MYNT-EYE-S-SDK/samples/device/camera.cc
2018-04-10 16:00:38 +08:00

117 lines
3.4 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();
// device->RunOptionAction(Option::ZERO_DRIFT_CALIBRATION);
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;
}