Merge branch 'project_refact' into develop

samples/CMakeLists.txt

@@ -59,28 +59,194 @@ endif()
 
 #LIST(APPEND CMAKE_MODULE_PATH ${PRO_DIR}/cmake)
 
+
+
+
 # targets
 
 set(OUT_DIR "${CMAKE_CURRENT_SOURCE_DIR}/_output")
 
+
+include_directories(
+  ${PRO_DIR}/src
+)
+
+set_outdir(
+  "${OUT_DIR}/lib"
+  "${OUT_DIR}/lib"
+  "${OUT_DIR}/bin"
+)
+
 if(OS_MAC)
 # samples above uvc layer
 
-  add_subdirectory(uvc)
+  make_executable(camera_u
+  SRCS uvc_camera.cc
+  LINK_LIBS mynteye ${OpenCV_LIBS}
+  DLL_SEARCH_PATHS ${PRO_DIR}/_install/bin ${OpenCV_LIB_SEARCH_PATH}
+  )
 else()
   # samples above device layer
 
-  add_subdirectory(device)
-
-  # tutorials
-
-  if(WITH_API)
-    add_subdirectory(tutorials)
-  endif()
+  make_executable(camera_use_device
+    SRCS device_camera.cc
+    LINK_LIBS mynteye ${OpenCV_LIBS}
+    DLL_SEARCH_PATHS ${PRO_DIR}/_install/bin ${OpenCV_LIB_SEARCH_PATH}
+  )
 
