MYNT-EYE-S-SDK/docs/src/data/get_points.rst
2019-03-14 11:48:41 +08:00

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.. _get_points:
Get point image
================
Point images belongs to upper layer of synthetic data. To get this kind of data through ``GetStreamData()``, you need to start the ``EnableStreamData()`` beforehand. It should be check not empty before use.
For detail process description, please see :ref:`get_stereo` :ref:`get_stereo_rectified` .
It is recommended to use plugin to calculate depth: the depth map will be better with a higher frame rate. Please see :ref:`get_with_plugin` for detail.
Sample code snippet:
.. code-block:: c++
auto &&api = API::Create(argc, argv);
api->EnableStreamData(Stream::POINTS);
api->Start(Source::VIDEO_STREAMING);
cv::namedWindow("frame");
PCViewer pcviewer;
while (true) {
api->WaitForStreams();
auto &&left_data = api->GetStreamData(Stream::LEFT);
auto &&right_data = api->GetStreamData(Stream::RIGHT);
cv::Mat img;
cv::hconcat(left_data.frame, right_data.frame, img);
cv::imshow("frame", img);
auto &&points_data = api->GetStreamData(Stream::POINTS);
if (!points_data.frame.empty()) {
pcviewer.Update(points_data.frame);
}
char key = static_cast<char>(cv::waitKey(1));
if (key == 27 || key == 'q' || key == 'Q') { // ESC/Q
break;
}
if (pcviewer.WasStopped()) {
break;
}
}
api->Stop(Source::VIDEO_STREAMING);
`PCL <https://github.com/PointCloudLibrary/pcl>`_ is used to display point images above. Program will close when point image window is closed.
Complete code examples, see `get_points.cc <https://github.com/slightech/MYNT-EYE-S-SDK/blob/master/samples/tutorials/data/get_points.cc>`_ .
.. attention::
Sample code only compiles when `PCL <https://github.com/PointCloudLibrary/pcl>`_ is ready. If your PCL was installed in a different directory, please set ``CMAKE_PREFIX_PATH`` in `tutorials/CMakeLists.txt <https://github.com/slightech/MYNT-EYE-S-SDK/blob/master/samples/tutorials/CMakeLists.txt>`_ to the path of ``PCLConfig.cmake`` . You can find ``CMAKE_PREFIX_PATH`` near ``find_package(PCL)`` .