MYNT-EYE-S-SDK/samples/tutorials/data/get_disparity.cc
2019-04-10 11:40:14 +08:00

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