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29 lines
675 B
29 lines
675 B
#include <UnitreeCameraSDK.hpp>
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#include <unistd.h>
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int main(int argc, char *argv[])
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{
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UnitreeCamera cam("trans_rect_config.yaml"); ///< init camera by device node number
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if(!cam.isOpened()) ///< get camera open state
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exit(EXIT_FAILURE);
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cam.startCapture(false, true);
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usleep(500000);
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while(cam.isOpened())
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{
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cv::Mat left,right,feim;
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if(!cam.getRectStereoFrame(left,right))
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{
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usleep(1000);
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continue;
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}
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char key = cv::waitKey(10);
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if(key == 27) // press ESC key
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break;
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}
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cam.stopCapture(); ///< stop camera capturing
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return 0;
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} |