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refactor(*): change stream request and params interfaces

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This commit is contained in:
John Zhao
2018-12-20 17:10:18 +08:00
parent 098b307260
commit d2a32e0ec1
37 changed files with 491 additions and 375 deletions
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10
samples/api/camera.cc
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@@ -21,9 +21,13 @@ MYNTEYE_USE_NAMESPACE
int main(int argc, char *argv[]) {
auto &&api = API::Create(argc, argv);
if (!api)
return 1;
api->SetStreamRequest(Format::BGR888, FrameRate::RATE_30_FPS);
if (!api) return 1;
bool ok;
auto &&request = api->SelectStreamRequest(&ok);
if (!ok) return 1;
api->ConfigStreamRequest(request);
api->LogOptionInfos();
std::size_t left_count = 0;

8
samples/api/get_depth_with_region.cc
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@@ -144,8 +144,12 @@ MYNTEYE_USE_NAMESPACE
int main(int argc, char *argv[]) {
auto &&api = API::Create(argc, argv);
if (!api)
return 1;
if (!api) return 1;
bool ok;
auto &&request = api->SelectStreamRequest(&ok);
if (!ok) return 1;
api->ConfigStreamRequest(request);
api->SetOptionValue(Option::IR_CONTROL, 80);

14
samples/device/camera.cc
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@@ -25,12 +25,14 @@ int main(int argc, char *argv[]) {
glog_init _(argc, argv);
auto &&device = device::select();
if (!device)
return 1;
if (!device) return 1;
bool ok;
auto &&request = device::select_request(device, &ok);
if (!ok) return 1;
device->ConfigStreamRequest(request);
std::size_t left_count = 0;
device->InitResolution(Resolution::RES_1280x400);
device->SetStreamRequest(Format::BGR888, FrameRate::RATE_30_FPS);
device->SetStreamCallback(
Stream::LEFT, [&left_count](const device::StreamData &data) {
CHECK_NOTNULL(data.img);
@@ -77,8 +79,8 @@ int main(int argc, char *argv[]) {
while (true) {
device->WaitForStreams();
device::StreamData left_data = device->GetLatestStreamData(Stream::LEFT);
device::StreamData right_data = device->GetLatestStreamData(Stream::RIGHT);
device::StreamData left_data = device->GetStreamData(Stream::LEFT);
device::StreamData right_data = device->GetStreamData(Stream::RIGHT);
auto &&motion_datas = device->GetMotionDatas();
motion_count += motion_datas.size();

9
samples/tutorials/control/auto_exposure.cc
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@@ -22,9 +22,12 @@ MYNTEYE_USE_NAMESPACE
int main(int argc, char *argv[]) {
auto &&api = API::Create(argc, argv);
if (!api)
return 1;
api->SetStreamRequest(Format::BGR888, FrameRate::RATE_30_FPS);
if (!api) return 1;
bool ok;
auto &&request = api->SelectStreamRequest(&ok);
if (!ok) return 1;
api->ConfigStreamRequest(request);
// auto-exposure: 0
api->SetOptionValue(Option::EXPOSURE_MODE, 0);

13
samples/tutorials/control/framerate.cc
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@@ -22,11 +22,14 @@
MYNTEYE_USE_NAMESPACE
int main(int argc, char *argv[]) {
auto &&api = API::Create(Resolution::RES_1280x400);
// auto &&api = API::Create(argc, argv);
if (!api)
return 1;
api->SetStreamRequest(Format::BGR888, FrameRate::RATE_30_FPS);
auto &&api = API::Create(argc, argv);
if (!api) return 1;
bool ok;
auto &&request = api->SelectStreamRequest(&ok);
if (!ok) return 1;
api->ConfigStreamRequest(request);
// Count img
std::atomic_uint img_count(0);
api->SetStreamCallback(

8
samples/tutorials/control/imu_range.cc
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@@ -23,8 +23,12 @@ MYNTEYE_USE_NAMESPACE
int main(int argc, char *argv[]) {
auto &&api = API::Create(argc, argv);
if (!api)
return 1;
if (!api) return 1;
bool ok;
auto &&request = api->SelectStreamRequest(&ok);
if (!ok) return 1;
api->ConfigStreamRequest(request);
// ACCELEROMETER_RANGE values: 6, 12, 24, 32
api->SetOptionValue(Option::ACCELEROMETER_RANGE, 6);

9
samples/tutorials/control/manual_exposure.cc
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@@ -22,9 +22,12 @@ MYNTEYE_USE_NAMESPACE
int main(int argc, char *argv[]) {
auto &&api = API::Create(argc, argv);
if (!api)
return 1;
api->SetStreamRequest(Format::BGR888, FrameRate::RATE_30_FPS);
if (!api) return 1;
bool ok;
auto &&request = api->SelectStreamRequest(&ok);
if (!ok) return 1;
api->ConfigStreamRequest(request);
// manual-exposure: 1
api->SetOptionValue(Option::EXPOSURE_MODE, 1);

8
samples/tutorials/data/get_depth.cc
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@@ -19,8 +19,12 @@ MYNTEYE_USE_NAMESPACE
int main(int argc, char *argv[]) {
auto &&api = API::Create(argc, argv);
if (!api)
return 1;
if (!api) return 1;
bool ok;
auto &&request = api->SelectStreamRequest(&ok);
if (!ok) return 1;
api->ConfigStreamRequest(request);
api->EnableStreamData(Stream::DEPTH);

