Test addons support and add tutorial ir control

include/mynteye/types.h

@@ -419,6 +419,9 @@ struct MYNTEYE_API OptionInfo {
   std::int32_t def;
 };
 
+MYNTEYE_API
+std::ostream &operator<<(std::ostream &os, const OptionInfo &info);
+
 MYNTEYE_END_NAMESPACE
 
 #endif  // MYNTEYE_TYPES_H_ NOLINT

samples/tutorials/CMakeLists.txt

@@ -36,6 +36,8 @@ endmacro()
 
 if(WITH_API)
 
-make_executable(get_device_info SRCS get_device_info.cc)
+make_executable(get_device_info SRCS data/get_device_info.cc)
+
+make_executable(ctrl_infrared SRCS control/infrared.cc WITH_OPENCV)
 
 endif()

samples/tutorials/control/infrared.cc

@@ -0,0 +1,47 @@
+#include <opencv2/highgui/highgui.hpp>
+
+#include <glog/logging.h>
+
+#include "mynteye/api.h"
+
+MYNTEYE_USE_NAMESPACE
+
+int main(int argc, char *argv[]) {
+  auto &&api = API::Create(argc, argv);
+
+  // Detect infrared add-ons
+  LOG(INFO) << "Support infrared: " << std::boolalpha
+            << api->Supports(AddOns::INFRARED);
+  LOG(INFO) << "Support infrared2: " << std::boolalpha
+            << api->Supports(AddOns::INFRARED2);
+
+  // Get infrared intensity range
+  auto &&info = api->GetOptionInfo(Option::IR_CONTROL);
+  LOG(INFO) << Option::IR_CONTROL << ": {" << info << "}";
+
+  // Set infrared intensity value
+  api->SetOptionValue(Option::IR_CONTROL, 80);
+
+  api->Start(Source::VIDEO_STREAMING);
+
+  cv::namedWindow("frame");
+
+  while (true) {
+    api->WaitForStreams();
+
+    auto &&left_data = api->GetStreamData(Stream::LEFT);
+    auto &&right_data = api->GetStreamData(Stream::RIGHT);
+
+    cv::Mat img;
+    cv::hconcat(left_data.frame, right_data.frame, img);
+    cv::imshow("frame", img);
+
+    char key = static_cast<char>(cv::waitKey(1));
+    if (key == 27 || key == 'q' || key == 'Q') {  // ESC/Q
+      break;
+    }
+  }
+
+  api->Stop(Source::ALL);
+  return 0;
+}

src/api/api.cc

@@ -56,6 +56,10 @@ bool API::Supports(const Option &option) const {
   return device_->Supports(option);
 }
 
+bool API::Supports(const AddOns &addon) const {
+  return device_->Supports(addon);
+}
+
 const std::vector<StreamRequest> &API::GetStreamRequests(
     const Capabilities &capability) const {
   return device_->GetStreamRequests(capability);

src/api/api.h

@@ -49,6 +49,7 @@ class MYNTEYE_API API {
   bool Supports(const Stream &stream) const;
   bool Supports(const Capabilities &capability) const;
   bool Supports(const Option &option) const;
+  bool Supports(const AddOns &addon) const;
 
   const std::vector<StreamRequest> &GetStreamRequests(
       const Capabilities &capability) const;

src/device/device.cc

@@ -91,6 +91,18 @@ bool Device::Supports(const Option &option) const {
   return supports.find(option) != supports.end();
 }
 
+bool Device::Supports(const AddOns &addon) const {
+  CHECK_NOTNULL(device_info_);
+  auto &&hw_flag = device_info_->hardware_version.flag();
+  switch (addon) {
+    case AddOns::INFRARED:
+      return hw_flag[0];
+    case AddOns::INFRARED2:
+      return hw_flag[1];
+    default: { LOG(FATAL) << "Unknown add-on"; }
+  }
+}
+
 const std::vector<StreamRequest> &Device::GetStreamRequests(
     const Capabilities &capability) const {
   if (!Supports(capability)) {

src/device/device.h

@@ -54,6 +54,7 @@ class MYNTEYE_API Device {
   bool Supports(const Stream &stream) const;
   bool Supports(const Capabilities &capability) const;
   bool Supports(const Option &option) const;
+  bool Supports(const AddOns &addon) const;
 
   const std::vector<StreamRequest> &GetStreamRequests(
       const Capabilities &capability) const;

src/public/types.cc

@@ -225,4 +225,9 @@ std::ostream &operator<<(std::ostream &os, const Extrinsics &ex) {
   return os;
 }
 
+std::ostream &operator<<(std::ostream &os, const OptionInfo &info) {
+  return os << "min: " << info.min << ", max: " << info.max
+            << ", def: " << info.def;
+}
+
 MYNTEYE_END_NAMESPACE