   # samples above api layer
 
   if(WITH_API)
-    add_subdirectory(api)
+    ## camera_a
+
+    make_executable(camera_use_api
+    SRCS api_camera.cc
+    LINK_LIBS mynteye ${OpenCV_LIBS}
+    DLL_SEARCH_PATHS ${PRO_DIR}/_install/bin ${OpenCV_LIB_SEARCH_PATH}
+    )
+
+    ## get_depth_with_region
+
+    make_executable(get_depth_with_region
+    SRCS api_get_depth_with_region.cc
+    LINK_LIBS mynteye ${OpenCV_LIBS}
+    DLL_SEARCH_PATHS ${PRO_DIR}/_install/bin ${OpenCV_LIB_SEARCH_PATH}
+    )
   endif()
 endif()
+
+
+
+# targets
+
+include_directories(
+  ${OpenCV_INCLUDE_DIRS}
+)
+
+
+# tutorials
+
+if(WITH_API)
+    
+  # make_executable2(NAME
+  #                 [SRCS src1 src2 ...]
+  #                 [WITH_OPENCV]
+  #                 [WITH_PCL])
+  macro(make_executable2 NAME)
+  set(options WITH_OPENCV WITH_PCL)
+  set(oneValueArgs)
+  set(multiValueArgs SRCS)
+  cmake_parse_arguments(THIS "${options}" "${oneValueArgs}"
+                        "${multiValueArgs}" ${ARGN})
+
+  set(__link_libs mynteye)
+  set(__dll_search_paths ${PRO_DIR}/_install/bin)
+  if(THIS_WITH_OPENCV)
+    list(APPEND __link_libs ${OpenCV_LIBS})
+    list(APPEND __dll_search_paths ${OpenCV_LIB_SEARCH_PATH})
+  endif()
+  if(THIS_WITH_PCL)
+    list(APPEND __link_libs ${PCL_LIBRARIES})
+    #list(APPEND __link_libs pcl::pcl)
+    list(APPEND __dll_search_paths ${PCL_LIB_SEARCH_PATH})
+  endif()
+
+  add_executable(${NAME} ${THIS_SRCS})
+  target_link_libraries(${NAME} ${__link_libs})
+  target_create_scripts(${NAME} DLL_SEARCH_PATHS ${__dll_search_paths})
+
+  if(THIS_WITH_PCL)
+    target_include_directories(${NAME} PRIVATE ${PCL_INCLUDE_DIRS})
+    #target_compile_definitions(${NAME} PRIVATE ${PCL_DEFINITIONS})
+    #target_compile_options(${NAME} PRIVATE ${PCL_COMPILE_OPTIONS})
+  endif()
+  if(OS_WIN)
+    target_compile_definitions(${NAME}
+      PUBLIC GLOG_NO_ABBREVIATED_SEVERITIES
+    )
+  endif()
+  endmacro()
+
+  # packages
+
+  # If you install PCL to different directory, please set CMAKE_PREFIX_PATH to find it.
+  #LIST(APPEND CMAKE_PREFIX_PATH /usr/local/share)
+  find_package(PCL)
+  if(PCL_FOUND)
+    message(STATUS "Found PCL: ${PCL_VERSION}")
+
+    #message(STATUS "PCL_LIBRARIES: ${PCL_LIBRARIES}")
+    #message(STATUS "PCL_INCLUDE_DIRS: ${PCL_INCLUDE_DIRS}")
+    #message(STATUS "PCL_LIBRARY_DIRS: ${PCL_LIBRARY_DIRS}")
+    #message(STATUS "PCL_DEFINITIONS: ${PCL_DEFINITIONS}")
+    #message(STATUS "PCL_COMPILE_OPTIONS: ${PCL_COMPILE_OPTIONS}")
+
+    if(OS_WIN)
+      get_filename_component(PCL_LIB_SEARCH_PATH "${PCL_LIBRARY_DIRS}/../bin" ABSOLUTE)
+    else()
+      set(PCL_LIB_SEARCH_PATH "${PCL_LIBRARY_DIRS}")
+    endif()
+  else()
+    message(WARNING "PCL not found :(")
+  endif()
+
+  # beginner level
+
+  ## data
+
+  make_executable2(get_device_info SRCS data_get_device_info.cc WITH_OPENCV)
+  make_executable2(get_img_params SRCS data_get_img_params.cc WITH_OPENCV)
+  make_executable2(get_imu_params SRCS data_get_imu_params.cc WITH_OPENCV)
+
+  make_executable2(get_stereo SRCS data_get_stereo.cc WITH_OPENCV)
+  make_executable2(get_stereo_rectified SRCS data_get_stereo_rectified.cc WITH_OPENCV)
+  make_executable2(get_disparity SRCS data_get_disparity.cc WITH_OPENCV)
+  make_executable2(get_depth SRCS data_get_depth.cc WITH_OPENCV)
+
+  make_executable2(get_data_without_select SRCS data_get_data_without_select.cc WITH_OPENCV)
+  if(PCL_FOUND)
+    make_executable2(get_points
+      SRCS data_get_points.cc util_pc_viewer.cc
+      WITH_OPENCV WITH_PCL
+    )
+  endif()
+  make_executable2(get_imu_correspondence
+  SRCS data_get_imu_correspondence.cc util_cv_painter.cc
+  WITH_OPENCV
+  )
+  make_executable2(get_imu SRCS data_get_imu.cc util_cv_painter.cc WITH_OPENCV)
+  make_executable2(save_single_image SRCS data_save_single_image.cc WITH_OPENCV)
+  make_executable2(get_from_callbacks
+  SRCS data_get_from_callbacks.cc util_cv_painter.cc
+  WITH_OPENCV
+  )
+  make_executable2(get_with_plugin SRCS data_get_with_plugin.cc WITH_OPENCV)
+
+  ## control
+
+  make_executable2(ctrl_framerate SRCS control_framerate.cc WITH_OPENCV)
+  make_executable2(ctrl_imu_low_pass_filter SRCS control_imu_low_pass_filter.cc WITH_OPENCV)
+  make_executable2(ctrl_imu_range SRCS control_imu_range.cc WITH_OPENCV)
+  make_executable2(ctrl_infrared SRCS control_infrared.cc WITH_OPENCV)
+  make_executable2(ctrl_iic_adress SRCS control_iic_address.cc WITH_OPENCV)
+  make_executable2(ctrl_sync_timestamp SRCS control_sync_timestamp.cc WITH_OPENCV)
+  make_executable2(ctrl_auto_exposure
+  SRCS control_auto_exposure.cc util_cv_painter.cc
+  WITH_OPENCV
+  )
+  make_executable2(ctrl_manual_exposure
+  SRCS control_manual_exposure.cc util_cv_painter.cc
+  WITH_OPENCV
+  )
+
+  if(PCL_FOUND)
+
+    make_executable2(get_depth_and_points
+    SRCS intermediate_get_depth_and_points.cc util_cv_painter.cc util_pc_viewer.cc
+    WITH_OPENCV WITH_PCL
+    )
+
+  endif()
+endif()
+
+