3
samples/tutorials/data/get_device_info.cc
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@@ -18,8 +18,7 @@ MYNTEYE_USE_NAMESPACE
int main(int argc, char *argv[]) {
auto &&api = API::Create(argc, argv);
if (!api)
return 1;
if (!api) return 1;
LOG(INFO) << "Device name: " << api->GetInfo(Info::DEVICE_NAME);
LOG(INFO) << "Serial number: " << api->GetInfo(Info::SERIAL_NUMBER);

8
samples/tutorials/data/get_disparity.cc
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@@ -19,8 +19,12 @@ MYNTEYE_USE_NAMESPACE
int main(int argc, char *argv[]) {
auto &&api = API::Create(argc, argv);
if (!api)
return 1;
if (!api) return 1;
bool ok;
auto &&request = api->SelectStreamRequest(&ok);
if (!ok) return 1;
api->ConfigStreamRequest(request);
// api->EnableStreamData(Stream::DISPARITY);
api->EnableStreamData(Stream::DISPARITY_NORMALIZED);

8
samples/tutorials/data/get_from_callbacks.cc
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@@ -27,8 +27,12 @@ MYNTEYE_USE_NAMESPACE
int main(int argc, char *argv[]) {
auto &&api = API::Create(argc, argv);
if (!api)
return 1;
if (!api) return 1;
bool ok;
auto &&request = api->SelectStreamRequest(&ok);
if (!ok) return 1;
api->ConfigStreamRequest(request);
// Attention: must not block the callbacks.

10
samples/tutorials/data/get_img_params.cc
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@@ -18,9 +18,13 @@ MYNTEYE_USE_NAMESPACE
int main(int argc, char *argv[]) {
auto &&api = API::Create(argc, argv);
if (!api)
return 1;
api->SetStreamRequest(Format::BGR888, FrameRate::RATE_30_FPS);
if (!api) return 1;
bool ok;
auto &&request = api->SelectStreamRequest(&ok);
if (!ok) return 1;
api->ConfigStreamRequest(request);
LOG(INFO) << "Intrinsics left: {" << api->GetIntrinsics(Stream::LEFT) << "}";
LOG(INFO) << "Intrinsics right: {" << api->GetIntrinsics(Stream::RIGHT)
<< "}";

8
samples/tutorials/data/get_imu.cc
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@@ -22,8 +22,12 @@ MYNTEYE_USE_NAMESPACE
int main(int argc, char *argv[]) {
auto &&api = API::Create(argc, argv);
if (!api)
return 1;
if (!api) return 1;
bool ok;
auto &&request = api->SelectStreamRequest(&ok);
if (!ok) return 1;
api->ConfigStreamRequest(request);
// Enable this will cache the motion datas until you get them.
api->EnableMotionDatas();

3
samples/tutorials/data/get_imu_params.cc
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@@ -18,8 +18,7 @@ MYNTEYE_USE_NAMESPACE
int main(int argc, char *argv[]) {
auto &&api = API::Create(argc, argv);
if (!api)
return 1;
if (!api) return 1;
LOG(INFO) << "Motion intrinsics: {" << api->GetMotionIntrinsics() << "}";
LOG(INFO) << "Motion extrinsics left to imu: {"

8
samples/tutorials/data/get_points.cc
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@@ -21,8 +21,12 @@ MYNTEYE_USE_NAMESPACE
int main(int argc, char *argv[]) {
auto &&api = API::Create(argc, argv);
if (!api)
return 1;
if (!api) return 1;
bool ok;
auto &&request = api->SelectStreamRequest(&ok);
if (!ok) return 1;
api->ConfigStreamRequest(request);
api->EnableStreamData(Stream::POINTS);

8
samples/tutorials/data/get_stereo.cc
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@@ -19,8 +19,12 @@ MYNTEYE_USE_NAMESPACE
int main(int argc, char *argv[]) {
auto &&api = API::Create(argc, argv);
if (!api)
return 1;
if (!api) return 1;
bool ok;
auto &&request = api->SelectStreamRequest(&ok);
if (!ok) return 1;
api->ConfigStreamRequest(request);
api->Start(Source::VIDEO_STREAMING);

8
samples/tutorials/data/get_stereo_rectified.cc
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@@ -19,8 +19,12 @@ MYNTEYE_USE_NAMESPACE
int main(int argc, char *argv[]) {
auto &&api = API::Create(argc, argv);
if (!api)
return 1;
if (!api) return 1;
bool ok;
auto &&request = api->SelectStreamRequest(&ok);
if (!ok) return 1;
api->ConfigStreamRequest(request);
api->EnableStreamData(Stream::LEFT_RECTIFIED);
api->EnableStreamData(Stream::RIGHT_RECTIFIED);

8
samples/tutorials/data/get_with_plugin.cc
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@@ -19,8 +19,12 @@ MYNTEYE_USE_NAMESPACE
int main(int argc, char *argv[]) {
auto &&api = API::Create(argc, argv);
if (!api)
return 1;
if (!api) return 1;
bool ok;
auto &&request = api->SelectStreamRequest(&ok);
if (!ok) return 1;
api->ConfigStreamRequest(request);
api->EnablePlugin("plugins/linux-x86_64/libplugin_g_cuda9.1_opencv3.4.0.so");

8
samples/tutorials/intermediate/get_depth_and_points.cc
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@@ -148,8 +148,12 @@ MYNTEYE_USE_NAMESPACE
int main(int argc, char *argv[]) {
auto &&api = API::Create(argc, argv);
if (!api)
return 1;
if (!api) return 1;
bool ok;
auto &&request = api->SelectStreamRequest(&ok);
if (!ok) return 1;
api->ConfigStreamRequest(request);
api->SetOptionValue(Option::IR_CONTROL, 80);