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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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54
include/mynteye/api/api.h
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@ -28,6 +28,8 @@
MYNTEYE_BEGIN_NAMESPACE
struct DeviceInfo;
class Device;
class Synthetic;
@ -93,25 +95,6 @@ class MYNTEYE_API API {
explicit API(std::shared_ptr<Device> device);
virtual ~API();
/**
* Create the API instance.
* @return the API instance.
* @note This will call device::select() to select a device.
*/
static std::shared_ptr<API> Create(Resolution res);
/**
* Create the API instance.
* @param device the selected device.
* @return the API instance.
*/
static std::shared_ptr<API> Create(
std::shared_ptr<Device> device, Resolution res);
/**
* Create the API instance.
* @param device the selected device.
* @return the API instance.
*/
static std::shared_ptr<API> Create(std::shared_ptr<Device> device);
/**
* Create the API instance.
* @param argc the arg count.
@ -130,7 +113,7 @@ class MYNTEYE_API API {
* @note This will init glog with args.
*/
static std::shared_ptr<API> Create(
int argc, char *argv[], std::shared_ptr<Device> device);
int argc, char *argv[], const std::shared_ptr<Device> &device);
/**
* Get the model.
@ -155,9 +138,10 @@ class MYNTEYE_API API {
bool Supports(const AddOns &addon) const;
/**
* set the stream request.
* Log all stream requests and prompt user to select one.
*/
void SetStreamRequest(const Format &format, const FrameRate &rate);
StreamRequest SelectStreamRequest(bool *ok) const;
/**
* Get all stream requests of the capability.
*/
@ -168,7 +152,28 @@ class MYNTEYE_API API {
*/
void ConfigStreamRequest(
const Capabilities &capability, const StreamRequest &request);
/**
* Get the config stream requests of the capability.
*/
const StreamRequest &GetStreamRequest(const Capabilities &capability) const;
/**
* Get all stream requests of the key stream capability.
*/
const std::vector<StreamRequest> &GetStreamRequests() const;
/**
* Config the stream request to the key stream capability.
*/
void ConfigStreamRequest(const StreamRequest &request);
/**
* Get the config stream requests of the key stream capability.
*/
const StreamRequest &GetStreamRequest() const;
/**
* Get the device info.
*/
std::shared_ptr<DeviceInfo> GetInfo() const;
/**
* Get the device info.
*/
@ -214,11 +219,6 @@ class MYNTEYE_API API {
*/
bool RunOptionAction(const Option &option) const;
/**
* Init device resolution.
*/
void InitResolution(const Resolution &res);
/**
* Set the callback of stream.
*/

4
include/mynteye/device/callbacks.h
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@ -32,8 +32,8 @@ namespace device {
typedef struct ImgParams {
bool ok;
std::map<Resolution, Intrinsics> in_left_map;
std::map<Resolution, Intrinsics> in_right_map;
Intrinsics in_left;
Intrinsics in_right;
Extrinsics ex_right_to_left;
} img_params_t;

58
include/mynteye/device/device.h
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@ -104,14 +104,7 @@ class MYNTEYE_API Device {
* Supports the addon or not.
*/
bool Supports(const AddOns &addon) const;
/**
* Init device resolution.
*/
void InitResolution(const Resolution &res);
/**
* set the stream request.
*/
void SetStreamRequest(const Format &format, const FrameRate &rate);
/**
* Get all stream requests of the capability.
*/
@ -122,6 +115,23 @@ class MYNTEYE_API Device {
*/
void ConfigStreamRequest(
const Capabilities &capability, const StreamRequest &request);
/**
* Get the config stream requests of the capability.
*/
const StreamRequest &GetStreamRequest(const Capabilities &capability) const;
/**
* Get all stream requests of the key stream capability.
*/
const std::vector<StreamRequest> &GetStreamRequests() const;
/**
* Config the stream request to the key stream capability.
*/
void ConfigStreamRequest(const StreamRequest &request);
/**
* Get the config stream requests of the key stream capability.
*/
const StreamRequest &GetStreamRequest() const;
/**
* Get the device info.
@ -241,15 +251,15 @@ class MYNTEYE_API Device {
*/
void WaitForStreams();
/**
* Get the latest data of stream.
*/
device::StreamData GetStreamData(const Stream &stream);
/**
* Get the datas of stream.
* @note default cache 4 datas at most.
*/
std::vector<device::StreamData> GetStreamDatas(const Stream &stream);
/**
* Get the latest data of stream.
*/
device::StreamData GetLatestStreamData(const Stream &stream);
/**
* Enable cache motion datas.
@ -263,10 +273,6 @@ class MYNTEYE_API Device {
* Get the motion datas.
*/
std::vector<device::MotionData> GetMotionDatas();
/**
* Get the device img params
*/
img_params_t GetImgParams();
protected:
std::shared_ptr<uvc::device> device() const {
@ -285,8 +291,6 @@ class MYNTEYE_API Device {
return motions_;
}
const StreamRequest &GetStreamRequest(const Capabilities &capability);
virtual void StartVideoStreaming();
virtual void StopVideoStreaming();
@ -295,25 +299,33 @@ class MYNTEYE_API Device {
virtual void OnStereoStreamUpdate();
virtual Capabilities GetKeyStreamCapability() const = 0;
virtual std::vector<Stream> GetKeyStreams() const = 0;
std::map<Resolution, device::img_params_t> GetImgParams() const {
return all_img_params_;
}
device::imu_params_t GetImuParams() const {
return imu_params_;
}
bool video_streaming_;
bool motion_tracking_;
private:
Model model_;
Resolution res_ = Resolution::RES_752x480;
StreamRequest request_;
std::shared_ptr<uvc::device> device_;
std::shared_ptr<DeviceInfo> device_info_;
std::map<Resolution, device::img_params_t> all_img_params_;
device::imu_params_t imu_params_;
std::map<Stream, Intrinsics> stream_intrinsics_;
std::map<Stream, std::map<Stream, Extrinsics>> stream_from_extrinsics_;
std::shared_ptr<MotionIntrinsics> motion_intrinsics_;
std::map<Stream, Extrinsics> motion_from_extrinsics_;
img_params_t img_params_;
stream_callbacks_t stream_callbacks_;
motion_callback_t motion_callback_;
@ -331,8 +343,8 @@ class MYNTEYE_API Device {
std::shared_ptr<Motions> motions_;
void ReadAllInfos();
void ConfigIntrinsics(const Resolution &res);
void UpdateStreamIntrinsics(
const Capabilities &capability, const StreamRequest &request);
void CallbackPushedStreamData(const Stream &stream);
void CallbackMotionData(const device::MotionData &data);

