50 lines
1.2 KiB
C++
50 lines
1.2 KiB
C++
#include <opencv2/highgui/highgui.hpp>
|
|
|
|
#include <glog/logging.h>
|
|
|
|
#include "mynteye/api.h"
|
|
|
|
MYNTEYE_USE_NAMESPACE
|
|
|
|
int main(int argc, char *argv[]) {
|
|
auto &&api = API::Create(argc, argv);
|
|
|
|
// api->EnableStreamData(Stream::DISPARITY);
|
|
api->EnableStreamData(Stream::DISPARITY_NORMALIZED);
|
|
|
|
api->Start(Source::VIDEO_STREAMING);
|
|
|
|
cv::namedWindow("frame");
|
|
// cv::namedWindow("disparity");
|
|
cv::namedWindow("disparity_normalized");
|
|
|
|
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);
|
|
|
|
// 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()) {
|
|
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;
|
|
}
|