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refactor(tutorials): compatible with s1030 and s210a

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This commit is contained in:
kalman 2018-12-27 20:20:47 +08:00
parent 20b6026789
commit e38cc7797f
7 changed files with 308 additions and 28 deletions
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2
samples/tutorials/CMakeLists.txt
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@ -115,7 +115,9 @@ make_executable2(get_with_plugin SRCS data/get_with_plugin.cc WITH_OPENCV)
## control ## control
make_executable2(ctrl_framerate SRCS control/framerate.cc WITH_OPENCV) 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_imu_range SRCS control/imu_range.cc WITH_OPENCV)
make_executable2(ctrl_infrared SRCS control/infrared.cc WITH_OPENCV)
make_executable2(ctrl_auto_exposure make_executable2(ctrl_auto_exposure
SRCS control/auto_exposure.cc util/cv_painter.cc SRCS control/auto_exposure.cc util/cv_painter.cc
WITH_OPENCV WITH_OPENCV

67
samples/tutorials/control/auto_exposure.cc
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@ -29,26 +29,57 @@ int main(int argc, char *argv[]) {
if (!ok) return 1; if (!ok) return 1;
api->ConfigStreamRequest(request); api->ConfigStreamRequest(request);
// auto-exposure: 0 Model model = api->GetModel();
api->SetOptionValue(Option::EXPOSURE_MODE, 0);
// max_gain: range [0,255], default 8 // Set auto exposure options fo s1030
api->SetOptionValue(Option::MAX_GAIN, 8); if (model == Model::STANDARD) {
// max_exposure_time: range [0,1000], default 333 // auto-exposure: 0
api->SetOptionValue(Option::MAX_EXPOSURE_TIME, 333); api->SetOptionValue(Option::EXPOSURE_MODE, 0);
// desired_brightness: range [1,255], default 122
api->SetOptionValue(Option::DESIRED_BRIGHTNESS, 122);
// min_exposure_time: range [0,1000], default 0
api->SetOptionValue(Option::MIN_EXPOSURE_TIME, 0);
LOG(INFO) << "Enable auto-exposure"; // max_gain: range [0,48], default 48
LOG(INFO) << "Set MAX_GAIN to " << api->GetOptionValue(Option::MAX_GAIN); api->SetOptionValue(Option::MAX_GAIN, 48);
LOG(INFO) << "Set MAX_EXPOSURE_TIME to " // max_exposure_time: range [0,240], default 240
<< api->GetOptionValue(Option::MAX_EXPOSURE_TIME); api->SetOptionValue(Option::MAX_EXPOSURE_TIME, 240);
LOG(INFO) << "Set DESIRED_BRIGHTNESS to " // desired_brightness: range [0,255], default 192
<< api->GetOptionValue(Option::DESIRED_BRIGHTNESS); api->SetOptionValue(Option::DESIRED_BRIGHTNESS, 192);
LOG(INFO) << "Set MIN_EXPOSURE_TIME to "
<< api->GetOptionValue(Option::MIN_EXPOSURE_TIME); 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);
// max_gain: range [0,255], default 8
api->SetOptionValue(Option::MAX_GAIN, 8);
// max_exposure_time: range [0,1000], default 333
api->SetOptionValue(Option::MAX_EXPOSURE_TIME, 333);
// desired_brightness: range [1,255], default 122
api->SetOptionValue(Option::DESIRED_BRIGHTNESS, 122);
// min_exposure_time: range [0,1000], default 0
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);
LOG(INFO) << "Set DESIRED_BRIGHTNESS to "
<< api->GetOptionValue(Option::DESIRED_BRIGHTNESS);
LOG(INFO) << "Set MIN_EXPOSURE_TIME to "
<< api->GetOptionValue(Option::MIN_EXPOSURE_TIME);
}
api->Start(Source::VIDEO_STREAMING); api->Start(Source::VIDEO_STREAMING);

33
samples/tutorials/control/framerate.cc
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@ -30,6 +30,30 @@ int main(int argc, char *argv[]) {
if (!ok) return 1; if (!ok) return 1;
api->ConfigStreamRequest(request); 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 // Count img
std::atomic_uint img_count(0); std::atomic_uint img_count(0);
api->SetStreamCallback( api->SetStreamCallback(
@ -38,6 +62,13 @@ int main(int argc, char *argv[]) {
++img_count; ++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); api->Start(Source::ALL);
cv::namedWindow("frame"); cv::namedWindow("frame");
@ -70,5 +101,7 @@ int main(int argc, char *argv[]) {
<< ", cost: " << elapsed_ms << "ms"; << ", cost: " << elapsed_ms << "ms";
LOG(INFO) << "Img count: " << img_count LOG(INFO) << "Img count: " << img_count
<< ", fps: " << (1000.f * img_count / elapsed_ms); << ", fps: " << (1000.f * img_count / elapsed_ms);
LOG(INFO) << "Imu count: " << imu_count
<< ", hz: " << (1000.f * imu_count / elapsed_ms);
return 0; return 0;
} }

104
samples/tutorials/control/imu_low_pass_filter.cc Normal file
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@ -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;
}

21
samples/tutorials/control/imu_range.cc
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@ -30,10 +30,23 @@ int main(int argc, char *argv[]) {
if (!ok) return 1; if (!ok) return 1;
api->ConfigStreamRequest(request); api->ConfigStreamRequest(request);
// ACCELEROMETER_RANGE values: 6, 12, 24, 32 Model model = api->GetModel();
api->SetOptionValue(Option::ACCELEROMETER_RANGE, 6);
// GYROSCOPE_RANGE values: 250, 500, 1000, 2000, 4000 // Set imu range for s1030
api->SetOptionValue(Option::GYROSCOPE_RANGE, 1000); 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 " LOG(INFO) << "Set ACCELEROMETER_RANGE to "
<< api->GetOptionValue(Option::ACCELEROMETER_RANGE); << api->GetOptionValue(Option::ACCELEROMETER_RANGE);

69
samples/tutorials/control/infrared.cc Normal file
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@ -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;
}

40
samples/tutorials/control/manual_exposure.cc
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@ -29,14 +29,42 @@ int main(int argc, char *argv[]) {
if (!ok) return 1; if (!ok) return 1;
api->ConfigStreamRequest(request); api->ConfigStreamRequest(request);
// manual-exposure: 1 Model model = api->GetModel();
api->SetOptionValue(Option::EXPOSURE_MODE, 1);
// brightness/exposure_time: range [0,240], default 120 // Set manual exposure options fo s1030
api->SetOptionValue(Option::BRIGHTNESS, 120); 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) << "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 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);
// brightness/exposure_time: range [0,240], default 120
api->SetOptionValue(Option::BRIGHTNESS, 120);
LOG(INFO) << "Enable manual-exposure";
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); api->Start(Source::VIDEO_STREAMING);