109 lines
3.3 KiB
C++
109 lines
3.3 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 <atomic>
|
|
|
|
#include <opencv2/highgui/highgui.hpp>
|
|
|
|
#include "mynteye/logger.h"
|
|
#include "mynteye/api/api.h"
|
|
#include "mynteye/util/times.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->EnableStreamData(Stream::LEFT);
|
|
api->EnableStreamData(Stream::RIGHT);
|
|
api->ConfigStreamRequest(request);
|
|
|
|
Model model = api->GetModel();
|
|
|
|
// Set imu range for S1030
|
|
if (model == Model::STANDARD) {
|
|
// ACCELEROMETER_RANGE values: 4, 8, 16, 32
|
|
api->SetOptionValue(Option::ACCELEROMETER_RANGE, 8);
|
|
// GYROSCOPE_RANGE values: 500, 1000, 2000, 4000
|
|
api->SetOptionValue(Option::GYROSCOPE_RANGE, 1000);
|
|
}
|
|
|
|
// Set imu range for S2000/S2100/S210A
|
|
if (model == Model::STANDARD2 || model == Model::STANDARD210A) {
|
|
// ACCELEROMETER_RANGE values: 6, 12, 24, 32
|
|
api->SetOptionValue(Option::ACCELEROMETER_RANGE, 6);
|
|
// GYROSCOPE_RANGE values: 250, 500, 1000, 2000, 4000
|
|
api->SetOptionValue(Option::GYROSCOPE_RANGE, 1000);
|
|
}
|
|
|
|
LOG(INFO) << "Set ACCELEROMETER_RANGE to "
|
|
<< api->GetOptionValue(Option::ACCELEROMETER_RANGE);
|
|
LOG(INFO) << "Set GYROSCOPE_RANGE to "
|
|
<< api->GetOptionValue(Option::GYROSCOPE_RANGE);
|
|
|
|
// Count img
|
|
std::atomic_uint img_count(0);
|
|
api->SetStreamCallback(
|
|
Stream::LEFT, [&img_count](const api::StreamData &data) {
|
|
CHECK_NOTNULL(data.img);
|
|
++img_count;
|
|
});
|
|
|
|
// Count imu
|
|
std::atomic_uint imu_count(0);
|
|
api->SetMotionCallback([&imu_count](const api::MotionData &data) {
|
|
CHECK_NOTNULL(data.imu);
|
|
++imu_count;
|
|
});
|
|
|
|
api->Start(Source::ALL);
|
|
|
|
cv::namedWindow("frame");
|
|
|
|
auto &&time_beg = times::now();
|
|
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;
|
|
}
|
|
}
|
|
auto &&time_end = times::now();
|
|
|
|
api->Stop(Source::ALL);
|
|
|
|
// Calculate img fps and imu hz
|
|
float elapsed_ms =
|
|
times::count<times::microseconds>(time_end - time_beg) * 0.001f;
|
|
LOG(INFO) << "Time beg: " << times::to_local_string(time_beg)
|
|
<< ", end: " << times::to_local_string(time_end)
|
|
<< ", cost: " << elapsed_ms << "ms";
|
|
LOG(INFO) << "Img count: " << img_count
|
|
<< ", fps: " << (1000.f * img_count / elapsed_ms);
|
|
LOG(INFO) << "Imu count: " << imu_count
|
|
<< ", hz: " << (1000.f * imu_count / elapsed_ms);
|
|
return 0;
|
|
}
|