112 lines
3.7 KiB
C++
112 lines
3.7 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 "util_cv.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) return 1;
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std::int32_t frame_rate = 0;
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bool ok;
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auto &&request = api->SelectStreamRequest(&ok);
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if (!ok) return 1;
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api->ConfigStreamRequest(request);
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Model model = api->GetModel();
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// Set auto exposure options fo s1030
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if (model == Model::STANDARD) {
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// auto-exposure: 0
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api->SetOptionValue(Option::EXPOSURE_MODE, 0);
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// max_gain: range [0,48], default 48
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api->SetOptionValue(Option::MAX_GAIN, 48);
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// max_exposure_time: range [0,240], default 240
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api->SetOptionValue(Option::MAX_EXPOSURE_TIME, 240);
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// desired_brightness: range [0,255], default 192
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api->SetOptionValue(Option::DESIRED_BRIGHTNESS, 192);
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frame_rate = api->GetOptionValue(Option::FRAME_RATE);
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LOG(INFO) << "Enable auto-exposure";
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LOG(INFO) << "Set EXPOSURE_MODE to "
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<< api->GetOptionValue(Option::EXPOSURE_MODE);
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LOG(INFO) << "Set MAX_GAIN to " << api->GetOptionValue(Option::MAX_GAIN);
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LOG(INFO) << "Set MAX_EXPOSURE_TIME to "
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<< api->GetOptionValue(Option::MAX_EXPOSURE_TIME);
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LOG(INFO) << "Set DESIRED_BRIGHTNESS to "
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<< api->GetOptionValue(Option::DESIRED_BRIGHTNESS);
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}
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// Set auto exposure options fo S2000/S2100/S210A/S200B
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if (model == Model::STANDARD2 || model == Model::STANDARD210A ||
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model == Model::STANDARD200B) {
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// auto-exposure: 0
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api->SetOptionValue(Option::EXPOSURE_MODE, 0);
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// max_gain: range [0,255], default 8
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api->SetOptionValue(Option::MAX_GAIN, 8);
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// max_exposure_time: range [0,1000], default 333
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api->SetOptionValue(Option::MAX_EXPOSURE_TIME, 333);
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// desired_brightness: range [1,255], default 122
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api->SetOptionValue(Option::DESIRED_BRIGHTNESS, 122);
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// min_exposure_time: range [0,1000], default 0
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api->SetOptionValue(Option::MIN_EXPOSURE_TIME, 0);
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LOG(INFO) << "Enable auto-exposure";
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LOG(INFO) << "Set EXPOSURE_MODE to "
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<< api->GetOptionValue(Option::EXPOSURE_MODE);
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LOG(INFO) << "Set MAX_GAIN to " << api->GetOptionValue(Option::MAX_GAIN);
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LOG(INFO) << "Set MAX_EXPOSURE_TIME to "
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<< api->GetOptionValue(Option::MAX_EXPOSURE_TIME);
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LOG(INFO) << "Set DESIRED_BRIGHTNESS to "
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<< api->GetOptionValue(Option::DESIRED_BRIGHTNESS);
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LOG(INFO) << "Set MIN_EXPOSURE_TIME to "
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<< api->GetOptionValue(Option::MIN_EXPOSURE_TIME);
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}
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api->Start(Source::VIDEO_STREAMING);
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CVPainter painter(frame_rate);
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cv::namedWindow("frame");
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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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cv::Mat img;
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cv::hconcat(left_data.frame, right_data.frame, img);
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painter.DrawImgData(img, *left_data.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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api->Stop(Source::VIDEO_STREAMING);
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return 0;
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}
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