11
include/mynteye/device/utils.h
View File

@ -19,6 +19,7 @@
#include <string>
#include "mynteye/mynteye.h"
#include "mynteye/types.h"
MYNTEYE_BEGIN_NAMESPACE
@ -39,6 +40,16 @@ namespace device {
*/
MYNTEYE_API std::shared_ptr<Device> select();
/**
* @ingroup utils
*
* List stream requests and prompt user to select one.
*
* @return the selected request.
*/
MYNTEYE_API MYNTEYE_NAMESPACE::StreamRequest select_request(
const std::shared_ptr<Device> &device, bool *ok);
} // namespace device
namespace utils {

109
include/mynteye/types.h
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@ -37,6 +37,8 @@ MYNTEYE_BEGIN_NAMESPACE
enum class Model : std::uint8_t {
/** Standard */
STANDARD,
/** Standard 2 */
STANDARD2,
/** Last guard */
LAST
};
@ -74,10 +76,10 @@ enum class Stream : std::uint8_t {
enum class Capabilities : std::uint8_t {
/** Provides stereo stream */
STEREO,
/** Provides color stream */
COLOR,
/** Provide stereo color stream */
STEREO_COLOR,
/** Provides color stream */
COLOR,
/** Provides depth stream */
DEPTH,
/** Provides point cloud stream */
@ -143,6 +145,7 @@ enum class Option : std::uint8_t {
* range: [0,255], default: 127
*/
CONTRAST,
/**
* Image frame rate, must set IMU_FREQUENCY together
*
@ -155,6 +158,7 @@ enum class Option : std::uint8_t {
* values: {100,200,250,333,500}, default: 200
*/
IMU_FREQUENCY,
/**
* Exposure mode
*
@ -174,12 +178,19 @@ enum class Option : std::uint8_t {
* range: [0,1000], default: 333
*/
MAX_EXPOSURE_TIME,
/**
* min exposure time, valid if auto-exposure
*
* range: [0,1000], default: 0
*/
MIN_EXPOSURE_TIME,
/**
* Desired brightness, valid if auto-exposure
*
* range: [1,255], default: 122
*/
DESIRED_BRIGHTNESS,
/**
* IR control
*
@ -193,16 +204,7 @@ enum class Option : std::uint8_t {
* 1: 12-bit
*/
HDR_MODE,
/** Zero drift calibration */
ZERO_DRIFT_CALIBRATION,
/** Erase chip */
ERASE_CHIP,
/**
* min exposure time, valid if auto-exposure
*
* range: [0,1000], default: 0
*/
MIN_EXPOSURE_TIME,
/**
* The range of accelerometer
*
@ -227,6 +229,12 @@ enum class Option : std::uint8_t {
* values: {23,64}, default: 64
*/
GYROSCOPE_LOW_PASS_FILTER,
/** Zero drift calibration */
ZERO_DRIFT_CALIBRATION,
/** Erase chip */
ERASE_CHIP,
/** Last guard */
LAST
};
@ -259,40 +267,6 @@ enum class AddOns : std::uint8_t {
LAST
};
/**
* @ingroup enumerations
* @brief Camera supported resolution.
*/
enum class Resolution : std::uint8_t {
/** 752x480 */
RES_752x480,
/** 1280x400 */
RES_1280x400,
/** 2560x800 */
RES_2560x800,
/** Last guard */
LAST
};
/**
* @ingroup enumerations
* @brief Camera supported frame rate.
*/
enum class FrameRate : std::uint8_t {
/** 10 fps */
RATE_10_FPS = 10,
/** 20 fps */
RATE_20_FPS = 20,
/** 20 fps */
RATE_25_FPS = 25,
/** 30 fps */
RATE_30_FPS = 30,
/** 60 fps */
RATE_60_FPS = 60,
/** Last guard */
LAST
};
#define MYNTEYE_ENUM_HELPERS(TYPE) \
MYNTEYE_API const char *to_string(const TYPE &value); \
inline bool is_valid(const TYPE &value) { \
@ -316,8 +290,6 @@ MYNTEYE_ENUM_HELPERS(Info)
MYNTEYE_ENUM_HELPERS(Option)
MYNTEYE_ENUM_HELPERS(Source)
MYNTEYE_ENUM_HELPERS(AddOns)
MYNTEYE_ENUM_HELPERS(Resolution)
MYNTEYE_ENUM_HELPERS(FrameRate)
#undef MYNTEYE_ENUM_HELPERS
@ -350,6 +322,26 @@ inline std::ostream &operator<<(std::ostream &os, const Format &value) {
MYNTEYE_API std::size_t bytes_per_pixel(const Format &value);
/**
* Resolution.
*/
struct MYNTEYE_API Resolution {
/** Width */
std::uint16_t width;
/** Height */
std::uint16_t height;
bool operator==(const Resolution &other) const {
return width == other.width && height == other.height;
}
bool operator!=(const Resolution &other) const {
return !(*this == other);
}
bool operator<(const Resolution &other) const {
return (width * height) < (other.width * other.height);
}
};
/**
* Stream request.
*/
@ -370,25 +362,10 @@ struct MYNTEYE_API StreamRequest {
std::uint16_t fps)
: width(width), height(height), format(format), fps(fps) {}
StreamRequest(Resolution res, Format format, FrameRate rate)
