70 lines
1.9 KiB
C++
70 lines
1.9 KiB
C++
// 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;
|
|
}
|