samples/api/CMakeLists.txt

@@ -1,37 +0,0 @@
-# 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.
-
-get_filename_component(DIR_NAME ${CMAKE_CURRENT_LIST_DIR} NAME)
-
-set_outdir(
-  "${OUT_DIR}/lib/${DIR_NAME}"
-  "${OUT_DIR}/lib/${DIR_NAME}"
-  "${OUT_DIR}/bin/${DIR_NAME}"
-)
-
-## camera_a
-
-make_executable(camera_a
-  SRCS camera.cc
-  LINK_LIBS mynteye ${OpenCV_LIBS}
-  DLL_SEARCH_PATHS ${PRO_DIR}/_install/bin ${OpenCV_LIB_SEARCH_PATH}
-)
-
-## get_depth_with_region
-
-make_executable(get_depth_with_region
-  SRCS get_depth_with_region.cc
-  LINK_LIBS mynteye ${OpenCV_LIBS}
-  DLL_SEARCH_PATHS ${PRO_DIR}/_install/bin ${OpenCV_LIB_SEARCH_PATH}
-)

samples/control_auto_exposure.cc

@@ -16,7 +16,7 @@
 #include "mynteye/logger.h"
 #include "mynteye/api/api.h"
 
-#include "util/cv_painter.h"
+#include "util_cv_painter.h"
 
 MYNTEYE_USE_NAMESPACE
 

samples/control_manual_exposure.cc

@@ -16,7 +16,7 @@
 #include "mynteye/logger.h"
 #include "mynteye/api/api.h"
 
-#include "util/cv_painter.h"
+#include "util_cv_painter.h"
 
 MYNTEYE_USE_NAMESPACE
 

samples/data_get_from_callbacks.cc

@@ -21,7 +21,7 @@
 #include "mynteye/logger.h"
 #include "mynteye/api/api.h"
 
-#include "util/cv_painter.h"
+#include "util_cv_painter.h"
 
 MYNTEYE_USE_NAMESPACE
 

samples/data_get_imu.cc

@@ -16,7 +16,7 @@
 #include "mynteye/logger.h"
 #include "mynteye/api/api.h"
 
-#include "util/cv_painter.h"
+#include "util_cv_painter.h"
 
 MYNTEYE_USE_NAMESPACE
 

samples/data_get_imu_correspondence.cc

@@ -16,7 +16,7 @@
 #include "mynteye/logger.h"
 #include "mynteye/api/api.h"
 
-#include "util/cv_painter.h"
+#include "util_cv_painter.h"
 
 // #define CHECK_ACCEL_THEN_GYRO
 #define SEQ_FIRST  1  // accel

samples/data_get_points.cc

@@ -16,7 +16,7 @@
 
 #include "mynteye/api/api.h"
 
-#include "util/pc_viewer.h"
+#include "util_pc_viewer.h"
 
 MYNTEYE_USE_NAMESPACE
 

samples/device/CMakeLists.txt

@@ -1,33 +0,0 @@
-# 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.
-
-get_filename_component(DIR_NAME ${CMAKE_CURRENT_LIST_DIR} NAME)
-
-include_directories(
-  ${PRO_DIR}/src
-)
-
-set_outdir(
-  "${OUT_DIR}/lib/${DIR_NAME}"
-  "${OUT_DIR}/lib/${DIR_NAME}"
-  "${OUT_DIR}/bin/${DIR_NAME}"
-)
-
-## camera_d
-
-make_executable(camera_d
-  SRCS camera.cc
-  LINK_LIBS mynteye ${OpenCV_LIBS}
-  DLL_SEARCH_PATHS ${PRO_DIR}/_install/bin ${OpenCV_LIB_SEARCH_PATH}
-)

samples/intermediate_get_depth_and_points.cc

@@ -17,8 +17,8 @@
 // #include "mynteye/logger.h"
 #include "mynteye/api/api.h"
 
-#include "util/cv_painter.h"
-#include "util/pc_viewer.h"
+#include "util_cv_painter.h"
+#include "util_pc_viewer.h"
 