: format(format) {
fps = static_cast<uint16_t>(rate);
StreamRequest(const Resolution &res, Format format, std::uint16_t fps)
: width(res.width), height(res.height), format(format), fps(fps) {}
switch (res) {
case Resolution::RES_752x480:
width = 480, height = 752;
break;
case Resolution::RES_1280x400:
width = 1280, height = 400;
break;
case Resolution::RES_2560x800:
width = 2560, height = 800;
break;
default:
width = 480, height = 752;
break;
}
}
Resolution GetResolution() const { return {width, height}; }
bool operator==(const StreamRequest &other) const {
return width == other.width && height == other.height &&

10
samples/api/camera.cc
View File

@ -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
View File

@ -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
View File

@ -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
View File

@ -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
View File

@ -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
View File

@ -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
View File

@ -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
View File

@ -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
View File

@ -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
View File

@ -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);

70
src/mynteye/api/api.cc
View File

@ -218,52 +218,15 @@ API::~API() {
VLOG(2) << __func__;
}
std::shared_ptr<API> API::Create(Resolution res) {
auto &&device = device::select();
if (!device)
return nullptr;
device->InitResolution(res);
return std::make_shared<API>(device);
}
std::shared_ptr<API> API::Create(
std::shared_ptr<Device> device, Resolution res) {
if (!device)
return nullptr;
device->InitResolution(res);
return std::make_shared<API>(device);
}
// TODO(Kalman): Compatible with two generation
std::shared_ptr<API> API::Create(std::shared_ptr<Device> device) {
return Create(device, Resolution::RES_2560x800);
}
std::shared_ptr<API> API::Create(int argc, char *argv[]) {
auto &&device = device::select();
if (!device) return nullptr;
return Create(argc, argv, device);
}
// TODO(Kalman): Compatible with two generation
std::shared_ptr<API> API::Create(
int argc, char *argv[], std::shared_ptr<Device> device) {
int argc, char *argv[], const std::shared_ptr<Device> &device) {
static glog_init _(argc, argv);
int index = 0;
if (argc >= 2) {
try {
index = std::stoi(argv[1]);
} catch (...) {
LOG(WARNING) << "Unexpected index.";
}
}
if (!device)
return nullptr;
if (index == 0)
device->InitResolution(Resolution::RES_1280x400);
else if (index == 1)
device->InitResolution(Resolution::RES_2560x800);
else
device->InitResolution(Resolution::RES_1280x400);
return std::make_shared<API>(device);
}
@ -287,12 +250,8 @@ bool API::Supports(const AddOns &addon) const {
return device_->Supports(addon);
}
void API::InitResolution(const Resolution &res) {
return device_->InitResolution(res);
}
void API::SetStreamRequest(const Format &format, const FrameRate &rate) {
device_->SetStreamRequest(format, rate);
StreamRequest API::SelectStreamRequest(bool *ok) const {
return device::select_request(device_, ok);
}
const std::vector<StreamRequest> &API::GetStreamRequests(
@ -305,6 +264,27 @@ void API::ConfigStreamRequest(
device_->ConfigStreamRequest(capability, request);
}
const StreamRequest &API::GetStreamRequest(
const Capabilities &capability) const {
return device_->GetStreamRequest(capability);
}
const std::vector<StreamRequest> &API::GetStreamRequests() const {
return device_->GetStreamRequests();
}
void API::ConfigStreamRequest(const StreamRequest &request) {
device_->ConfigStreamRequest(request);
}
const StreamRequest &API::GetStreamRequest() const {
return device_->GetStreamRequest();
}
std::shared_ptr<DeviceInfo> API::GetInfo() const {
return device_->GetInfo();
}
std::string API::GetInfo(const Info &info) const {
return device_->GetInfo(info);
}

