tami/MYNT-EYE-S-SDK
6
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Add motions & times

Browse Source
This commit is contained in:
John Zhao
2018-04-12 11:48:09 +08:00
parent cca17ba629
commit d15ce48a28
7 changed files with 395 additions and 31 deletions
Download Patch File Download Diff File Expand all files Collapse all files

36
samples/device/camera.cc
View File

@@ -6,6 +6,8 @@
#include "device/context.h"
#include "device/device.h"
#include "internal/times.h"
MYNTEYE_USE_NAMESPACE
int main(int argc, char *argv[]) {
@@ -86,22 +88,23 @@ int main(int argc, char *argv[]) {
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;
VLOG(2) << "Imu count: " << imu_count;
VLOG(2) << " 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");
auto &&time_beg = times::now();
while (true) {
device->WaitForStreams();
@@ -124,7 +127,20 @@ int main(int argc, char *argv[]) {
break;
}
}
auto &&time_end = times::now();
device->Stop(Source::ALL);
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) << "Left count: " << left_count
<< ", fps: " << (1000.f * left_count / elapsed_ms);
LOG(INFO) << "Right count: " << right_count
<< ", fps: " << (1000.f * right_count / elapsed_ms);
LOG(INFO) << "Imu count: " << imu_count
<< ", hz: " << (1000.f * imu_count / elapsed_ms);
return 0;
}