108 lines
3.3 KiB
C++
108 lines
3.3 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 <atomic>
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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 "mynteye/util/times.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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Model model = api->GetModel();
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// Set imu range for S1030
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if (model == Model::STANDARD) {
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// ACCELEROMETER_RANGE values: 4, 8, 16, 32
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api->SetOptionValue(Option::ACCELEROMETER_RANGE, 8);
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// GYROSCOPE_RANGE values: 500, 1000, 2000, 4000
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api->SetOptionValue(Option::GYROSCOPE_RANGE, 1000);
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}
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// Set imu range for S2000/S2100/S210A/S200B
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if (model == Model::STANDARD2 ||
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model == Model::STANDARD210A || model == Model::STANDARD200B) {
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// ACCELEROMETER_RANGE values: 6, 12, 24, 48
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api->SetOptionValue(Option::ACCELEROMETER_RANGE, 6);
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// GYROSCOPE_RANGE values: 250, 500, 1000, 2000, 4000
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api->SetOptionValue(Option::GYROSCOPE_RANGE, 1000);
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}
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LOG(INFO) << "Set ACCELEROMETER_RANGE to "
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<< api->GetOptionValue(Option::ACCELEROMETER_RANGE);
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LOG(INFO) << "Set GYROSCOPE_RANGE to "
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<< api->GetOptionValue(Option::GYROSCOPE_RANGE);
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// Count img
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std::atomic_uint img_count(0);
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api->SetStreamCallback(
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Stream::LEFT, [&img_count](const api::StreamData &data) {
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CHECK_NOTNULL(data.img);
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++img_count;
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});
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// Count imu
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std::atomic_uint imu_count(0);
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api->SetMotionCallback([&imu_count](const api::MotionData &data) {
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CHECK_NOTNULL(data.imu);
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++imu_count;
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});
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api->Start(Source::ALL);
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cv::namedWindow("frame");
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auto &&time_beg = times::now();
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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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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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auto &&time_end = times::now();
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api->Stop(Source::ALL);
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// Calculate img fps and imu hz
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float elapsed_ms =
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times::count<times::microseconds>(time_end - time_beg) * 0.001f;
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LOG(INFO) << "Time beg: " << times::to_local_string(time_beg)
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<< ", end: " << times::to_local_string(time_end)
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<< ", cost: " << elapsed_ms << "ms";
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LOG(INFO) << "Img count: " << img_count
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<< ", fps: " << (1000.f * img_count / elapsed_ms);
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LOG(INFO) << "Imu count: " << imu_count
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<< ", hz: " << (1000.f * imu_count / elapsed_ms);
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return 0;
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}
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