2
src/mynteye/api/synthetic.cc
View File

@ -161,7 +161,7 @@ api::StreamData Synthetic::GetStreamData(const Stream &stream) {
auto &&mode = GetStreamEnabledMode(stream);
if (mode == MODE_NATIVE) {
auto &&device = api_->device();
return data2api(device->GetLatestStreamData(stream));
return data2api(device->GetStreamData(stream));
} else if (mode == MODE_SYNTHETIC) {
if (stream == Stream::LEFT_RECTIFIED || stream == Stream::RIGHT_RECTIFIED) {
static std::shared_ptr<ObjMat2> output = nullptr;

84
src/mynteye/device/channels.cc
View File

@ -563,44 +563,43 @@ std::size_t from_data(
return i;
}
// TODO(Kalman): Is there a more elegant way?
std::size_t from_data(
device::img_params_t *img_params, const std::uint8_t *data,
Channels::img_params_t *img_params, const std::uint8_t *data,
const Version *spec_version) {
std::size_t i = 0;
// TODO(JohnZhao)
Intrinsics in_left, in_right;
Extrinsics ex_right_to_left;
if (spec_version->major() == 1) {
if (spec_version->minor() == 0) {
i += from_data(
&img_params->in_left_map[Resolution::RES_752x480], data + i,
spec_version);
i += from_data(
&img_params->in_right_map[Resolution::RES_752x480], data + i,
spec_version);
i += from_data(&in_left, data + i, spec_version);
i += from_data(&in_right, data + i, spec_version);
i += from_data(&ex_right_to_left, data + i, spec_version);
(*img_params)[{752, 480}] = {true, in_left, in_right, ex_right_to_left};
}
if (spec_version->minor() == 1) {
i += from_data(
&img_params->in_left_map[Resolution::RES_1280x400], data + i,
spec_version);
i += from_data(
&img_params->in_right_map[Resolution::RES_1280x400], data + i,
spec_version);
i += from_data(
&img_params->in_left_map[Resolution::RES_2560x800], data + i,
spec_version);
i += from_data(
&img_params->in_right_map[Resolution::RES_2560x800], data + i,
spec_version);
i += from_data(&in_left, data + i, spec_version);
i += from_data(&in_right, data + i, spec_version);
(*img_params)[{1280, 400}] = {true, in_left, in_right, ex_right_to_left};
i += from_data(&in_left, data + i, spec_version);
i += from_data(&in_right, data + i, spec_version);
(*img_params)[{2560, 800}] = {true, in_left, in_right, ex_right_to_left};
i += from_data(&ex_right_to_left, data + i, spec_version);
(*img_params)[{1280, 400}].ex_right_to_left = ex_right_to_left;
(*img_params)[{2560, 800}].ex_right_to_left = ex_right_to_left;
}
}
i += from_data(&img_params->ex_right_to_left, data + i, spec_version);
return i;
}
std::size_t from_data(
device::imu_params_t *imu_params, const std::uint8_t *data,
Channels::imu_params_t *imu_params, const std::uint8_t *data,
const Version *spec_version) {
std::size_t i = 0;
i += from_data(&imu_params->in_accel, data + i, spec_version);
@ -674,8 +673,7 @@ bool Channels::GetFiles(
CheckSpecVersion(spec_ver);
} break;
case FID_IMG_PARAMS: {
img_params->ok = file_size > 0;
if (img_params->ok) {
if (file_size > 0) {
CheckSpecVersion(spec_ver);
from_data(img_params, data + i, spec_ver);
// Considering the upgrade, comment this
@ -864,38 +862,34 @@ std::size_t to_data(
}
std::size_t to_data(
const device::img_params_t *img_params, std::uint8_t *data,
const Channels::img_params_t *img_params, std::uint8_t *data,
const Version *spec_version) {
std::size_t i = 3; // skip id, size
// TODO(JohnZhao)
if (spec_version->major() == 1) {
if (spec_version->minor() == 0) {
i += to_data(
&img_params->in_left_map.at(Resolution::RES_752x480), data + i,
spec_version);
i += to_data(
&img_params->in_right_map.at(Resolution::RES_752x480), data + i,
spec_version);
auto &&params = (*img_params).at({752, 480});
i += to_data(&params.in_left, data + i, spec_version);
i += to_data(&params.in_right, data + i, spec_version);
i += to_data(&params.ex_right_to_left, data + i, spec_version);
}
if (spec_version->minor() == 1) {
i += to_data(
&img_params->in_left_map.at(Resolution::RES_1280x400), data + i,
spec_version);
i += to_data(
&img_params->in_right_map.at(Resolution::RES_1280x400), data + i,
spec_version);
i += to_data(
&img_params->in_left_map.at(Resolution::RES_2560x800), data + i,
spec_version);
i += to_data(
&img_params->in_right_map.at(Resolution::RES_2560x800), data + i,
spec_version);
{
auto &&params = (*img_params).at({1280, 400});
i += to_data(&params.in_left, data + i, spec_version);
i += to_data(&params.in_right, data + i, spec_version);
}
{
auto &&params = (*img_params).at({2560, 800});
i += to_data(&params.in_left, data + i, spec_version);
i += to_data(&params.in_right, data + i, spec_version);
i += to_data(&params.ex_right_to_left, data + i, spec_version);
}
}
}
i += to_data(&img_params->ex_right_to_left, data + i, spec_version);
// others
std::size_t size = i - 3;
data[0] = Channels::FID_IMG_PARAMS;

