147 lines
4.3 KiB
C++
147 lines
4.3 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 <opencv2/highgui/highgui.hpp>
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#include <glog/logging.h>
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#include <atomic>
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#include <memory>
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#include <mutex>
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#include <sstream>
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#include "mynteye/api.h"
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#include "util/cv_painter.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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// Attention: must not block the callbacks.
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// Get left image from callback
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std::atomic_uint left_count(0);
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api->SetStreamCallback(
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Stream::LEFT, [&left_count](const api::StreamData &data) {
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CHECK_NOTNULL(data.img);
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++left_count;
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// LOG(INFO) << Stream::LEFT << ", count: " << left_count;
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// LOG(INFO) << " frame_id: " << data.img->frame_id
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// << ", timestamp: " << data.img->timestamp
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// << ", exposure_time: " << data.img->exposure_time;
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});
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// Get depth image from callback
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api->EnableStreamData(Stream::DEPTH);
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std::atomic_uint depth_count(0);
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cv::Mat depth;
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std::mutex depth_mtx;
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api->SetStreamCallback(
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Stream::DEPTH,
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[&depth_count, &depth, &depth_mtx](const api::StreamData &data) {
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UNUSED(data)
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++depth_count;
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{
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std::lock_guard<std::mutex> _(depth_mtx);
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depth = data.frame;
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}
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// LOG(INFO) << Stream::DEPTH << ", count: " << depth_count;
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});
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// Get motion data from callback
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std::atomic_uint imu_count(0);
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std::shared_ptr<mynteye::ImuData> imu;
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std::mutex imu_mtx;
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api->SetMotionCallback(
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[&imu_count, &imu, &imu_mtx](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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std::lock_guard<std::mutex> _(imu_mtx);
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imu = data.imu;
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}
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// LOG(INFO) << "Imu count: " << imu_count;
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// LOG(INFO) << " frame_id: " << data.imu->frame_id
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// << ", timestamp: " << data.imu->timestamp
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// << ", accel_x: " << data.imu->accel[0]
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// << ", accel_y: " << data.imu->accel[1]
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// << ", accel_z: " << data.imu->accel[2]
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// << ", gyro_x: " << data.imu->gyro[0]
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// << ", gyro_y: " << data.imu->gyro[1]
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// << ", gyro_z: " << data.imu->gyro[2]
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// << ", temperature: " << data.imu->temperature;
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});
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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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cv::namedWindow("depth");
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unsigned int depth_num = 0;
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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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// Concat left and right as img
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cv::Mat img;
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cv::hconcat(left_data.frame, right_data.frame, img);
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// Draw img data and size
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painter.DrawImgData(img, *left_data.img);
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// Draw imu data
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if (imu) {
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std::lock_guard<std::mutex> _(imu_mtx);
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painter.DrawImuData(img, *imu);
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}
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// Draw counts
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std::ostringstream ss;
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ss << "left: " << left_count << ", depth: " << depth_count
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<< ", imu: " << imu_count;
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painter.DrawText(img, ss.str(), CVPainter::BOTTOM_RIGHT);
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// Show img
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cv::imshow("frame", img);
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// Show depth
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if (!depth.empty()) {
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// Is the depth a new one?
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if (depth_num != depth_count || depth_num == 0) {
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std::lock_guard<std::mutex> _(depth_mtx);
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depth_num = depth_count;
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// LOG(INFO) << "depth_num: " << depth_num;
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ss.str("");
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ss.clear();
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ss << "depth: " << depth_count;
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painter.DrawText(depth, ss.str());
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cv::imshow("depth", depth); // CV_16UC1
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}
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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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return 0;
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}
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