88 lines
2.6 KiB
C++
88 lines
2.6 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_painter.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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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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// 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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CVPainter painter;
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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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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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auto &&motion_datas = api->GetMotionDatas();
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/*
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for (auto &&data : motion_datas) {
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LOG(INFO) << "Imu 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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*/
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painter.DrawImgData(img, *left_data.img);
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static std::vector<api::MotionData> motion_datas_s = motion_datas;
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if (!motion_datas.empty() && motion_datas.size() > 0) {
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motion_datas_s = motion_datas;
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}
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if (!motion_datas_s.empty() && motion_datas_s.size() > 0) {
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painter.DrawImuData(img, *motion_datas_s[0].imu);
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}
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cv::imshow("frame", img);
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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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api->Stop(Source::ALL);
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return 0;
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}
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