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43 lines
1.3 KiB
43 lines
1.3 KiB
/**
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* @file example_getDepthFrame.cc
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* @brief This file is part of UnitreeCameraSDK.
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* @details This example that how to get depth frame
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* @author SunMingzhe
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* @date 2021.12.07
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* @version 1.1.0
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* @copyright Copyright (c) 2020-2021, Hangzhou Yushu Technology Stock CO.LTD. All Rights Reserved.
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*/
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#include <UnitreeCameraSDK.hpp>
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#include <unistd.h>
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int main(int argc, char *argv[]){
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UnitreeCamera cam("stereo_camera_config.yaml"); ///< init UnitreeCamera object by config file
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if(!cam.isOpened()) ///< get camera open state
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exit(EXIT_FAILURE);
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cam.startCapture(); ///< disable image h264 encoding and share memory sharing
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cam.startStereoCompute(); ///< start disparity computing
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while(cam.isOpened()){
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cv::Mat depth;
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std::chrono::microseconds t;
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if(!cam.getDepthFrame(depth, true, t)){ ///< get stereo camera depth image
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usleep(1000);
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continue;
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}
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if(!depth.empty()){
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cv::imshow("UnitreeCamera-Depth", depth);
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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.stopStereoCompute(); ///< stop disparity computing
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cam.stopCapture(); ///< stop camera capturing
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return 0;
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}
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