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Done disparity processor

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This commit is contained in:
John Zhao
2018-04-28 13:26:46 +08:00
parent 21f2f91343
commit c176f55af2
4 changed files with 85 additions and 12 deletions
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17
samples/api/camera.cc
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@@ -53,11 +53,13 @@ int main(int argc, char *argv[]) {
api->EnableStreamData(Stream::LEFT_RECTIFIED);
api->EnableStreamData(Stream::RIGHT_RECTIFIED);
api->EnableStreamData(Stream::DISPARITY_NORMALIZED);
// Enable this will cache the motion datas until you get them.
api->EnableMotionDatas();
api->Start(Source::ALL);
cv::namedWindow("frame");
cv::namedWindow("disparity");
std::size_t motion_count = 0;
auto &&time_beg = times::now();
@@ -68,8 +70,15 @@ int main(int argc, char *argv[]) {
// auto &&right_data = api->GetStreamData(Stream::RIGHT);
auto &&left_data = api->GetStreamData(Stream::LEFT_RECTIFIED);
auto &&right_data = api->GetStreamData(Stream::RIGHT_RECTIFIED);
if (left_data.frame.empty() || right_data.frame.empty()) {
continue;
if (!left_data.frame.empty() && !right_data.frame.empty()) {
cv::Mat img;
cv::hconcat(left_data.frame, right_data.frame, img);
cv::imshow("frame", img);
}
auto &&disp_data = api->GetStreamData(Stream::DISPARITY_NORMALIZED);
if (!disp_data.frame.empty()) {
cv::imshow("disparity", disp_data.frame);
}
auto &&motion_datas = api->GetMotionDatas();
@@ -86,10 +95,6 @@ int main(int argc, char *argv[]) {
<< ", temperature: " << data.imu->temperature;
}
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;