Add dataset record tool

2018-04-15 14:59:51 +08:00
parent d030a6a696
commit fdd02dbd78
5 changed files with 196 additions and 0 deletions
--- a/tools/dataset/CMakeLists.txt
+++ b/tools/dataset/CMakeLists.txt
@@ -0,0 +1,22 @@
+get_filename_component(DIR_NAME ${CMAKE_CURRENT_LIST_DIR} NAME)
+
+set_outdir(
+  "${OUT_DIR}/lib/${DIR_NAME}"
+  "${OUT_DIR}/lib/${DIR_NAME}"
+  "${OUT_DIR}/bin/${DIR_NAME}"
+)
+
+include_directories(
+  ${PRO_DIR}/src
+)
+
+## record
+
+add_executable(record record.cc)
+target_link_libraries(record mynteye ${OpenCV_LIBS})
+
+if(OS_WIN)
+  target_compile_definitions(record
+    PUBLIC GLOG_NO_ABBREVIATED_SEVERITIES
+  )
+endif()
--- a/tools/dataset/record.cc
+++ b/tools/dataset/record.cc
@@ -0,0 +1,117 @@
+#include <opencv2/highgui/highgui.hpp>
+#include <opencv2/imgproc/imgproc.hpp>
+
+#include "mynteye/glog_init.h"
+
+#include "device/context.h"
+#include "device/device.h"
+
+#include "internal/times.h"
+
+MYNTEYE_USE_NAMESPACE
+
+int main(int argc, char *argv[]) {
+  glog_init _(argc, argv);
+
+  LOG(INFO) << "Detecting MYNT EYE devices";
+  Context context;
+  auto &&devices = context.devices();
+
+  size_t n = devices.size();
+  LOG_IF(FATAL, n <= 0) << "No MYNT EYE devices :(";
+
+  LOG(INFO) << "MYNT EYE devices:";
+  for (size_t i = 0; i < n; i++) {
+    auto &&device = devices[i];
+    auto &&name = device->GetInfo(Info::DEVICE_NAME);
+    LOG(INFO) << "  index: " << i << ", name: " << name;
+  }
+
+  std::shared_ptr<Device> device = nullptr;
+  if (n <= 1) {
+    device = devices[0];
+    LOG(INFO) << "Only one MYNT EYE device, select index: 0";
+  } else {
+    while (true) {
+      size_t i;
+      LOG(INFO) << "There are " << n << " MYNT EYE devices, select index: ";
+      std::cin >> i;
+      if (i >= n) {
+        LOG(WARNING) << "Index out of range :(";
+        continue;
+      }
+      device = devices[i];
+      break;
+    }
+  }
+
+  /*
+  {  // auto-exposure
+    device->SetOptionValue(Option::EXPOSURE_MODE, 0);
+    device->SetOptionValue(Option::MAX_GAIN, 40);  // [0.48]
+    device->SetOptionValue(Option::MAX_EXPOSURE_TIME, 120);  // [0,240]
+    device->SetOptionValue(Option::DESIRED_BRIGHTNESS, 200);  // [0,255]
+  }
+  {  // manual-exposure
+    device->SetOptionValue(Option::EXPOSURE_MODE, 1);
+    device->SetOptionValue(Option::GAIN, 20);  // [0.48]
+    device->SetOptionValue(Option::BRIGHTNESS, 20);  // [0,240]
+    device->SetOptionValue(Option::CONTRAST, 20);  // [0,255]
+  }
+  device->SetOptionValue(Option::IR_CONTROL, 80);
+  device->SetOptionValue(Option::FRAME_RATE, 25);
+  device->SetOptionValue(Option::IMU_FREQUENCY, 500);
+  */
+  device->LogOptionInfos();
+
+  // Enable this will cache the motion datas until you get them.
+  device->EnableMotionDatas();
+  device->Start(Source::ALL);
+
+  cv::namedWindow("frame");
+
+  std::size_t img_count = 0;
+  std::size_t imu_count = 0;
+  auto &&time_beg = times::now();
+  while (true) {
+    device->WaitForStreams();
+
+    auto &&left_datas = device->GetStreamDatas(Stream::LEFT);
+    auto &&right_datas = device->GetStreamDatas(Stream::RIGHT);
+    img_count += left_datas.size();
+
+    auto &&motion_datas = device->GetMotionDatas();
+    imu_count += motion_datas.size();
+
+    auto &&left_frame = left_datas.back().frame;
+    auto &&right_frame = right_datas.back().frame;
+    cv::Mat left_img(
+        left_frame->height(), left_frame->width(), CV_8UC1, left_frame->data());
+    cv::Mat right_img(
+        right_frame->height(), right_frame->width(), CV_8UC1,
+        right_frame->data());
+
+    cv::Mat img;
+    cv::hconcat(left_img, right_img, 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();
+
+  device->Stop(Source::ALL);
+
+  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;
+}