Add imu range setting

2018-11-20 15:23:07 +08:00
parent 6d39773439
commit ee19a8c857
9 changed files with 147 additions and 8 deletions
--- a/samples/tutorials/control/imu_range.cc
+++ b/samples/tutorials/control/imu_range.cc
@@ -0,0 +1,89 @@
+// 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;
+
+  // 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);
+
+  LOG(INFO) << "Set ACCELEROMETER_RANGE to "
+            << api->GetOptionValue(Option::ACCELEROMETER_RANGE);
+  LOG(INFO) << "Set GYROSCOPE_RANGE to "
+            << api->GetOptionValue(Option::GYROSCOPE_RANGE);
+
+  // 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;
+}