MYNT-EYE-S-SDK/samples/device/camera.cc
2018-09-30 14:51:24 +08:00

159 lines
5.8 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 <opencv2/highgui/highgui.hpp>
#include <opencv2/imgproc/imgproc.hpp>
#include "mynteye/glog_init.h"
#include "mynteye/device.h"
#include "mynteye/utils.h"
#include "mynteye/times.h"
MYNTEYE_USE_NAMESPACE
int main(int argc, char *argv[]) {
glog_init _(argc, argv);
auto &&device = device::select();
if (!device)
return 1;
std::size_t left_count = 0;
device->InitResolution(Resolution::RES_1280x400);
device->SetStreamRequest(Format::BGR888, FrameRate::RATE_30_FPS);
device->SetStreamCallback(
Stream::LEFT, [&left_count](const device::StreamData &data) {
CHECK_NOTNULL(data.img);
++left_count;
VLOG(2) << Stream::LEFT << "count: " << left_count;
VLOG(2) << " frame_id: " << data.img->frame_id
<< ", timestamp: " << data.img->timestamp
<< ", exposure_time: " << data.img->exposure_time;
});
std::size_t right_count = 0;
device->SetStreamCallback(
Stream::RIGHT, [&right_count](const device::StreamData &data) {
CHECK_NOTNULL(data.img);
++right_count;
VLOG(2) << Stream::RIGHT << "count: " << right_count;
VLOG(2) << " frame_id: " << data.img->frame_id
<< ", timestamp: " << data.img->timestamp
<< ", exposure_time: " << data.img->exposure_time;
});
std::size_t imu_count = 0;
device->SetMotionCallback([&imu_count](const device::MotionData &data) {
CHECK_NOTNULL(data.imu);
++imu_count;
VLOG(2) << "Imu count: " << imu_count;
VLOG(2) << ", 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;
});
// Enable this will cache the motion datas until you get them.
device->EnableMotionDatas();
device->Start(Source::ALL);
cv::namedWindow("frame");
std::size_t motion_count = 0;
auto &&time_beg = times::now();
while (true) {
device->WaitForStreams();
device::StreamData left_data = device->GetLatestStreamData(Stream::LEFT);
device::StreamData right_data = device->GetLatestStreamData(Stream::RIGHT);
auto &&motion_datas = device->GetMotionDatas();
motion_count += motion_datas.size();
for (auto &&data : motion_datas) {
LOG(INFO) << "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;
}
cv::Mat img;
// TODO(Kalman): Extract into public or internal method
if (left_data.frame->format() == Format::GREY) {
cv::Mat left_img(
left_data.frame->height(), left_data.frame->width(), CV_8UC1,
left_data.frame->data());
cv::Mat right_img(
right_data.frame->height(), right_data.frame->width(), CV_8UC1,
right_data.frame->data());
cv::hconcat(left_img, right_img, img);
} else if (left_data.frame->format() == Format::YUYV) {
cv::Mat left_img(
left_data.frame->height(), left_data.frame->width(), CV_8UC2,
left_data.frame->data());
cv::Mat right_img(
right_data.frame->height(), right_data.frame->width(), CV_8UC2,
right_data.frame->data());
cv::cvtColor(left_img, left_img, cv::COLOR_YUV2BGR_YUY2);
cv::cvtColor(right_img, right_img, cv::COLOR_YUV2BGR_YUY2);
cv::hconcat(left_img, right_img, img);
} else if (left_data.frame->format() == Format::BGR888) {
cv::Mat left_img(
left_data.frame->height(), left_data.frame->width(), CV_8UC3,
left_data.frame->data());
cv::Mat right_img(
right_data.frame->height(), right_data.frame->width(), CV_8UC3,
right_data.frame->data());
cv::cvtColor(left_img, left_img, CV_BGR2RGB);
cv::cvtColor(right_img, right_img, CV_BGR2RGB);
cv::hconcat(left_img, right_img, img);
} else {
return -1;
}
cv::imshow("frame", img);
char key = static_cast<char>(cv::waitKey(1));
if (key == 27 || key == 'q' || key == 'Q') { // ESC/Q
break;
}
}
auto &&time_end = times::now();
device->Stop(Source::ALL);
float elapsed_ms =
times::count<times::microseconds>(time_end - time_beg) * 0.001f;
LOG(INFO) << "Time beg: " << times::to_local_string(time_beg)
<< ", end: " << times::to_local_string(time_end)
<< ", cost: " << elapsed_ms << "ms";
LOG(INFO) << "Left count: " << left_count
<< ", fps: " << (1000.f * left_count / elapsed_ms);
LOG(INFO) << "Right count: " << right_count
<< ", fps: " << (1000.f * right_count / elapsed_ms);
LOG(INFO) << "Imu count: " << imu_count
<< ", hz: " << (1000.f * imu_count / elapsed_ms);
LOG(INFO) << "Motion count: " << motion_count
<< ", hz: " << (1000.f * motion_count / elapsed_ms);
return 0;
}