MYNT-EYE-S-SDK/samples/get_data_without_select.cc
2019-10-28 11:27:52 +08:00

75 lines
2.1 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 <string>
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/imgproc/imgproc.hpp>
#include "mynteye/api/api.h"
MYNTEYE_USE_NAMESPACE
int main(int argc, char *argv[]) {
auto &&api = API::Create(argc, argv);
if (!api) return 1;
auto request = api->GetStreamRequest();
// struct StreamRequest {
// /** Stream width in pixels */
// std::uint16_t width;
// /** Stream height in pixels */
// std::uint16_t height;
// /** Stream pixel format */
// Format format;
// /** Stream frames per second */
// std::uint16_t fps;
// }
// request.fps = 10;
api->ConfigStreamRequest(request);
api->EnableStreamData(Stream::DEPTH);
api->Start(Source::VIDEO_STREAMING);
cv::namedWindow("frame");
cv::namedWindow("depth");
while (true) {
api->WaitForStreams();
auto &&left_data = api->GetStreamData(Stream::LEFT);
auto &&right_data = api->GetStreamData(Stream::RIGHT);
if (!left_data.frame.empty() && !right_data.frame.empty()) {
cv::Mat img;
cv::hconcat(left_data.frame, right_data.frame, img);
cv::imshow("frame", img);
}
// this code is for real depth data
auto &&depth_data = api->GetStreamData(Stream::DEPTH);
if (!depth_data.frame.empty()) {
cv::imshow("depth", depth_data.frame); // CV_16UC1
}
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;
}