16
src/mynteye/device/channels.h
View File

@ -68,23 +68,9 @@ class MYNTEYE_API Channels {
using device_info_t = DeviceInfo;
using img_params_t = std::map<Resolution, device::img_params_t>;
using imu_params_t = device::imu_params_t;
using img_params_t = device::img_params_t;
/*
typedef struct ImgParams {
bool ok;
std::map<Resolution, Intrinsics> in_left_map;
std::map<Resolution, Intrinsics> in_right_map;
Extrinsics ex_right_to_left;
} img_params_t;
typedef struct ImuParams {
bool ok;
ImuIntrinsics in_accel;
ImuIntrinsics in_gyro;
Extrinsics ex_left_to_imu;
} imu_params_t;
*/
explicit Channels(std::shared_ptr<uvc::device> device);
~Channels();

66
src/mynteye/device/config.cc
View File

@ -16,39 +16,65 @@
MYNTEYE_BEGIN_NAMESPACE
const std::map<Model, StreamSupports> stream_supports_map = {
{Model::STANDARD, {Stream::LEFT, Stream::RIGHT}}};
{Model::STANDARD, {Stream::LEFT, Stream::RIGHT}},
{Model::STANDARD2, {Stream::LEFT, Stream::RIGHT}}
};
const std::map<Model, CapabilitiesSupports> capabilities_supports_map = {
{Model::STANDARD, {Capabilities::STEREO_COLOR, Capabilities::IMU}}};
{Model::STANDARD, {Capabilities::STEREO, Capabilities::IMU}},
{Model::STANDARD2, {Capabilities::STEREO_COLOR, Capabilities::IMU}}
};
// TODO(Kalman): Compatible with two generation
const std::map<Model, OptionSupports> option_supports_map = {
{Model::STANDARD,
{Option::BRIGHTNESS, Option::EXPOSURE_MODE, Option::MAX_GAIN,
Option::MAX_EXPOSURE_TIME, Option::DESIRED_BRIGHTNESS,
Option::MIN_EXPOSURE_TIME, Option::ERASE_CHIP,
{Model::STANDARD, {
Option::GAIN, Option::BRIGHTNESS, Option::CONTRAST,
Option::FRAME_RATE, Option::IMU_FREQUENCY,
Option::EXPOSURE_MODE, Option::MAX_GAIN, Option::MAX_EXPOSURE_TIME,
Option::DESIRED_BRIGHTNESS,
Option::IR_CONTROL,
Option::HDR_MODE,
Option::ACCELEROMETER_RANGE, Option::GYROSCOPE_RANGE,
Option::ACCELEROMETER_LOW_PASS_FILTER,
Option::GYROSCOPE_LOW_PASS_FILTER}}};
Option::ZERO_DRIFT_CALIBRATION,
Option::ERASE_CHIP}
},
{Model::STANDARD2, {
Option::BRIGHTNESS,
Option::EXPOSURE_MODE, Option::MAX_GAIN, Option::MAX_EXPOSURE_TIME,
Option::MIN_EXPOSURE_TIME, Option::DESIRED_BRIGHTNESS,
Option::ACCELEROMETER_RANGE, Option::GYROSCOPE_RANGE,
Option::ACCELEROMETER_LOW_PASS_FILTER, Option::GYROSCOPE_LOW_PASS_FILTER,
Option::ERASE_CHIP}
}
};
const std::map<Model, std::map<Capabilities, StreamRequests>>
stream_requests_map = {
stream_requests_map = {
{Model::STANDARD,
{{Capabilities::STEREO, {{480, 752, Format::YUYV, 25}}},
{Capabilities::STEREO_COLOR,
{// {1280, 400, Format::YUYV, 10},
// {1280, 400, Format::YUYV, 20},
// {1280, 400, Format::YUYV, 30},
// {1280, 400, Format::YUYV, 60},
// {2560, 800, Format::YUYV, 10},
// {2560, 800, Format::YUYV, 20},
// {2560, 800, Format::YUYV, 30},
{{Capabilities::STEREO, {
{752, 480, Format::YUYV, 10},
{752, 480, Format::YUYV, 15},
{752, 480, Format::YUYV, 20},
{752, 480, Format::YUYV, 25},
{752, 480, Format::YUYV, 30},
{752, 480, Format::YUYV, 35},
{752, 480, Format::YUYV, 40},
{752, 480, Format::YUYV, 45},
{752, 480, Format::YUYV, 50},
{752, 480, Format::YUYV, 55},
{752, 480, Format::YUYV, 60}}
}}
},
{Model::STANDARD2,
{{Capabilities::STEREO_COLOR, {
{1280, 400, Format::BGR888, 10},
{1280, 400, Format::BGR888, 20},
{1280, 400, Format::BGR888, 30},
{1280, 400, Format::BGR888, 60},
{2560, 800, Format::BGR888, 10},
{2560, 800, Format::BGR888, 20},
{2560, 800, Format::BGR888, 30}}}}}};
{2560, 800, Format::BGR888, 30}}
}}
}
};
MYNTEYE_END_NAMESPACE

