139 lines
5.1 KiB
C++
139 lines
5.1 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 <opencv2/highgui/highgui.hpp>
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#include "mynteye/logger.h"
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#include "mynteye/api/api.h"
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#include "mynteye/util/times.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)
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return 1;
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api->SetStreamRequest(Format::BGR888, FrameRate::RATE_30_FPS);
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api->LogOptionInfos();
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std::size_t left_count = 0;
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api->SetStreamCallback(
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Stream::LEFT, [&left_count](const api::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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api->SetStreamCallback(
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Stream::RIGHT, [&right_count](const api::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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api->SetMotionCallback([&imu_count](const api::MotionData &data) {
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CHECK_NOTNULL(data.imu);
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++imu_count;
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VLOG(2) << "Imu count: " << imu_count;
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VLOG(2) << ", 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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// api->EnableStreamData(Stream::LEFT_RECTIFIED);
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// api->EnableStreamData(Stream::RIGHT_RECTIFIED);
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api->EnableStreamData(Stream::DISPARITY_NORMALIZED);
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api->EnableStreamData(Stream::DEPTH);
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// Enable this will cache the motion datas until you get them.
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api->EnableMotionDatas();
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api->Start(Source::ALL);
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cv::namedWindow("frame");
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cv::namedWindow("disparity");
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cv::namedWindow("depth");
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std::size_t motion_count = 0;
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auto &&time_beg = times::now();
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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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auto &&left_data = api->GetStreamData(Stream::LEFT_RECTIFIED);
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auto &&right_data = api->GetStreamData(Stream::RIGHT_RECTIFIED);
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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_NORMALIZED);
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if (!disp_data.frame.empty()) {
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cv::imshow("disparity", disp_data.frame); // CV_8UC1
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}
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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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auto &&motion_datas = api->GetMotionDatas();
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motion_count += motion_datas.size();
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for (auto &&data : motion_datas) {
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LOG(INFO) << ", 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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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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auto &&time_end = times::now();
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api->Stop(Source::ALL);
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float elapsed_ms =
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times::count<times::microseconds>(time_end - time_beg) * 0.001f;
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LOG(INFO) << "Time beg: " << times::to_local_string(time_beg)
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<< ", end: " << times::to_local_string(time_end)
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<< ", cost: " << elapsed_ms << "ms";
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LOG(INFO) << "Left count: " << left_count
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<< ", fps: " << (1000.f * left_count / elapsed_ms);
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LOG(INFO) << "Right count: " << right_count
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<< ", fps: " << (1000.f * right_count / elapsed_ms);
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LOG(INFO) << "Imu count: " << imu_count
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<< ", hz: " << (1000.f * imu_count / elapsed_ms);
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// LOG(INFO) << "Motion count: " << motion_count
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// << ", hz: " << (1000.f * motion_count / elapsed_ms);
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return 0;
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}
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