131 lines
4.0 KiB
C++
131 lines
4.0 KiB
C++
#include <opencv2/highgui/highgui.hpp>
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#include <opencv2/imgproc/imgproc.hpp>
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#include "mynteye/glog_init.h"
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#include "device/context.h"
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#include "device/device.h"
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MYNTEYE_USE_NAMESPACE
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int main(int argc, char *argv[]) {
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glog_init _(argc, argv);
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Context context;
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auto &&devices = context.devices();
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size_t n = devices.size();
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LOG_IF(FATAL, n <= 0) << "No MYNT EYE devices :(";
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LOG(INFO) << "MYNT EYE devices: ";
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for (size_t i = 0; i < n; i++) {
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auto &&device = devices[i];
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auto &&name = device->GetInfo(Info::DEVICE_NAME);
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LOG(INFO) << " index: " << i << ", name: " << name;
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}
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std::shared_ptr<Device> device = nullptr;
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if (n <= 1) {
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device = devices[0];
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LOG(INFO) << "Only one MYNT EYE device, select index: 0";
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} else {
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while (true) {
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size_t i;
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LOG(INFO) << "There are " << n << " MYNT EYE devices, select index: ";
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std::cin >> i;
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if (i >= n) {
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LOG(WARNING) << "Index out of range :(";
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continue;
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}
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device = devices[i];
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break;
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}
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}
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/*
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{ // auto-exposure
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device->SetOptionValue(Option::EXPOSURE_MODE, 0);
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device->SetOptionValue(Option::MAX_GAIN, 40); // [0.48]
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device->SetOptionValue(Option::MAX_EXPOSURE_TIME, 120); // [0,240]
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device->SetOptionValue(Option::DESIRED_BRIGHTNESS, 200); // [0,255]
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}
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{ // manual-exposure
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device->SetOptionValue(Option::EXPOSURE_MODE, 1);
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device->SetOptionValue(Option::GAIN, 20); // [0.48]
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device->SetOptionValue(Option::BRIGHTNESS, 20); // [0,240]
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device->SetOptionValue(Option::CONTRAST, 20); // [0,255]
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}
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device->SetOptionValue(Option::IR_CONTROL, 80);
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*/
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device->LogOptionInfos();
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// device->RunOptionAction(Option::ZERO_DRIFT_CALIBRATION);
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std::size_t left_count = 0;
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device->SetStreamCallback(
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Stream::LEFT, [&left_count](const device::StreamData &data) {
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CHECK_NOTNULL(data.img);
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++left_count;
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VLOG(2) << Stream::LEFT << ", count: " << left_count;
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VLOG(2) << " frame_id: " << data.img->frame_id
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<< ", timestamp: " << data.img->timestamp
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<< ", exposure_time: " << data.img->exposure_time;
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});
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std::size_t right_count = 0;
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device->SetStreamCallback(
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Stream::RIGHT, [&right_count](const device::StreamData &data) {
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CHECK_NOTNULL(data.img);
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++right_count;
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VLOG(2) << Stream::RIGHT << ", count: " << right_count;
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VLOG(2) << " frame_id: " << data.img->frame_id
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<< ", timestamp: " << data.img->timestamp
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<< ", exposure_time: " << data.img->exposure_time;
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});
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std::size_t imu_count = 0;
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device->SetMotionCallback([&imu_count](const device::MotionData &data) {
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CHECK_NOTNULL(data.imu);
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++imu_count;
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LOG(INFO) << "Imu count: " << imu_count;
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LOG(INFO) << " frame_id: " << data.imu->frame_id
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<< ", timestamp: " << data.imu->timestamp
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<< ", accel_x: " << data.imu->accel[0]
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<< ", accel_y: " << data.imu->accel[1]
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<< ", accel_z: " << data.imu->accel[2]
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<< ", gyro_x: " << data.imu->gyro[0]
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<< ", gyro_y: " << data.imu->gyro[1]
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<< ", gyro_z: " << data.imu->gyro[2]
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<< ", temperature: " << data.imu->temperature;
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});
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device->Start(Source::ALL);
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cv::namedWindow("frame");
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while (true) {
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device->WaitForStreams();
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device::StreamData left_data = device->GetLatestStreamData(Stream::LEFT);
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device::StreamData right_data = device->GetLatestStreamData(Stream::RIGHT);
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cv::Mat left_img(
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left_data.frame->height(), left_data.frame->width(), CV_8UC1,
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left_data.frame->data());
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cv::Mat right_img(
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right_data.frame->height(), right_data.frame->width(), CV_8UC1,
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right_data.frame->data());
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cv::Mat img;
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cv::hconcat(left_img, right_img, img);
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cv::imshow("frame", img);
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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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device->Stop(Source::ALL);
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return 0;
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}
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