7
src/mynteye/device/config.h
View File

@ -27,18 +27,13 @@ MYNTEYE_BEGIN_NAMESPACE
using StreamSupports = std::set<Stream>;
using CapabilitiesSupports = std::set<Capabilities>;
using OptionSupports = std::set<Option>;
using ResolutionSupports = std::set<Resolution>;
using FrameRateSupports = std::set<FrameRate>;
extern const std::map<Model, StreamSupports> stream_supports_map;
extern const std::map<Model, CapabilitiesSupports> capabilities_supports_map;
extern const std::map<Model, OptionSupports> option_supports_map;
extern const std::map<Model, ResolutionSupports> resolution_supports_map;
using StreamRequests = std::vector<StreamRequest>;
extern const std::map<Model, std::map<Resolution, FrameRateSupports>>
framerate_Supports_supports_map;
extern const std::map<Model, std::map<Capabilities, StreamRequests>>
stream_requests_map;

118
src/mynteye/device/device.cc
View File

@ -172,6 +172,33 @@ void Device::ConfigStreamRequest(
return;
}
stream_config_requests_[capability] = request;
UpdateStreamIntrinsics(capability, request);
}
const StreamRequest &Device::GetStreamRequest(
const Capabilities &capability) const {
try {
return stream_config_requests_.at(capability);
} catch (const std::out_of_range &e) {
auto &&requests = GetStreamRequests(capability);
if (requests.size() >= 1) {
return requests[0];
} else {
LOG(FATAL) << "Please config the stream request of " << capability;
}
}
}
const std::vector<StreamRequest> &Device::GetStreamRequests() const {
return GetStreamRequests(GetKeyStreamCapability());
}
void Device::ConfigStreamRequest(const StreamRequest &request) {
ConfigStreamRequest(GetKeyStreamCapability(), request);
}
const StreamRequest &Device::GetStreamRequest() const {
return GetStreamRequest(GetKeyStreamCapability());
}
std::shared_ptr<DeviceInfo> Device::GetInfo() const {
@ -406,6 +433,14 @@ void Device::WaitForStreams() {
streams_->WaitForStreams();
}
device::StreamData Device::GetStreamData(const Stream &stream) {
CHECK(video_streaming_);
CHECK_NOTNULL(streams_);
CheckSupports(this, stream);
std::lock_guard<std::mutex> _(mtx_streams_);
return streams_->GetLatestStreamData(stream);
}
std::vector<device::StreamData> Device::GetStreamDatas(const Stream &stream) {
CHECK(video_streaming_);
CHECK_NOTNULL(streams_);
@ -414,14 +449,6 @@ std::vector<device::StreamData> Device::GetStreamDatas(const Stream &stream) {
return streams_->GetStreamDatas(stream);
}
device::StreamData Device::GetLatestStreamData(const Stream &stream) {
CHECK(video_streaming_);
CHECK_NOTNULL(streams_);
CheckSupports(this, stream);
std::lock_guard<std::mutex> _(mtx_streams_);
return streams_->GetLatestStreamData(stream);
}
void Device::EnableMotionDatas() {
EnableMotionDatas(std::numeric_limits<std::size_t>::max());
}
@ -437,33 +464,6 @@ std::vector<device::MotionData> Device::GetMotionDatas() {
return motions_->GetMotionDatas();
}
void Device::InitResolution(const Resolution &res) {
res_ = res;
ConfigIntrinsics(res_);
}
void Device::SetStreamRequest(const Format &format, const FrameRate &rate) {
StreamRequest request(res_, format, rate);
request_ = request;
}
const StreamRequest &Device::GetStreamRequest(const Capabilities &capability) {
try {
return stream_config_requests_.at(capability);
} catch (const std::out_of_range &e) {
auto &&requests = GetStreamRequests(capability);
if (requests.size() >= 1) {
for (auto &&request : requests) {
if (request == request_)
return request;
}
return requests[0];
} else {
