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feat(correspondence): add get correspondence data

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This commit is contained in:
John Zhao
2019-02-22 14:00:23 +08:00
parent ab52fd5280
commit 85acd7b915
4 changed files with 94 additions and 18 deletions
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16
samples/tutorials/data/get_imu_correspondence.cc
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@@ -38,22 +38,30 @@ int main(int argc, char *argv[]) {
cv::namedWindow("frame");
std::uint64_t prev_img_stamp = 0;
std::uint64_t prev_imu_stamp = 0;
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;
auto img_stamp = left_data.img->timestamp;
LOG(INFO) << "Img timestamp: " << img_stamp
<< ", diff_prev=" << (img_stamp - prev_img_stamp);
prev_img_stamp = img_stamp;
cv::Mat img;
cv::hconcat(left_data.frame, right_data.frame, img);
auto &&motion_datas = api->GetMotionDatas();
LOG(INFO) << "Imu count: " << motion_datas.size();
for (auto &&data : motion_datas) {
LOG(INFO) << "Imu frame_id: " << data.imu->frame_id
<< ", timestamp: " << data.imu->timestamp;
auto imu_stamp = data.imu->timestamp;
LOG(INFO) << "Imu timestamp: " << imu_stamp
<< ", diff_prev=" << (imu_stamp - prev_imu_stamp)
<< ", diff_img=" << (1.f + imu_stamp - img_stamp);
prev_imu_stamp = imu_stamp;
}
LOG(INFO);