feat(sample): add depth and disparity dome.

samples/CMakeLists.txt

@@ -209,6 +209,7 @@ if(WITH_API)
   )
   make_executable2(get_imu SRCS get_imu.cc util_cv.cc WITH_OPENCV)
   make_executable2(save_single_image SRCS save_single_image.cc WITH_OPENCV)
+  make_executable2(save_depth_and_disparity SRCS save_depth_and_disparity.cc WITH_OPENCV)
   make_executable2(get_from_callbacks
   SRCS get_from_callbacks.cc util_cv.cc
   WITH_OPENCV

samples/save_depth_and_disparity.cc

@@ -0,0 +1,67 @@
+#include <stdio.h>
+#include <opencv2/highgui/highgui.hpp>
+
+#include "mynteye/api/api.h"
+
+MYNTEYE_USE_NAMESPACE
+
+int main(int argc, char *argv[]) {
+  auto &&api = API::Create(argc, argv);
+  if (!api) return 1;
+
+  bool ok;
+  auto &&request = api->SelectStreamRequest(&ok);
+  if (!ok) return 1;
+  api->ConfigStreamRequest(request);
+
+  api->EnableStreamData(Stream::DEPTH);
+
+  api->Start(Source::VIDEO_STREAMING);
+
+  cv::namedWindow("disparity");
+  cv::namedWindow("depth_real");
+
+  std::int32_t count = 0;
+  std::cout << "Press 'Space' 's' 'S' to save image." << std::endl;
+  while (true) {
+    api->WaitForStreams();
+
+    auto &&depth_data = api->GetStreamData(Stream::DEPTH);
+    if (!depth_data.frame.empty()) {
+      cv::imshow("depth_real", depth_data.frame);  // CV_16UC1
+    }
+
+    auto &&dis_data = api->GetStreamData(Stream::DISPARITY);
+    if (!dis_data.frame.empty()) {
+      cv::imshow("disparity", dis_data.frame);  // CV_16UC1
+    }
+
+    char key = static_cast<char>(cv::waitKey(1));
+    if (key == 27 || key == 'q' || key == 'Q') {  // ESC/Q
+      break;
+    } else {
+      if (!depth_data.frame.empty()) {
+        char d_name[20];
+        ++count;
+        snprintf(d_name, sizeof(d_name), "depth_%d.jpg", count);
+
+        cv::imwrite(d_name, depth_data.frame);
+
+        std::cout << "Saved " << d_name << " to current directory" << std::endl;
+      }
+
+      if (!dis_data.frame.empty()) {
+        char dis_name[20];
+        ++count;
+        snprintf(dis_name, sizeof(dis_name), "disparity_%d.jpg", count);
+
+        cv::imwrite(dis_name, dis_data.frame);
+
+        std::cout << "Saved " << dis_name << " to current directory" << std::endl;
+      }
+    }
+  }
+
+  api->Stop(Source::VIDEO_STREAMING);
+  return 0;
+}