 namespace {
 

samples/simple_demo/project_cmake/mynteye_demo.cc

@@ -0,0 +1,61 @@
+// 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 <stdio.h>
+#include <opencv2/highgui/highgui.hpp>
+
+#include "mynteye/api/api.h"
+
+MYNTEYE_USE_NAMESPACE
+
+int main(int argc, char const *argv[]) {
+  auto &&api = API::Create(0, nullptr);
+  if (!api) return 1;
+
+  bool ok;
+  auto &&request = api->SelectStreamRequest(&ok);
+  if (!ok) return 1;
+  api->ConfigStreamRequest(request);
+  api->Start(Source::VIDEO_STREAMING);
+
+  double fps;
+  double t = 0.01;
+  std::cout << "fps:" << std::endl;
+
+  cv::namedWindow("frame");
+
+  while (true) {
+    api->WaitForStreams();
+
+    auto &&left_data = api->GetStreamData(Stream::LEFT);
+    auto &&right_data = api->GetStreamData(Stream::RIGHT);
+
+    cv::Mat img;
+    if (!left_data.frame.empty() && !right_data.frame.empty()) {
+      double t_c = cv::getTickCount() / cv::getTickFrequency();
+      fps = 1.0/(t_c - t);
+      printf("\b\b\b\b\b\b\b\b\b%.2f", fps);
+      t = t_c;
+      cv::hconcat(left_data.frame, right_data.frame, img);
+      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::VIDEO_STREAMING);
+  return 0;
+}

samples/tutorials/CMakeLists.txt

@@ -1,148 +0,0 @@
-# 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.
-
-get_filename_component(DIR_NAME ${CMAKE_CURRENT_LIST_DIR} NAME)
-
-include_directories(
-  ${CMAKE_CURRENT_SOURCE_DIR}
-  ${PRO_DIR}/src
-)
-
-set_outdir(
-  "${OUT_DIR}/lib/${DIR_NAME}"
-  "${OUT_DIR}/lib/${DIR_NAME}"
-  "${OUT_DIR}/bin/${DIR_NAME}"
-)
-
-# make_executable2(NAME
-#                 [SRCS src1 src2 ...]
-#                 [WITH_OPENCV]
-#                 [WITH_PCL])
-macro(make_executable2 NAME)
-  set(options WITH_OPENCV WITH_PCL)
-  set(oneValueArgs)
-  set(multiValueArgs SRCS)
-  cmake_parse_arguments(THIS "${options}" "${oneValueArgs}"
-                        "${multiValueArgs}" ${ARGN})
-
-  set(__link_libs mynteye)
-  set(__dll_search_paths ${PRO_DIR}/_install/bin)
-  if(THIS_WITH_OPENCV)
-    list(APPEND __link_libs ${OpenCV_LIBS})
-    list(APPEND __dll_search_paths ${OpenCV_LIB_SEARCH_PATH})
-  endif()
-  if(THIS_WITH_PCL)
-    list(APPEND __link_libs ${PCL_LIBRARIES})
-    #list(APPEND __link_libs pcl::pcl)
-    list(APPEND __dll_search_paths ${PCL_LIB_SEARCH_PATH})
-  endif()
-
-  add_executable(${NAME} ${THIS_SRCS})
-  target_link_libraries(${NAME} ${__link_libs})
-  target_create_scripts(${NAME} DLL_SEARCH_PATHS ${__dll_search_paths})
-
-  if(THIS_WITH_PCL)
-    target_include_directories(${NAME} PRIVATE ${PCL_INCLUDE_DIRS})
-    #target_compile_definitions(${NAME} PRIVATE ${PCL_DEFINITIONS})
-    #target_compile_options(${NAME} PRIVATE ${PCL_COMPILE_OPTIONS})
-  endif()
-  if(OS_WIN)
-    target_compile_definitions(${NAME}
-      PUBLIC GLOG_NO_ABBREVIATED_SEVERITIES
-    )
-  endif()
-endmacro()
-
-# packages
-
-# If you install PCL to different directory, please set CMAKE_PREFIX_PATH to find it.
-#LIST(APPEND CMAKE_PREFIX_PATH /usr/local/share)
-find_package(PCL)
-if(PCL_FOUND)
-  message(STATUS "Found PCL: ${PCL_VERSION}")
-
-  #message(STATUS "PCL_LIBRARIES: ${PCL_LIBRARIES}")
-  #message(STATUS "PCL_INCLUDE_DIRS: ${PCL_INCLUDE_DIRS}")
-  #message(STATUS "PCL_LIBRARY_DIRS: ${PCL_LIBRARY_DIRS}")
-  #message(STATUS "PCL_DEFINITIONS: ${PCL_DEFINITIONS}")
