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zed_oc_multi_video_example.cpp
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zed_oc_multi_video_example.cpp
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////////////////////////////////////////////////////////////////////////////
////
//// Copyright (c) 2021, STEREOLABS.
////
//// All rights reserved.
////
//// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
//// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
//// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
//// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
//// OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
//// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
//// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
//// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
//// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
//// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
//// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
////
/////////////////////////////////////////////////////////////////////////////
//// ----> Includes
#include "videocapture.hpp"
#include "ocv_display.hpp"
#include <iostream>
#include <iomanip>
#include <opencv2/opencv.hpp>
// <---- Includes
// #define TEST_FPS 1
// The main function
int main(int argc, char *argv[])
{
// ----> Silence unused warning
(void)argc;
(void)argv;
// <---- Silence unused warning
sl_oc::video::VideoParams params;
params.res = sl_oc::video::RESOLUTION::HD720;
params.fps = sl_oc::video::FPS::FPS_60;
// ----> Create Video Capture 0
sl_oc::video::VideoCapture cap_0(params);
if( !cap_0.initializeVideo(0) )
{
std::cerr << "Cannot open camera video capture" << std::endl;
std::cerr << "See verbosity level for more details." << std::endl;
return EXIT_FAILURE;
}
std::cout << "Connected to camera sn: " << cap_0.getSerialNumber() << " [" << cap_0.getDeviceName() << "]" << std::endl;
// <---- Create Video Capture 0
// ----> Create Video Capture 1
sl_oc::video::VideoCapture cap_1(params);
if( !cap_1.initializeVideo(2) )
{
std::cerr << "Cannot open camera video capture" << std::endl;
std::cerr << "See verbosity level for more details." << std::endl;
return EXIT_FAILURE;
}
std::cout << "Connected to camera sn: " << cap_1.getSerialNumber() << " [" << cap_1.getDeviceName() << "]" << std::endl;
// <---- Create Video Capture 1
// Set video parameters
bool autoSettingEnable = true;
cap_0.setAutoWhiteBalance(autoSettingEnable);
cap_0.setAECAGC(autoSettingEnable);
cap_1.setAutoWhiteBalance(autoSettingEnable);
cap_1.setAECAGC(autoSettingEnable);
#ifdef TEST_FPS
// Timestamp to check FPS
double lastTime = static_cast<double>(getSteadyTimestamp())/1e9;
// Frame timestamp to check FPS
uint64_t lastFrameTs = 0;
#endif
// Infinite video grabbing loop
while (1)
{
// Get last available frame
const sl_oc::video::Frame frame_0 = cap_0.getLastFrame();
const sl_oc::video::Frame frame_1 = cap_1.getLastFrame();
// ----> If the frame is valid we can display it
if(frame_0.data!=nullptr && frame_1.data!=nullptr)
{
#ifdef TEST_FPS
if(lastFrameTs!=0)
{
// ----> System time
double now = static_cast<double>(getSteadyTimestamp())/1e9;
double elapsed_sec = now - lastTime;
lastTime = now;
std::cout << "[System] Frame period: " << elapsed_sec << "sec - Freq: " << 1./elapsed_sec << " Hz" << std::endl;
// <---- System time
// ----> Frame time
double frame_dT = static_cast<double>(frame.timestamp-lastFrameTs)/1e9;
std::cout << "[Camera] Frame period: " << frame_dT << "sec - Freq: " << 1./frame_dT << " Hz" << std::endl;
// <---- Frame time
}
lastFrameTs = frame.timestamp;
#endif
// ----> Conversion from YUV 4:2:2 to BGR for visualization
cv::Mat frameYUV_0 = cv::Mat( frame_0.height, frame_0.width, CV_8UC2, frame_0.data );
cv::Mat frameBGR_0;
cv::Mat frameYUV_1 = cv::Mat( frame_1.height, frame_1.width, CV_8UC2, frame_1.data );
cv::Mat frameBGR_1;
cv::cvtColor(frameYUV_0,frameBGR_0,cv::COLOR_YUV2BGR_YUYV);
cv::cvtColor(frameYUV_1,frameBGR_1,cv::COLOR_YUV2BGR_YUYV);
// <---- Conversion from YUV 4:2:2 to BGR for visualization
// Show frame
sl_oc::tools::showImage( "Stream RGB #0", frameBGR_0, params.res );
sl_oc::tools::showImage( "Stream RGB #1", frameBGR_1, params.res );
}
// <---- If the frame is valid we can display it
// ----> Keyboard handling
int key = cv::waitKey( 5 );
if(key=='q' || key=='Q') // Quit
break;
if(key=='a' || key=='A')
{
autoSettingEnable = !autoSettingEnable;
cap_0.setAutoWhiteBalance(autoSettingEnable);
cap_0.setAECAGC(autoSettingEnable);
cap_1.setAutoWhiteBalance(autoSettingEnable);
cap_1.setAECAGC(autoSettingEnable);
std::cout << "Auto GAIN/EXPOSURE and Auto White Balance: " << (autoSettingEnable?"ENABLED":"DISABLED") << std::endl;
}
// <---- Keyboard handling
}
return EXIT_SUCCESS;
}