Complete device & streams

samples/device/camera.cc

@@ -1,6 +1,10 @@
+#include <opencv2/highgui/highgui.hpp>
+#include <opencv2/imgproc/imgproc.hpp>
+
 #include "glog_init.h"  // NOLINT
 
 #include "device/context.h"
+#include "device/device.h"
 
 MYNTEYE_USE_NAMESPACE
 
@@ -8,6 +12,78 @@ int main(int argc, char *argv[]) {
   glog_init _(argc, argv);
 
   Context context;
+  auto &&devices = context.devices();
 
+  size_t n = devices.size();
+  LOG_IF(FATAL, n <= 0) << "No MYNT EYE devices :(";
+
+  LOG(INFO) << "MYNT EYE devices: ";
+  for (size_t i = 0; i < n; i++) {
+    auto &&device = devices[i];
+    auto &&name = device->GetInfo(Info::DEVICE_NAME);
+    LOG(INFO) << "  index: " << i << ", name: " << name;
+  }
+
+  std::shared_ptr<Device> device = nullptr;
+  if (n <= 1) {
+    device = devices[0];
+    LOG(INFO) << "Only one MYNT EYE device, select index: 0";
+  } else {
+    while (true) {
+      size_t i;
+      LOG(INFO) << "There are " << n << " MYNT EYE devices, select index: ";
+      std::cin >> i;
+      if (i >= n) {
+        LOG(WARNING) << "Index out of range :(";
+        continue;
+      }
+      device = devices[i];
+      break;
+    }
+  }
+
+  std::size_t left_count = 0;
+  device->SetStreamCallback(
+      Stream::LEFT, [&left_count](const device::StreamData &data) {
+        ++left_count;
+        VLOG(2) << Stream::LEFT << ", count: " << left_count;
+        UNUSED(data)
+      });
+  std::size_t right_count = 0;
+  device->SetStreamCallback(
+      Stream::RIGHT, [&right_count](const device::StreamData &data) {
+        ++right_count;
+        VLOG(2) << Stream::RIGHT << ", count: " << right_count;
+        UNUSED(data)
+      });
+
+  device->Start(Source::ALL);
+
+  cv::namedWindow("frame");
+
+  while (true) {
+    device->WaitForStreams();
+
+    device::StreamData left_data = device->GetLatestStreamData(Stream::LEFT);
+    device::StreamData right_data = device->GetLatestStreamData(Stream::RIGHT);
+
+    cv::Mat left_img(
+        left_data.frame->height(), left_data.frame->width(), CV_8UC1,
+        left_data.frame->data());
+    cv::Mat right_img(
+        right_data.frame->height(), right_data.frame->width(), CV_8UC1,
+        right_data.frame->data());
+
+    cv::Mat img;
+    cv::hconcat(left_img, right_img, img);
+    cv::imshow("frame", img);
+
+    char key = static_cast<char>(cv::waitKey(1));
+    if (key == 27 || key == 'q' || key == 'Q') {  // ESC/Q
+      break;
+    }
+  }
+
+  device->Stop(Source::ALL);
   return 0;
 }