      [&imu_count, &imu, &imu_mtx](const api::MotionData &data) {
+        CHECK_NOTNULL(data.imu);
+        ++imu_count;
+        {
+          std::lock_guard<std::mutex> _(imu_mtx);
+          imu = data.imu;
+        }
+        // LOG(INFO) << "Imu count: " << imu_count;
+        // LOG(INFO) << "  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;
+      });
+
+  api->Start(Source::ALL);
+
+  CVPainter painter;
+
+  cv::namedWindow("frame");
+  cv::namedWindow("depth");
+
+  while (true) {
+    api->WaitForStreams();
+
+    auto &&left_data = api->GetStreamData(Stream::LEFT);
+    auto &&right_data = api->GetStreamData(Stream::RIGHT);
+
+    // Concat left and right as img
+    cv::Mat img;
+    cv::hconcat(left_data.frame, right_data.frame, img);
+
+    // Draw img data and size
+    painter.DrawImgData(img, *left_data.img);
+
+    // Draw imu data
+    if (imu) {
+      std::lock_guard<std::mutex> _(imu_mtx);
+      painter.DrawImuData(img, *imu);
+    }
+
+    // Draw counts
+    std::ostringstream ss;
+    ss << "left: " << left_count << ", depth: " << depth_count
+       << ", imu: " << imu_count;
+    painter.DrawText(img, ss.str(), CVPainter::BOTTOM_RIGHT);
+
+    // Show img
+    cv::imshow("frame", img);
+
+    // Show depth
+    if (!depth.empty()) {
+      std::lock_guard<std::mutex> _(depth_mtx);
+      ss.str("");
+      ss.clear();
+      ss << "depth: " << depth_count;
+      painter.DrawText(depth, ss.str());
+      cv::imshow("depth", depth);  // CV_16UC1
+    }
+
+    char key = static_cast<char>(cv::waitKey(1));
+    if (key == 27 || key == 'q' || key == 'Q') {  // ESC/Q
+      break;
+    }
+  }
+
+  api->Stop(Source::ALL);
+  return 0;
+}