-  #message(STATUS "PCL_COMPILE_OPTIONS: ${PCL_COMPILE_OPTIONS}")
-
-  if(OS_WIN)
-    get_filename_component(PCL_LIB_SEARCH_PATH "${PCL_LIBRARY_DIRS}/../bin" ABSOLUTE)
-  else()
-    set(PCL_LIB_SEARCH_PATH "${PCL_LIBRARY_DIRS}")
-  endif()
-else()
-  message(WARNING "PCL not found :(")
-endif()
-
-# beginner level
-
-## data
-
-make_executable2(get_device_info SRCS data/get_device_info.cc WITH_OPENCV)
-make_executable2(get_img_params SRCS data/get_img_params.cc WITH_OPENCV)
-make_executable2(get_imu_params SRCS data/get_imu_params.cc WITH_OPENCV)
-
-make_executable2(get_stereo SRCS data/get_stereo.cc WITH_OPENCV)
-make_executable2(get_stereo_rectified SRCS data/get_stereo_rectified.cc WITH_OPENCV)
-make_executable2(get_disparity SRCS data/get_disparity.cc WITH_OPENCV)
-make_executable2(get_depth SRCS data/get_depth.cc WITH_OPENCV)
-
-make_executable2(get_data_without_select SRCS data/get_data_without_select.cc WITH_OPENCV)
-if(PCL_FOUND)
-  make_executable2(get_points
-    SRCS data/get_points.cc util/pc_viewer.cc
-    WITH_OPENCV WITH_PCL
-  )
-endif()
-make_executable2(get_imu_correspondence
-  SRCS data/get_imu_correspondence.cc util/cv_painter.cc
-  WITH_OPENCV
-)
-make_executable2(get_imu SRCS data/get_imu.cc util/cv_painter.cc WITH_OPENCV)
-make_executable2(save_single_image SRCS data/save_single_image.cc WITH_OPENCV)
-make_executable2(get_from_callbacks
-  SRCS data/get_from_callbacks.cc util/cv_painter.cc
-  WITH_OPENCV
-)
-make_executable2(get_with_plugin SRCS data/get_with_plugin.cc WITH_OPENCV)
-
-## control
-
-make_executable2(ctrl_framerate SRCS control/framerate.cc WITH_OPENCV)
-make_executable2(ctrl_imu_low_pass_filter SRCS control/imu_low_pass_filter.cc WITH_OPENCV)
-make_executable2(ctrl_imu_range SRCS control/imu_range.cc WITH_OPENCV)
-make_executable2(ctrl_infrared SRCS control/infrared.cc WITH_OPENCV)
-make_executable2(ctrl_iic_adress SRCS control/iic_address.cc WITH_OPENCV)
-make_executable2(ctrl_sync_timestamp SRCS control/sync_timestamp.cc WITH_OPENCV)
-make_executable2(ctrl_auto_exposure
-  SRCS control/auto_exposure.cc util/cv_painter.cc
-  WITH_OPENCV
-)
-make_executable2(ctrl_manual_exposure
-  SRCS control/manual_exposure.cc util/cv_painter.cc
-  WITH_OPENCV
-)
-
-if(PCL_FOUND)
-
-make_executable2(get_depth_and_points
-  SRCS intermediate/get_depth_and_points.cc util/cv_painter.cc util/pc_viewer.cc
-  WITH_OPENCV WITH_PCL
-)
-
-endif()
-
-# advanced level

samples/util_cv_painter.cc

@@ -11,7 +11,7 @@
 // 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 "util/cv_painter.h"
+#include "util_cv_painter.h"
 
 #include <iomanip>
 #include <iostream>

samples/util_pc_viewer.cc

@@ -11,7 +11,7 @@
 // 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 "util/pc_viewer.h"
+#include "util_pc_viewer.h"
 
 // #include <pcl/common/common_headers.h>
 

samples/uvc/CMakeLists.txt

@@ -1,33 +0,0 @@
-# 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.
-
-get_filename_component(DIR_NAME ${CMAKE_CURRENT_LIST_DIR} NAME)
-
-set_outdir(
-  "${OUT_DIR}/lib/${DIR_NAME}"
-  "${OUT_DIR}/lib/${DIR_NAME}"
-  "${OUT_DIR}/bin/${DIR_NAME}"
-)
-
-include_directories(
-  ${PRO_DIR}/src
-)
-
-## camera_u
-
-make_executable(camera_u
-  SRCS camera.cc
-  LINK_LIBS mynteye ${OpenCV_LIBS}
-  DLL_SEARCH_PATHS ${PRO_DIR}/_install/bin ${OpenCV_LIB_SEARCH_PATH}
-)