refactor(tutorials): compatible with s1030 and s210a

samples/tutorials/CMakeLists.txt

@@ -115,7 +115,9 @@ make_executable2(get_with_plugin SRCS data/get_with_plugin.cc WITH_OPENCV)
 ## control
 
 make_executable2(ctrl_framerate SRCS control/framerate.cc WITH_OPENCV)
+make_executable2(ctrl_imu_low_pass_filter SRCS control/imu_low_pass_filter.cc WITH_OPENCV)
 make_executable2(ctrl_imu_range SRCS control/imu_range.cc WITH_OPENCV)
+make_executable2(ctrl_infrared SRCS control/infrared.cc WITH_OPENCV)
 make_executable2(ctrl_auto_exposure
   SRCS control/auto_exposure.cc util/cv_painter.cc
   WITH_OPENCV

samples/tutorials/control/auto_exposure.cc

@@ -29,6 +29,34 @@ int main(int argc, char *argv[]) {
   if (!ok) return 1;
   api->ConfigStreamRequest(request);
 
+  Model model = api->GetModel();
+
+  // Set auto exposure options fo s1030
+  if (model == Model::STANDARD) {
+    // auto-exposure: 0
+    api->SetOptionValue(Option::EXPOSURE_MODE, 0);
+
+    // max_gain: range [0,48], default 48
+    api->SetOptionValue(Option::MAX_GAIN, 48);
+    // max_exposure_time: range [0,240], default 240
+    api->SetOptionValue(Option::MAX_EXPOSURE_TIME, 240);
+    // desired_brightness: range [0,255], default 192
+    api->SetOptionValue(Option::DESIRED_BRIGHTNESS, 192);
+
+    LOG(INFO) << "Enable auto-exposure";
+    LOG(INFO) << "Set EXPOSURE_MODE to "
+              << api->GetOptionValue(Option::EXPOSURE_MODE);
+    LOG(INFO) << "Set EXPOSURE_MODE to "
+              << api->GetOptionValue(Option::EXPOSURE_MODE);
+    LOG(INFO) << "Set MAX_GAIN to " << api->GetOptionValue(Option::MAX_GAIN);
+    LOG(INFO) << "Set MAX_EXPOSURE_TIME to "
+              << api->GetOptionValue(Option::MAX_EXPOSURE_TIME);
+    LOG(INFO) << "Set DESIRED_BRIGHTNESS to "
+              << api->GetOptionValue(Option::DESIRED_BRIGHTNESS);
+  }
+
+  // Set auto exposure options fo s210a or s2000
+  if (model == Model::STANDARD2) {
     // auto-exposure: 0
     api->SetOptionValue(Option::EXPOSURE_MODE, 0);
 
@@ -42,6 +70,8 @@ int main(int argc, char *argv[]) {
     api->SetOptionValue(Option::MIN_EXPOSURE_TIME, 0);
 
     LOG(INFO) << "Enable auto-exposure";
+    LOG(INFO) << "Set EXPOSURE_MODE to "
+              << api->GetOptionValue(Option::EXPOSURE_MODE);
     LOG(INFO) << "Set MAX_GAIN to " << api->GetOptionValue(Option::MAX_GAIN);
     LOG(INFO) << "Set MAX_EXPOSURE_TIME to "
               << api->GetOptionValue(Option::MAX_EXPOSURE_TIME);
@@ -49,6 +79,7 @@ int main(int argc, char *argv[]) {
               << api->GetOptionValue(Option::DESIRED_BRIGHTNESS);
     LOG(INFO) << "Set MIN_EXPOSURE_TIME to "
               << api->GetOptionValue(Option::MIN_EXPOSURE_TIME);
+  }
 
   api->Start(Source::VIDEO_STREAMING);
 

samples/tutorials/control/framerate.cc

@@ -30,6 +30,30 @@ int main(int argc, char *argv[]) {
   if (!ok) return 1;
   api->ConfigStreamRequest(request);
 
