75 lines
2.1 KiB
C++
75 lines
2.1 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 <string>
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#include <opencv2/highgui/highgui.hpp>
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#include <opencv2/imgproc/imgproc.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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auto request = api->GetStreamRequest();
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// struct StreamRequest {
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// /** Stream width in pixels */
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// std::uint16_t width;
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// /** Stream height in pixels */
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// std::uint16_t height;
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// /** Stream pixel format */
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// Format format;
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// /** Stream frames per second */
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// std::uint16_t fps;
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// }
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request.fps = 10;
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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");
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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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// this code is for real depth data
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auto &&depth_data = api->GetStreamData(Stream::DEPTH);
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if (!depth_data.frame.empty()) {
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cv::imshow("depth", 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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}
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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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