53 lines
1.4 KiB
C++
53 lines
1.4 KiB
C++
#include <opencv2/opencv.hpp>
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#include <thread>
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#include "io/camera.hpp"
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#include "io/usbcamera/usbcamera.hpp"
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#include "tools/exiter.hpp"
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#include "tools/logger.hpp"
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#include "tools/math_tools.hpp"
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using namespace std::chrono_literals;
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const std::string keys =
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"{help h usage ? | | 输出命令行参数说明}"
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"{@config-path | configs/sentry.yaml | 位置参数，yaml配置文件路径 }"
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"{d display | | 显示视频流 }";
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int main(int argc, char * argv[])
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{
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cv::CommandLineParser cli(argc, argv, keys);
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if (cli.has("help")) {
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cli.printMessage();
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return 0;
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}
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tools::Exiter exiter;
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auto config_path = cli.get<std::string>(0);
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auto display = cli.has("display");
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io::USBCamera usbcam1("video0", config_path);
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io::USBCamera usbcam2("video2", config_path);
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io::Camera camera("configs/camera.yaml");
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cv::Mat img1, img2, img3;
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std::chrono::steady_clock::time_point timestamp;
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auto last_stamp = std::chrono::steady_clock::now();
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while (!exiter.exit()) {
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usbcam1.read(img1, timestamp);
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usbcam2.read(img2, timestamp);
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camera.read(img3, timestamp);
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auto dt = tools::delta_time(timestamp, last_stamp);
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last_stamp = timestamp;
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tools::logger()->info("{:.2f} fps", 1 / dt);
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if (!display) continue;
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cv::imshow("img1", img1);
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cv::imshow("img2", img2);
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cv::imshow("img3", img3);
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if (cv::waitKey(1) == 'q') break;
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}
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} |