+  Model model = api->GetModel();
+
+  // Set frame rate options for s1030
+  if (model == Model::STANDARD) {
+    // Attention: must set FRAME_RATE and IMU_FREQUENCY together,
+    // otherwise won't.
+    // succeed.
+
+    // FRAME_RATE values: 10, 15, 20, 25, 30, 35, 40, 45, 50, 55, 60
+    api->SetOptionValue(Option::FRAME_RATE, 25);
+    // IMU_FREQUENCY values: 100, 200, 250, 333, 500
+    api->SetOptionValue(Option::IMU_FREQUENCY, 500);
+
+    LOG(INFO) << "Set FRAME_RATE to "
+              << api->GetOptionValue(Option::FRAME_RATE);
+    LOG(INFO) << "Set IMU_FREQUENCY to "
+              << api->GetOptionValue(Option::IMU_FREQUENCY);
+  }
+
+  // You should set frame rate for S210A by 'SelectStreamRequest()'
+  if (model == Model::STANDARD2) {
+    LOG(INFO) << "Please set frame rate by 'SelectStreamRequest()'";
+  }
+
   // Count img
   std::atomic_uint img_count(0);
   api->SetStreamCallback(
@@ -38,6 +62,13 @@ int main(int argc, char *argv[]) {
         ++img_count;
       });
 
+  // Count imu
+  std::atomic_uint imu_count(0);
+  api->SetMotionCallback([&imu_count](const api::MotionData &data) {
+    CHECK_NOTNULL(data.imu);
+    ++imu_count;
+  });
+
   api->Start(Source::ALL);
 
   cv::namedWindow("frame");
@@ -70,5 +101,7 @@ int main(int argc, char *argv[]) {
             << ", cost: " << elapsed_ms << "ms";
   LOG(INFO) << "Img count: " << img_count
             << ", fps: " << (1000.f * img_count / elapsed_ms);
+  LOG(INFO) << "Imu count: " << imu_count
+            << ", hz: " << (1000.f * imu_count / elapsed_ms);
   return 0;
 }

samples/tutorials/control/imu_low_pass_filter.cc

@@ -0,0 +1,104 @@
+// Copyright 2018 Slightech Co., Ltd. All rights reserved.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+#include <atomic>
+
+#include <opencv2/highgui/highgui.hpp>
+
+#include "mynteye/logger.h"
+#include "mynteye/api/api.h"
+#include "mynteye/util/times.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);
+
+  Model model = api->GetModel();
+
+  // MYNTEYE-S1030 don't support this option
+  if (model == Model::STANDARD) {
+    LOG(INFO) << "Sorry,MYNTEYE-S1030 don't support imu low pass settings";
+    return 0;
+  }
+
+  // Set imu low pass filter for s210a
+  if (model == Model::STANDARD2) {
+    // ACCELEROMETER_RANGE values: 0, 1, 2
+    api->SetOptionValue(Option::ACCELEROMETER_LOW_PASS_FILTER, 2);
+    // GYROSCOPE_RANGE values: 23, 64
+    api->SetOptionValue(Option::GYROSCOPE_LOW_PASS_FILTER, 64);
+
+    LOG(INFO) << "Set ACCELEROMETER_LOW_PASS_FILTER to "
+              << api->GetOptionValue(Option::ACCELEROMETER_LOW_PASS_FILTER);
+    LOG(INFO) << "Set GYROSCOPE_LOW_PASS_FILTER to "
+              << api->GetOptionValue(Option::GYROSCOPE_LOW_PASS_FILTER);
+  }
+
+  // Count img
+  std::atomic_uint img_count(0);
+  api->SetStreamCallback(
+      Stream::LEFT, [&img_count](const api::StreamData &data) {
+        CHECK_NOTNULL(data.img);
+        ++img_count;
+      });
+
+  // Count imu
+  std::atomic_uint imu_count(0);
+  api->SetMotionCallback([&imu_count](const api::MotionData &data) {
+    CHECK_NOTNULL(data.imu);
+    ++imu_count;
+  });
+
+  api->Start(Source::ALL);
+
+  cv::namedWindow("frame");
+
+  auto &&time_beg = times::now();
+  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;
+    }
+  }
+  auto &&time_end = times::now();
+
+  api->Stop(Source::ALL);
+
+  // Calculate img fps and imu hz
+  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) << "Img count: " << img_count
+            << ", fps: " << (1000.f * img_count / elapsed_ms);
+  LOG(INFO) << "Imu count: " << imu_count
+            << ", hz: " << (1000.f * imu_count / elapsed_ms);
+  return 0;
+}

samples/tutorials/control/imu_range.cc

@@ -30,10 +30,23 @@ int main(int argc, char *argv[]) {
   if (!ok) return 1;
   api->ConfigStreamRequest(request);
 
