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Add imu tracking

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This commit is contained in:
John Zhao
2018-04-10 20:20:42 +08:00
parent f818cbe24c
commit be26072877
4 changed files with 151 additions and 14 deletions
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34
samples/device/camera.cc
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@@ -64,26 +64,40 @@ int main(int argc, char *argv[]) {
std::size_t left_count = 0;
device->SetStreamCallback(
Stream::LEFT, [&left_count](const device::StreamData &data) {
CHECK_NOTNULL(data.img);
++left_count;
VLOG(2) << Stream::LEFT << ", count: " << left_count;
if (data.img) {
VLOG(2) << " frame_id: " << data.img->frame_id
<< ", timestamp: " << data.img->timestamp
<< ", exposure_time: " << data.img->exposure_time;
}
VLOG(2) << " frame_id: " << data.img->frame_id
<< ", timestamp: " << data.img->timestamp
<< ", exposure_time: " << data.img->exposure_time;
});
std::size_t right_count = 0;
device->SetStreamCallback(
Stream::RIGHT, [&right_count](const device::StreamData &data) {
CHECK_NOTNULL(data.img);
++right_count;
VLOG(2) << Stream::RIGHT << ", count: " << right_count;
if (data.img) {
VLOG(2) << " frame_id: " << data.img->frame_id
<< ", timestamp: " << data.img->timestamp
<< ", exposure_time: " << data.img->exposure_time;
}
VLOG(2) << " frame_id: " << data.img->frame_id
<< ", timestamp: " << data.img->timestamp
<< ", exposure_time: " << data.img->exposure_time;
});
std::size_t imu_count = 0;
device->SetMotionCallback([&imu_count](const device::MotionData &data) {
CHECK_NOTNULL(data.imu);
++imu_count;
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;
});
device->Start(Source::ALL);
cv::namedWindow("frame");