129 lines
4.0 KiB
C++
129 lines
4.0 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 <opencv2/imgproc/imgproc.hpp>
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#include "mynteye/logger.h"
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#include "mynteye/device/device.h"
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#include "mynteye/device/utils.h"
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#include "mynteye/util/times.h"
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#include "dataset/dataset.h"
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MYNTEYE_USE_NAMESPACE
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int main(int argc, char *argv[]) {
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glog_init _(argc, argv);
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auto &&device = device::select();
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if (!device)
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return 1;
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/*
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{ // auto-exposure
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device->SetOptionValue(Option::EXPOSURE_MODE, 0);
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device->SetOptionValue(Option::MAX_GAIN, 40); // [0.48]
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device->SetOptionValue(Option::MAX_EXPOSURE_TIME, 120); // [0,240]
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device->SetOptionValue(Option::DESIRED_BRIGHTNESS, 200); // [0,255]
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}
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{ // manual-exposure
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device->SetOptionValue(Option::EXPOSURE_MODE, 1);
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device->SetOptionValue(Option::GAIN, 20); // [0.48]
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device->SetOptionValue(Option::BRIGHTNESS, 20); // [0,240]
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device->SetOptionValue(Option::CONTRAST, 20); // [0,255]
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}
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device->SetOptionValue(Option::IR_CONTROL, 80);
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device->SetOptionValue(Option::FRAME_RATE, 25);
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device->SetOptionValue(Option::IMU_FREQUENCY, 500);
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*/
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device->InitResolution(Resolution::RES_1280x400);
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device->SetStreamRequest(Format::BGR888, FrameRate::RATE_30_FPS);
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device->LogOptionInfos();
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// Enable this will cache the motion datas until you get them.
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device->EnableMotionDatas();
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device->Start(Source::ALL);
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const char *outdir;
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if (argc >= 2) {
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outdir = argv[1];
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} else {
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outdir = "./dataset";
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}
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tools::Dataset dataset(outdir);
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cv::namedWindow("frame");
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std::size_t img_count = 0;
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std::size_t imu_count = 0;
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auto &&time_beg = times::now();
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while (true) {
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device->WaitForStreams();
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auto &&left_datas = device->GetStreamDatas(Stream::LEFT);
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auto &&right_datas = device->GetStreamDatas(Stream::RIGHT);
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img_count += left_datas.size();
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auto &&motion_datas = device->GetMotionDatas();
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imu_count += motion_datas.size();
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auto &&left_frame = left_datas.back().frame;
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auto &&right_frame = right_datas.back().frame;
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cv::Mat left_img(
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left_frame->height(), left_frame->width(), CV_8UC1, left_frame->data());
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cv::Mat right_img(
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right_frame->height(), right_frame->width(), CV_8UC1,
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right_frame->data());
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cv::Mat img;
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cv::hconcat(left_img, right_img, img);
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cv::imshow("frame", img);
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{ // save
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for (auto &&left : left_datas) {
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dataset.SaveStreamData(Stream::LEFT, left);
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}
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for (auto &&right : right_datas) {
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dataset.SaveStreamData(Stream::RIGHT, right);
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}
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for (auto &&motion : motion_datas) {
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dataset.SaveMotionData(motion);
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}
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std::cout << "\rSaved " << img_count << " imgs"
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<< ", " << imu_count << " imus" << std::flush;
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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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std::cout << " to " << outdir << std::endl;
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auto &&time_end = times::now();
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device->Stop(Source::ALL);
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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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