+  Model model = api->GetModel();
+
+  // Set imu range for s1030
+  if (model == Model::STANDARD) {
+    // ACCELEROMETER_RANGE values: 4, 8, 16, 32
+    api->SetOptionValue(Option::ACCELEROMETER_RANGE, 8);
+    // GYROSCOPE_RANGE values: 500, 1000, 2000, 4000
+    api->SetOptionValue(Option::GYROSCOPE_RANGE, 1000);
+  }
+
+  // Set imu range for s210a
+  if (model == Model::STANDARD2) {
     // ACCELEROMETER_RANGE values: 6, 12, 24, 32
     api->SetOptionValue(Option::ACCELEROMETER_RANGE, 6);
     // GYROSCOPE_RANGE values: 250, 500, 1000, 2000, 4000
     api->SetOptionValue(Option::GYROSCOPE_RANGE, 1000);
+  }
 
   LOG(INFO) << "Set ACCELEROMETER_RANGE to "
             << api->GetOptionValue(Option::ACCELEROMETER_RANGE);

samples/tutorials/control/infrared.cc

@@ -0,0 +1,69 @@
+// Copyright 2018 Slightech Co., Ltd. All rights reserved.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+#include <opencv2/highgui/highgui.hpp>
+
+#include "mynteye/logger.h"
+#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);
+
+  Model model = api->GetModel();
+
+  // Set ir low pass filter for s210a
+  if (model == Model::STANDARD) {
+    // ir control: range [0,160], default 0
+    api->SetOptionValue(Option::IR_CONTROL, 80);
+
+    LOG(INFO) << "Set IR_CONTROL to "
+              << api->GetOptionValue(Option::IR_CONTROL);
+  }
+
+  // MYNTEYE-S210A don't support this option
+  if (model == Model::STANDARD2) {
+    LOG(INFO) << "Sorry,MYNTEYE-S210A don't support ir control";
+    return 0;
+  }
+
+  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::VIDEO_STREAMING);
+  return 0;
+}

samples/tutorials/control/manual_exposure.cc

@@ -29,6 +29,30 @@ int main(int argc, char *argv[]) {
   if (!ok) return 1;
   api->ConfigStreamRequest(request);
 
+  Model model = api->GetModel();
+
+  // Set manual exposure options fo s1030
+  if (model == Model::STANDARD) {
+    // manual-exposure: 1
+    api->SetOptionValue(Option::EXPOSURE_MODE, 1);
+    // gain: range [0,48], default 24
+    api->SetOptionValue(Option::GAIN, 24);
+    // brightness/exposure_time: range [0,240], default 120
+    api->SetOptionValue(Option::BRIGHTNESS, 120);
+    // contrast/black_level_calibration: range [0,255], default 127
+    api->SetOptionValue(Option::CONTRAST, 127);
+
+    LOG(INFO) << "Enable manual-exposure";
+    LOG(INFO) << "Set EXPOSURE_MODE to "
+              << api->GetOptionValue(Option::EXPOSURE_MODE);
+    LOG(INFO) << "Set GAIN to " << api->GetOptionValue(Option::GAIN);
+    LOG(INFO) << "Set BRIGHTNESS to "
+              << api->GetOptionValue(Option::BRIGHTNESS);
+    LOG(INFO) << "Set CONTRAST to " << api->GetOptionValue(Option::CONTRAST);
+  }
+
+  // Set manual exposure options fo s210a or s2000
+  if (model == Model::STANDARD2) {
     // manual-exposure: 1
     api->SetOptionValue(Option::EXPOSURE_MODE, 1);
 
@@ -36,7 +60,11 @@ int main(int argc, char *argv[]) {
     api->SetOptionValue(Option::BRIGHTNESS, 120);
 
     LOG(INFO) << "Enable manual-exposure";
-  LOG(INFO) << "Set BRIGHTNESS to " << api->GetOptionValue(Option::BRIGHTNESS);
+    LOG(INFO) << "Set EXPOSURE_MODE to "
+              << api->GetOptionValue(Option::EXPOSURE_MODE);
+    LOG(INFO) << "Set BRIGHTNESS to "
+              << api->GetOptionValue(Option::BRIGHTNESS);
+  }
 
   api->Start(Source::VIDEO_STREAMING);