132 lines
3.4 KiB
C++
132 lines
3.4 KiB
C++
#include <opencv2/highgui/highgui.hpp>
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#include <opencv2/imgproc/imgproc.hpp>
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#include <chrono>
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#include <condition_variable>
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#include <iomanip>
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#include <iostream>
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#include <mutex>
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#include "mynteye/mynteye.h"
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#include "mynteye/types.h"
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#include "uvc/uvc.h"
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#include "glog_init.h" // NOLINT
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struct frame {
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const void *data = nullptr;
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~frame() {
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data = nullptr;
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}
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};
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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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std::vector<std::shared_ptr<uvc::device>> mynteye_devices;
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auto context = uvc::create_context();
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auto devices = uvc::query_devices(context);
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LOG_IF(FATAL, devices.size() <= 0) << "No devices :(";
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for (auto &&device : devices) {
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auto vid = uvc::get_vendor_id(*device);
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// auto pid = uvc::get_product_id(*device);
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// LOG(INFO) << "vid: " << vid << ", pid: " << pid;
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if (vid == MYNTEYE_VID) {
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mynteye_devices.push_back(device);
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}
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}
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// std::string dashes(80, '-');
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size_t n = mynteye_devices.size();
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LOG_IF(FATAL, n <= 0) << "No MYNT EYE devices :(";
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LOG(INFO) << "MYNT EYE devices: ";
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for (size_t i = 0; i < n; i++) {
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auto device = mynteye_devices[i];
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auto name = uvc::get_video_name(*device);
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auto vid = uvc::get_vendor_id(*device);
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auto pid = uvc::get_product_id(*device);
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LOG(INFO) << " index: " << i << ", name: " << name << ", vid: 0x"
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<< std::hex << vid << ", pid: 0x" << std::hex << pid;
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}
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std::shared_ptr<uvc::device> device = nullptr;
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if (n <= 1) {
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device = mynteye_devices[0];
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LOG(INFO) << "Only one MYNT EYE device, select index: 0";
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} else {
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while (true) {
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size_t i;
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LOG(INFO) << "There are " << n << " MYNT EYE devices, select index: ";
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std::cin >> i;
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if (i >= n) {
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LOG(WARNING) << "Index out of range :(";
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continue;
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}
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device = mynteye_devices[i];
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break;
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}
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}
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std::mutex mtx;
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std::condition_variable cv;
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std::vector<frame> frames;
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const auto frame_ready = [&frames]() { return !frames.empty(); };
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const auto frame_empty = [&frames]() { return frames.empty(); };
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uvc::set_device_mode(
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*device, 752, 480, static_cast<int>(Format::YUYV), 25,
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[&mtx, &cv, &frames, &frame_ready](const void *data) {
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// reinterpret_cast<const std::uint8_t *>(data);
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std::unique_lock<std::mutex> lock(mtx);
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frame frame;
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frame.data = data; // not copy
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frames.push_back(frame);
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if (frame_ready())
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cv.notify_one();
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});
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LOG(INFO) << "Press ESC/Q on windows to terminate";
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cv::namedWindow("frame");
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uvc::start_streaming(*device, 0);
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double t, fps = 0;
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while (true) {
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t = static_cast<double>(cv::getTickCount());
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std::unique_lock<std::mutex> lock(mtx);
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if (frame_empty()) {
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if (!cv.wait_for(lock, std::chrono::seconds(2), frame_ready))
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throw std::runtime_error("Timeout waiting for frame.");
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}
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auto frame = frames.back(); // only last one is valid
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cv::Mat img(480, 752, CV_8UC2, const_cast<void *>(frame.data));
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cv::cvtColor(img, img, cv::COLOR_YUV2BGR_YUY2);
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cv::imshow("frame", img);
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frames.clear();
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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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t = static_cast<double>(cv::getTickCount() - t);
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fps = cv::getTickFrequency() / t;
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}
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UNUSED(fps)
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uvc::stop_streaming(*device);
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// cv::destroyAllWindows();
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return 0;
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}
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