152 lines
4.5 KiB
C++
152 lines
4.5 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 <memory>
|
|
#include <mutex>
|
|
#include <sstream>
|
|
|
|
#include <opencv2/highgui/highgui.hpp>
|
|
|
|
#include "mynteye/logger.h"
|
|
#include "mynteye/api/api.h"
|
|
|
|
#include "util_cv_painter.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);
|
|
|
|
// Attention: must not block the callbacks.
|
|
|
|
// Get left image from callback
|
|
std::atomic_uint left_count(0);
|
|
api->SetStreamCallback(
|
|
Stream::LEFT, [&left_count](const api::StreamData &data) {
|
|
CHECK_NOTNULL(data.img);
|
|
++left_count;
|
|
// LOG(INFO) << Stream::LEFT << ", count: " << left_count;
|
|
// LOG(INFO) << " frame_id: " << data.img->frame_id
|
|
// << ", timestamp: " << data.img->timestamp
|
|
// << ", exposure_time: " << data.img->exposure_time;
|
|
});
|
|
|
|
// Get depth image from callback
|
|
api->EnableStreamData(Stream::DEPTH);
|
|
std::atomic_uint depth_count(0);
|
|
cv::Mat depth;
|
|
std::mutex depth_mtx;
|
|
api->SetStreamCallback(
|
|
Stream::DEPTH,
|
|
[&depth_count, &depth, &depth_mtx](const api::StreamData &data) {
|
|
MYNTEYE_UNUSED(data)
|
|
++depth_count;
|
|
{
|
|
std::lock_guard<std::mutex> _(depth_mtx);
|
|
depth = data.frame;
|
|
}
|
|
// LOG(INFO) << Stream::DEPTH << ", count: " << depth_count;
|
|
});
|
|
|
|
// Get motion data from callback
|
|
std::atomic_uint imu_count(0);
|
|
std::shared_ptr<mynteye::ImuData> imu;
|
|
std::mutex imu_mtx;
|
|
api->SetMotionCallback(
|
|
[&imu_count, &imu, &imu_mtx](const api::MotionData &data) {
|
|
CHECK_NOTNULL(data.imu);
|
|
++imu_count;
|
|
{
|
|
std::lock_guard<std::mutex> _(imu_mtx);
|
|
imu = data.imu;
|
|
}
|
|
// LOG(INFO) << "Imu count: " << imu_count;
|
|
// LOG(INFO) << " frame_id: " << data.imu->frame_id
|
|
// << ", timestamp: " << data.imu->timestamp
|
|
// << ", accel_x: " << data.imu->accel[0]
|
|
// << ", accel_y: " << data.imu->accel[1]
|
|
// << ", accel_z: " << data.imu->accel[2]
|
|
// << ", gyro_x: " << data.imu->gyro[0]
|
|
// << ", gyro_y: " << data.imu->gyro[1]
|
|
// << ", gyro_z: " << data.imu->gyro[2]
|
|
// << ", temperature: " << data.imu->temperature;
|
|
});
|
|
|
|
api->Start(Source::ALL);
|
|
|
|
CVPainter painter;
|
|
|
|
cv::namedWindow("frame");
|
|
cv::namedWindow("depth");
|
|
|
|
unsigned int depth_num = 0;
|
|
while (true) {
|
|
api->WaitForStreams();
|
|
|
|
auto &&left_data = api->GetStreamData(Stream::LEFT);
|
|
auto &&right_data = api->GetStreamData(Stream::RIGHT);
|
|
|
|
// Concat left and right as img
|
|
cv::Mat img;
|
|
cv::hconcat(left_data.frame, right_data.frame, img);
|
|
|
|
// Draw img data and size
|
|
painter.DrawImgData(img, *left_data.img);
|
|
|
|
// Draw imu data
|
|
if (imu) {
|
|
std::lock_guard<std::mutex> _(imu_mtx);
|
|
painter.DrawImuData(img, *imu);
|
|
}
|
|
|
|
// Draw counts
|
|
std::ostringstream ss;
|
|
ss << "left: " << left_count << ", depth: " << depth_count
|
|
<< ", imu: " << imu_count;
|
|
painter.DrawText(img, ss.str(), CVPainter::BOTTOM_RIGHT);
|
|
|
|
// Show img
|
|
cv::imshow("frame", img);
|
|
|
|
// Show depth
|
|
if (!depth.empty()) {
|
|
// Is the depth a new one?
|
|
if (depth_num != depth_count || depth_num == 0) {
|
|
std::lock_guard<std::mutex> _(depth_mtx);
|
|
depth_num = depth_count;
|
|
// LOG(INFO) << "depth_num: " << depth_num;
|
|
ss.str("");
|
|
ss.clear();
|
|
ss << "depth: " << depth_count;
|
|
painter.DrawText(depth, ss.str());
|
|
cv::imshow("depth", depth); // CV_16UC1
|
|
}
|
|
}
|
|
|
|
char key = static_cast<char>(cv::waitKey(1));
|
|
if (key == 27 || key == 'q' || key == 'Q') { // ESC/Q
|
|
break;
|
|
}
|
|
}
|
|
|
|
api->Stop(Source::ALL);
|
|
return 0;
|
|
}
|