95 lines
2.9 KiB
C++
95 lines
2.9 KiB
C++
// Copyright 2018 Slightech Co., Ltd. All rights reserved.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#include <opencv2/highgui/highgui.hpp>
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#include "mynteye/api/api.h"
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MYNTEYE_USE_NAMESPACE
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int main(int argc, char *argv[]) {
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auto &&api = API::Create(argc, argv);
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if (!api) return 1;
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bool ok;
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auto &&request = api->SelectStreamRequest(&ok);
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if (!ok) return 1;
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api->ConfigStreamRequest(request);
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api->EnableStreamData(Stream::DEPTH);
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api->Start(Source::VIDEO_STREAMING);
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cv::namedWindow("frame");
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cv::namedWindow("depth_real");
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std::int32_t count = 0;
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std::cout << "Press 'Space' 's' 'S' to save image." << std::endl;
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while (true) {
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api->WaitForStreams();
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static api::StreamData left_data;
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static api::StreamData right_data;
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static api::StreamData depth_data;
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auto right_data_tmp = api->GetStreamData(Stream::RIGHT_RECTIFIED);
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if (!right_data_tmp.frame.empty()) {
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right_data = right_data_tmp;
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}
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auto left_data_tmp = api->GetStreamData(Stream::LEFT_RECTIFIED);
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if (!left_data_tmp.frame.empty()) {
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left_data = left_data_tmp;
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}
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if (!left_data.frame.empty() && !right_data.frame.empty()) {
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cv::Mat img;
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cv::hconcat(left_data.frame, right_data.frame, img);
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cv::imshow("frame", img);
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}
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auto depth_data_tmp = api->GetStreamData(Stream::DEPTH);
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if (!depth_data_tmp.frame.empty()) {
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depth_data = depth_data_tmp;
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}
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if (!depth_data.frame.empty()) {
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cv::imshow("depth_real", depth_data.frame); // CV_16UC1
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}
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char key = static_cast<char>(cv::waitKey(1));
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if (key == 27 || key == 'q' || key == 'Q') { // ESC/Q
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break;
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} else if (key == 32 || key == 's' || key == 'S') {
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if (!left_data.frame.empty()
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&& !right_data.frame.empty()
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&& !depth_data.frame.empty()) {
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char l_name[20];
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char r_name[20];
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char d_name[20];
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++count;
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snprintf(l_name, sizeof(l_name), "left_%d.jpg", count);
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snprintf(r_name, sizeof(r_name), "right_%d.jpg", count);
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snprintf(d_name, sizeof(d_name), "depth_%d.jpg", count);
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cv::imwrite(l_name, left_data.frame);
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cv::imwrite(r_name, right_data.frame);
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cv::imwrite(d_name, depth_data.frame);
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std::cout << "Saved " << l_name << " " << r_name << " " << d_name << " to current directory" << std::endl;
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}
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}
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}
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api->Stop(Source::VIDEO_STREAMING);
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return 0;
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}
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