LOG(FATAL) << "Please config the stream request of " << capability;
}
}
}
void Device::StartVideoStreaming() {
if (video_streaming_) {
LOG(WARNING) << "Cannot start video streaming without first stopping it";
@ -557,8 +557,9 @@ void Device::ReadAllInfos() {
device_info_ = std::make_shared<DeviceInfo>();
CHECK_NOTNULL(channels_);
all_img_params_.clear();
Device::imu_params_t imu_params;
if (!channels_->GetFiles(device_info_.get(), &img_params_, &imu_params)) {
if (!channels_->GetFiles(device_info_.get(), &all_img_params_, &imu_params)) {
#if defined(WITH_DEVICE_INFO_REQUIRED)
LOG(FATAL)
#else
@ -579,14 +580,28 @@ void Device::ReadAllInfos() {
<< ", nominal_baseline: " << device_info_->nominal_baseline << "}";
device_info_->name = uvc::get_name(*device_);
if (img_params_.ok) {
SetExtrinsics(Stream::LEFT, Stream::RIGHT, img_params_.ex_right_to_left);
bool img_params_ok = false;
for (auto &&params : all_img_params_) {
auto &&img_params = params.second;
if (img_params.ok) {
img_params_ok = true;
SetIntrinsics(Stream::LEFT, img_params.in_left);
SetIntrinsics(Stream::RIGHT, img_params.in_right);
SetExtrinsics(Stream::LEFT, Stream::RIGHT, img_params.ex_right_to_left);
VLOG(2) << "Intrinsics left: {" << GetIntrinsics(Stream::LEFT) << "}";
VLOG(2) << "Intrinsics right: {" << GetIntrinsics(Stream::RIGHT) << "}";
VLOG(2) << "Extrinsics left to right: {"
<< GetExtrinsics(Stream::LEFT, Stream::RIGHT) << "}";
} else {
break;
}
}
if (!img_params_ok) {
LOG(WARNING) << "Intrinsics & extrinsics not exist";
}
if (imu_params.ok) {
imu_params_ = imu_params;
SetMotionIntrinsics({imu_params.in_accel, imu_params.in_gyro});
SetMotionExtrinsics(Stream::LEFT, imu_params.ex_left_to_imu);
VLOG(2) << "Motion intrinsics: {" << GetMotionIntrinsics() << "}";
@ -597,12 +612,25 @@ void Device::ReadAllInfos() {
}
}
void Device::ConfigIntrinsics(const Resolution &res) {
if (img_params_.ok) {
SetIntrinsics(Stream::LEFT, img_params_.in_left_map[res]);
SetIntrinsics(Stream::RIGHT, img_params_.in_right_map[res]);
void Device::UpdateStreamIntrinsics(
const Capabilities &capability, const StreamRequest &request) {
if (capability != GetKeyStreamCapability()) {
return;
}
for (auto &&params : all_img_params_) {
auto &&img_res = params.first;
auto &&img_params = params.second;
if (img_params.ok && img_res == request.GetResolution()) {
SetIntrinsics(Stream::LEFT, img_params.in_left);
SetIntrinsics(Stream::RIGHT, img_params.in_right);
SetExtrinsics(Stream::LEFT, Stream::RIGHT, img_params.ex_right_to_left);
VLOG(2) << "Intrinsics left: {" << GetIntrinsics(Stream::LEFT) << "}";
VLOG(2) << "Intrinsics right: {" << GetIntrinsics(Stream::RIGHT) << "}";
VLOG(2) << "Extrinsics left to right: {"
<< GetExtrinsics(Stream::LEFT, Stream::RIGHT) << "}";
break;
}
}
}
@ -629,8 +657,4 @@ void Device::CallbackMotionData(const device::MotionData &data) {
}
}
Device::img_params_t Device::GetImgParams() {
return img_params_;
}
MYNTEYE_END_NAMESPACE

6
src/mynteye/device/device_s.cc
View File

@ -19,7 +19,7 @@
MYNTEYE_BEGIN_NAMESPACE
StandardDevice::StandardDevice(std::shared_ptr<uvc::device> device)
: Device(Model::STANDARD, device) {
: Device(Model::STANDARD2, device) {
VLOG(2) << __func__;
}
@ -27,6 +27,10 @@ StandardDevice::~StandardDevice() {
VLOG(2) << __func__;
}
Capabilities StandardDevice::GetKeyStreamCapability() const {
return Capabilities::STEREO_COLOR;
}
std::vector<Stream> StandardDevice::GetKeyStreams() const {
return {Stream::LEFT, Stream::RIGHT};
}

