148 lines
4.2 KiB
C++
148 lines
4.2 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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// #define CHECK_ACCEL_THEN_GYRO
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#define SEQ_FIRST 1 // accel
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#define SEQ_SECOND 2 // gyro
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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 motion datas with timestamp correspondence of some stream
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api->EnableTimestampCorrespondence(Stream::LEFT);
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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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std::uint64_t prev_img_stamp = 0;
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std::uint64_t prev_imu_stamp = 0;
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#ifdef CHECK_ACCEL_THEN_GYRO
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std::uint8_t prev_imu_flag = 0;
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std::uint64_t imu_count = 0;
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std::uint64_t imu_disorder_count = 0;
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bool exit = false;
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#endif
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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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auto img_stamp = left_data.img->timestamp;
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LOG(INFO) << "Img timestamp: " << img_stamp
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<< ", diff_prev=" << (img_stamp - prev_img_stamp);
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prev_img_stamp = img_stamp;
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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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LOG(INFO) << "Imu count: " << motion_datas.size();
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if (motion_datas.size() == 0) {
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continue;
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}
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for (size_t i = 0, n = motion_datas.size() - 1; i <= n; ++i) {
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auto data = motion_datas[i];
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auto imu_flag = data.imu->flag;
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auto imu_stamp = data.imu->timestamp;
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std::stringstream ss;
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if (imu_flag == 0) { // accel + gyro
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ss << "Imu";
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} else if (imu_flag == 1) { // accel
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ss << "Accel";
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} else if (imu_flag == 2) { // gyro
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ss << "Gyro";
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}
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ss << " timestamp: " << imu_stamp
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<< ", diff_prev=" << (imu_stamp - prev_imu_stamp)
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<< ", diff_img=" << (1.0f + imu_stamp - img_stamp);
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#ifdef CHECK_ACCEL_THEN_GYRO
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if (imu_flag > 0) {
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bool ok = false;
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if (i == 0) { // first
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ok = (imu_flag == SEQ_FIRST);
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} else if (i == n) { // last
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ok = (imu_flag == SEQ_SECOND);
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} else {
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if (imu_flag == SEQ_FIRST) {
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ok = (prev_imu_flag == SEQ_SECOND);
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} else if (imu_flag == SEQ_SECOND) {
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ok = (prev_imu_flag == SEQ_FIRST);
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}
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}
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ss << (ok ? " ✓" : " x");
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if (!ok) ++imu_disorder_count;
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prev_imu_flag = imu_flag;
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if (!exit) {
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if (!ok) exit = true;
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}
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}
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#endif
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LOG(INFO) << ss.str();
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prev_imu_stamp = imu_stamp;
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}
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LOG(INFO);
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#ifdef CHECK_ACCEL_THEN_GYRO
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imu_count += motion_datas.size();
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if (exit) break;
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#endif
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/*
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painter.DrawImgData(img, *left_data.img);
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if (!motion_datas.empty() && motion_datas.size() > 0) {
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painter.DrawImuData(img, *motion_datas[0].imu);
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}
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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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#ifdef CHECK_ACCEL_THEN_GYRO
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if (imu_disorder_count > 0) {
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LOG(INFO) << "accel_then_gyro, disorder_count: " << imu_disorder_count
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<< "/" << imu_count;
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} else {
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LOG(INFO) << "accel_then_gyro, ok";
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}
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#endif
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return 0;
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}
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