117 lines
3.3 KiB
C++
117 lines
3.3 KiB
C++
#include <opencv2/highgui/highgui.hpp>
|
|
#include <opencv2/imgproc/imgproc.hpp>
|
|
|
|
#include "mynteye/glog_init.h"
|
|
|
|
#include "device/context.h"
|
|
#include "device/device.h"
|
|
|
|
MYNTEYE_USE_NAMESPACE
|
|
|
|
int main(int argc, char *argv[]) {
|
|
glog_init _(argc, argv);
|
|
|
|
Context context;
|
|
auto &&devices = context.devices();
|
|
|
|
size_t n = devices.size();
|
|
LOG_IF(FATAL, n <= 0) << "No MYNT EYE devices :(";
|
|
|
|
LOG(INFO) << "MYNT EYE devices: ";
|
|
for (size_t i = 0; i < n; i++) {
|
|
auto &&device = devices[i];
|
|
auto &&name = device->GetInfo(Info::DEVICE_NAME);
|
|
LOG(INFO) << " index: " << i << ", name: " << name;
|
|
}
|
|
|
|
std::shared_ptr<Device> device = nullptr;
|
|
if (n <= 1) {
|
|
device = devices[0];
|
|
LOG(INFO) << "Only one MYNT EYE device, select index: 0";
|
|
} else {
|
|
while (true) {
|
|
size_t i;
|
|
LOG(INFO) << "There are " << n << " MYNT EYE devices, select index: ";
|
|
std::cin >> i;
|
|
if (i >= n) {
|
|
LOG(WARNING) << "Index out of range :(";
|
|
continue;
|
|
}
|
|
device = devices[i];
|
|
break;
|
|
}
|
|
}
|
|
|
|
/*
|
|
{ // auto-exposure
|
|
device->SetOptionValue(Option::EXPOSURE_MODE, 0);
|
|
device->SetOptionValue(Option::MAX_GAIN, 40); // [0.48]
|
|
device->SetOptionValue(Option::MAX_EXPOSURE_TIME, 120); // [0,240]
|
|
device->SetOptionValue(Option::DESIRED_BRIGHTNESS, 200); // [0,255]
|
|
}
|
|
*/
|
|
/*
|
|
{ // manual-exposure
|
|
device->SetOptionValue(Option::EXPOSURE_MODE, 1);
|
|
device->SetOptionValue(Option::GAIN, 20); // [0.48]
|
|
device->SetOptionValue(Option::BRIGHTNESS, 20); // [0,240]
|
|
device->SetOptionValue(Option::CONTRAST, 20); // [0,255]
|
|
}
|
|
device->SetOptionValue(Option::IR_CONTROL, 80);
|
|
*/
|
|
device->LogOptionInfos();
|
|
|
|
std::size_t left_count = 0;
|
|
device->SetStreamCallback(
|
|
Stream::LEFT, [&left_count](const device::StreamData &data) {
|
|
++left_count;
|
|
VLOG(2) << Stream::LEFT << ", count: " << left_count;
|
|
if (data.img) {
|
|
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) {
|
|
++right_count;
|
|
VLOG(2) << Stream::RIGHT << ", count: " << right_count;
|
|
if (data.img) {
|
|
VLOG(2) << " frame_id: " << data.img->frame_id
|
|
<< ", timestamp: " << data.img->timestamp
|
|
<< ", exposure_time: " << data.img->exposure_time;
|
|
}
|
|
});
|
|
|
|
device->Start(Source::ALL);
|
|
|
|
cv::namedWindow("frame");
|
|
|
|
while (true) {
|
|
device->WaitForStreams();
|
|
|
|
device::StreamData left_data = device->GetLatestStreamData(Stream::LEFT);
|
|
device::StreamData right_data = device->GetLatestStreamData(Stream::RIGHT);
|
|
|
|
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::Mat img;
|
|
cv::hconcat(left_img, right_img, img);
|
|
cv::imshow("frame", img);
|
|
|
|
char key = static_cast<char>(cv::waitKey(1));
|
|
if (key == 27 || key == 'q' || key == 'Q') { // ESC/Q
|
|
break;
|
|
}
|
|
}
|
|
|
|
device->Stop(Source::ALL);
|
|
return 0;
|
|
}
|