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Done control tutorials

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This commit is contained in:
John Zhao 2018-05-13 10:12:24 +08:00
parent abef84e8dc
commit aca1f8b183
5 changed files with 236 additions and 1 deletions
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9
samples/tutorials/CMakeLists.txt
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@ -111,6 +111,15 @@ make_executable2(get_with_plugin SRCS data/get_with_plugin.cc WITH_OPENCV)
# control # control
make_executable2(ctrl_framerate SRCS control/framerate.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
)
make_executable2(ctrl_infrared SRCS control/infrared.cc WITH_OPENCV) make_executable2(ctrl_infrared SRCS control/infrared.cc WITH_OPENCV)
endif() endif()

69
samples/tutorials/control/auto_exposure.cc Normal file
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@ -0,0 +1,69 @@
// 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 "mynteye/api.h"
#include "util/cv_painter.h"
MYNTEYE_USE_NAMESPACE
int main(int argc, char *argv[]) {
auto &&api = API::Create(argc, argv);
// auto-exposure: 0
api->SetOptionValue(Option::EXPOSURE_MODE, 0);
// max_gain: range [0.48], default 48
api->SetOptionValue(Option::MAX_GAIN, 48);
// max_exposure_time: range [0,240], default 240
api->SetOptionValue(Option::MAX_EXPOSURE_TIME, 240);
// desired_brightness: range [0,255], default 192
api->SetOptionValue(Option::DESIRED_BRIGHTNESS, 192);
LOG(INFO) << "Enable auto-exposure";
LOG(INFO) << "Set MAX_GAIN to " << api->GetOptionValue(Option::MAX_GAIN);
LOG(INFO) << "Set MAX_EXPOSURE_TIME to "
<< api->GetOptionValue(Option::MAX_EXPOSURE_TIME);
LOG(INFO) << "Set DESIRED_BRIGHTNESS to "
<< api->GetOptionValue(Option::DESIRED_BRIGHTNESS);
api->Start(Source::VIDEO_STREAMING);
CVPainter painter;
cv::namedWindow("frame");
while (true) {
api->WaitForStreams();
auto &&left_data = api->GetStreamData(Stream::LEFT);
auto &&right_data = api->GetStreamData(Stream::RIGHT);
cv::Mat img;
cv::hconcat(left_data.frame, right_data.frame, img);
painter.DrawImgData(img, *left_data.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;
}

90
samples/tutorials/control/framerate.cc Normal file
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@ -0,0 +1,90 @@
// 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 "mynteye/api.h"
#include "mynteye/times.h"
MYNTEYE_USE_NAMESPACE
int main(int argc, char *argv[]) {
auto &&api = API::Create(argc, argv);
// Attention: must set FRAME_RATE and IMU_FREQUENCY together, otherwise won't
// succeed.
// FRAME_RATE values: 10, 15, 20, 25, 30, 35, 40, 45, 50, 55, 60
api->SetOptionValue(Option::FRAME_RATE, 25);
// IMU_FREQUENCY values: 100, 200, 250, 333, 500
api->SetOptionValue(Option::IMU_FREQUENCY, 500);
LOG(INFO) << "Set FRAME_RATE to " << api->GetOptionValue(Option::FRAME_RATE);
LOG(INFO) << "Set IMU_FREQUENCY to "
<< api->GetOptionValue(Option::IMU_FREQUENCY);
// Count img
std::atomic_uint img_count(0);
api->SetStreamCallback(
Stream::LEFT, [&img_count](const api::StreamData &data) {
CHECK_NOTNULL(data.img);
++img_count;
});
// Count imu
std::atomic_uint imu_count(0);
api->SetMotionCallback([&imu_count](const api::MotionData &data) {
CHECK_NOTNULL(data.imu);
++imu_count;
});
api->Start(Source::ALL);
cv::namedWindow("frame");
auto &&time_beg = times::now();
while (true) {
api->WaitForStreams();
auto &&left_data = api->GetStreamData(Stream::LEFT);
auto &&right_data = api->GetStreamData(Stream::RIGHT);
cv::Mat img;
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;
}
}
auto &&time_end = times::now();
api->Stop(Source::ALL);
// Calculate img fps and imu hz
float elapsed_ms =
times::count<times::microseconds>(time_end - time_beg) * 0.001f;
LOG(INFO) << "Time beg: " << times::to_local_string(time_beg)
<< ", end: " << times::to_local_string(time_end)
<< ", cost: " << elapsed_ms << "ms";
LOG(INFO) << "Img count: " << img_count
<< ", fps: " << (1000.f * img_count / elapsed_ms);
LOG(INFO) << "Imu count: " << imu_count
<< ", hz: " << (1000.f * imu_count / elapsed_ms);
return 0;
}

2
samples/tutorials/control/infrared.cc
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@ -55,6 +55,6 @@ int main(int argc, char *argv[]) {
} }
} }
api->Stop(Source::ALL); api->Stop(Source::VIDEO_STREAMING);
return 0; return 0;
} }

67
samples/tutorials/control/manual_exposure.cc Normal file
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@ -0,0 +1,67 @@
// 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 "mynteye/api.h"
#include "util/cv_painter.h"
MYNTEYE_USE_NAMESPACE
int main(int argc, char *argv[]) {
auto &&api = API::Create(argc, argv);
// manual-exposure: 1
api->SetOptionValue(Option::EXPOSURE_MODE, 1);
// gain: range [0.48], default 24
api->SetOptionValue(Option::GAIN, 24);
// brightness/exposure_time: range [0,240], default 120
api->SetOptionValue(Option::BRIGHTNESS, 120);
// contrast/black_level_calibration: range [0,255], default 127
api->SetOptionValue(Option::CONTRAST, 127);
LOG(INFO) << "Enable manual-exposure";
LOG(INFO) << "Set GAIN to " << api->GetOptionValue(Option::GAIN);
LOG(INFO) << "Set BRIGHTNESS to " << api->GetOptionValue(Option::BRIGHTNESS);
LOG(INFO) << "Set CONTRAST to " << api->GetOptionValue(Option::CONTRAST);
api->Start(Source::VIDEO_STREAMING);
CVPainter painter;
cv::namedWindow("frame");
while (true) {
api->WaitForStreams();
auto &&left_data = api->GetStreamData(Stream::LEFT);
auto &&right_data = api->GetStreamData(Stream::RIGHT);
cv::Mat img;
cv::hconcat(left_data.frame, right_data.frame, img);
painter.DrawImgData(img, *left_data.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;
}