94 lines
2.7 KiB
C++
94 lines
2.7 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 <stdio.h>
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#include <opencv2/highgui/highgui.hpp>
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#include "mynteye/api/api.h"
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#include "mynteye/logger.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->SetDisparityComputingMethodType(DisparityComputingMethod::SGBM);
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api->EnableStreamData(Stream::DISPARITY_NORMALIZED);
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if (argc == 2) {
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std::string config_path(argv[1]);
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if (api->ConfigDisparityFromFile(config_path)) {
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LOG(INFO) << "load disparity file: "
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<< config_path
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<< " success."
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<< std::endl;
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} else {
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LOG(INFO) << "load disparity file: "
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<< config_path
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<< " failed."
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<< std::endl;
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}
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}
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api->Start(Source::VIDEO_STREAMING);
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cv::namedWindow("frame");
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// cv::namedWindow("disparity");
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cv::namedWindow("disparity_normalized");
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double fps;
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double t = 0.01;
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std::cout << "disparity fps:" << std::endl;
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while (true) {
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api->WaitForStreams();
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auto &&left_data = api->GetStreamData(Stream::LEFT);
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auto &&right_data = api->GetStreamData(Stream::RIGHT);
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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 &&disp_data = api->GetStreamData(Stream::DISPARITY);
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// if (!disp_data.frame.empty()) {
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// cv::imshow("disparity", disp_data.frame);
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// }
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auto &&disp_norm_data = api->GetStreamData(Stream::DISPARITY_NORMALIZED);
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if (!disp_norm_data.frame.empty()) {
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double t_c = cv::getTickCount() / cv::getTickFrequency();
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fps = 1.0/(t_c - t);
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printf("\b\b\b\b\b\b\b\b\b%.2f", fps);
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t = t_c;
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cv::imshow("disparity_normalized", disp_norm_data.frame); // CV_8UC1
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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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}
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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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