1
src/mynteye/device/device_s.h
View File

@ -27,6 +27,7 @@ class StandardDevice : public Device {
explicit StandardDevice(std::shared_ptr<uvc::device> device);
virtual ~StandardDevice();
Capabilities GetKeyStreamCapability() const override;
std::vector<Stream> GetKeyStreams() const override;
void OnStereoStreamUpdate() override;

42
src/mynteye/device/utils.cc
View File

@ -31,14 +31,14 @@ std::shared_ptr<Device> select() {
Context context;
auto &&devices = context.devices();
size_t n = devices.size();
std::size_t n = devices.size();
if (n <= 0) {
LOG(ERROR) << "No MYNT EYE devices :(";
return nullptr;
}
LOG(INFO) << "MYNT EYE devices:";
for (size_t i = 0; i < n; i++) {
for (std::size_t i = 0; i < n; i++) {
auto &&device = devices[i];
LOG(INFO) << " index: " << i
<< ", name: " << device->GetInfo(Info::DEVICE_NAME)
@ -51,7 +51,7 @@ std::shared_ptr<Device> select() {
LOG(INFO) << "Only one MYNT EYE device, select index: 0";
} else {
while (true) {
size_t i;
std::size_t i;
LOG(INFO) << "There are " << n << " MYNT EYE devices, select index: ";
std::cin >> i;
if (i >= n) {
@ -66,6 +66,42 @@ std::shared_ptr<Device> select() {
return device;
}
MYNTEYE_NAMESPACE::StreamRequest select_request(
const std::shared_ptr<Device> &device, bool *ok) {
auto &&requests = device->GetStreamRequests();
std::size_t n = requests.size();
if (n <= 0) {
LOG(ERROR) << "No MYNT EYE devices :(";
*ok = false;
return {};
}
LOG(INFO) << "MYNT EYE devices:";
for (std::size_t i = 0; i < n; i++) {
auto &&request = requests[i];
LOG(INFO) << " index: " << i
<< ", request: " << request;
}
if (n <= 1) {
LOG(INFO) << "Only one stream request, select index: 0";
*ok = true;
return requests[0];
} else {
while (true) {
std::size_t i;
LOG(INFO) << "There are " << n << " stream requests, select index: ";
std::cin >> i;
if (i >= n) {
LOG(WARNING) << "Index out of range :(";
continue;
}
*ok = true;
return requests[i];
}
}
}
} // namespace device
namespace utils {

9
src/mynteye/types.cc
View File

@ -29,6 +29,7 @@ const char *to_string(const Model &value) {
return "Model::" #X;
switch (value) {
CASE(STANDARD)
CASE(STANDARD2)
default:
CHECK(is_valid(value));
return "Model::UNKNOWN";
@ -62,6 +63,7 @@ const char *to_string(const Capabilities &value) {
return "Capabilities::" #X;
switch (value) {
CASE(STEREO)
CASE(STEREO_COLOR)
CASE(COLOR)
CASE(DEPTH)
CASE(POINTS)
@ -109,16 +111,16 @@ const char *to_string(const Option &value) {
CASE(EXPOSURE_MODE)
CASE(MAX_GAIN)
CASE(MAX_EXPOSURE_TIME)
CASE(MIN_EXPOSURE_TIME)
CASE(DESIRED_BRIGHTNESS)
CASE(IR_CONTROL)
CASE(HDR_MODE)
CASE(ZERO_DRIFT_CALIBRATION)
CASE(ERASE_CHIP)
CASE(MIN_EXPOSURE_TIME)
CASE(ACCELEROMETER_RANGE)
CASE(GYROSCOPE_RANGE)
CASE(ACCELEROMETER_LOW_PASS_FILTER)
CASE(GYROSCOPE_LOW_PASS_FILTER)
CASE(ZERO_DRIFT_CALIBRATION)
CASE(ERASE_CHIP)
default:
CHECK(is_valid(value));
return "Option::UNKNOWN";
@ -160,6 +162,7 @@ const char *to_string(const Format &value) {
switch (value) {
CASE(GREY)
CASE(YUYV)
CASE(BGR888)
default:
return "Format::UNKNOWN";
}

11
tools/dataset/record.cc
View File

@ -24,10 +24,13 @@ MYNTEYE_USE_NAMESPACE
int main(int argc, char *argv[]) {
auto &&api = API::Create(argc, argv);
if (!api)
return 1;
api->InitResolution(Resolution::RES_1280x400);
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();
// Enable this will cache the motion datas until you get them.

11
tools/dataset/record2.cc
View File

@ -27,10 +27,13 @@ int main(int argc, char *argv[]) {
glog_init _(argc, argv);
auto &&device = device::select();
if (!device)
return 1;
device->InitResolution(Resolution::RES_1280x400);
device->SetStreamRequest(Format::BGR888, FrameRate::RATE_30_FPS);
if (!device) return 1;
bool ok;
auto &&request = device::select_request(device, &ok);
if (!ok) return 1;
device->ConfigStreamRequest(request);
device->LogOptionInfos();
// Enable this will cache the motion datas until you get them.