├── version.txt ├── doc ├── html │ ├── graph_legend.md5 │ ├── inherit_graph_0.md5 │ ├── inherit_graph_1.md5 │ ├── inherit_graph_10.md5 │ ├── inherit_graph_2.md5 │ ├── inherit_graph_3.md5 │ ├── inherit_graph_4.md5 │ ├── inherit_graph_5.md5 │ ├── inherit_graph_6.md5 │ ├── inherit_graph_7.md5 │ ├── inherit_graph_8.md5 │ ├── inherit_graph_9.md5 │ ├── _system_log_8hpp__incl.md5 │ ├── _system_log_8hpp__dep__incl.md5 │ ├── _stereo_camera_common_8cc__incl.md5 │ ├── _stereo_camera_common_8hpp__incl.md5 │ ├── _unitree_camera_s_d_k_8hpp__incl.md5 │ ├── class_unitree_camera__coll__graph.md5 │ ├── example__get_raw_frame_8cc__incl.md5 │ ├── example__get_rect_frame_8cc__incl.md5 │ ├── _stereo_camera_common_8hpp__dep__incl.md5 │ ├── _unitree_camera_s_d_k_8hpp__dep__incl.md5 │ ├── class_stereo_camera__inherit__graph.md5 │ ├── class_unitree_camera__inherit__graph.md5 │ ├── example__get_depth_frame_8cc__incl.md5 │ ├── example__get_point_cloud_8cc__incl.md5 │ ├── struct___device___point____coll__graph.md5 │ ├── classglwindow_1_1_g_l_window__coll__graph.md5 │ ├── classglwindow_1_1_scene_window__coll__graph.md5 │ ├── dir_4eeb864c4eec08c7d6b9d3b0352cfdde_dep.md5 │ ├── dir_68267d1309a1af8e8297ef4c3efbcdba_dep.md5 │ ├── dir_d28a4824dc47e487b107a5db32ef43c4_dep.md5 │ ├── example__get_calib_params_file_8cc__incl.md5 │ ├── classglwindow_1_1_event_dispatcher__coll__graph.md5 │ ├── classglwindow_1_1_scene_window__inherit__graph.md5 │ ├── menudata.js │ ├── structglwindow_1_1_event_handler__inherit__graph.md5 │ ├── classglwindow_1_1_event_dispatcher__inherit__graph.md5 │ ├── bc_s.png │ ├── bdwn.png │ ├── doc.png │ ├── open.png │ ├── closed.png │ ├── doxygen.png │ ├── nav_f.png │ ├── nav_g.png │ ├── nav_h.png │ ├── structglwindow_1_1_g_l_window_1_1_scoped_context__coll__graph.md5 │ ├── sync_on.png │ ├── tab_a.png │ ├── tab_b.png │ ├── tab_h.png │ ├── tab_s.png │ ├── _system_log_8hpp__incl.map │ ├── search │ │ ├── classes_4.js │ │ ├── close.png │ │ ├── all_0.js │ │ ├── mag_sel.png │ │ ├── pages_0.js │ │ ├── search_l.png │ │ ├── search_m.png │ │ ├── search_r.png │ │ ├── classes_6.js │ │ ├── classes_2.js │ │ ├── variables_0.js │ │ ├── variables_1.js │ │ ├── classes_0.js │ │ ├── files_2.js │ │ ├── all_c.js │ │ ├── functions_3.js │ │ ├── classes_7.js │ │ ├── enums_0.js │ │ ├── defines_0.js │ │ ├── all_8.js │ │ ├── functions_0.js │ │ ├── classes_3.js │ │ ├── classes_1.js │ │ ├── all_1.js │ │ ├── searchdata.js │ │ ├── all_6.js │ │ ├── functions_4.js │ │ ├── all_d.js │ │ ├── functions_9.js │ │ ├── files_1.js │ │ ├── functions_6.js │ │ ├── all_2.js │ │ ├── functions_1.js │ │ ├── functions_8.js │ │ ├── classes_5.js │ │ ├── all_9.js │ │ ├── nomatches.html │ │ ├── all_5.js │ │ ├── all_b.js │ │ ├── all_7.js │ │ ├── files_0.js │ │ ├── functions_5.js │ │ ├── all_3.js │ │ ├── all_0.html │ │ ├── all_1.html │ │ ├── all_2.html │ │ ├── all_3.html │ │ ├── all_4.html │ │ ├── all_5.html │ │ ├── all_6.html │ │ ├── all_7.html │ │ ├── all_8.html │ │ ├── all_9.html │ │ ├── all_a.html │ │ ├── all_b.html │ │ ├── all_c.html │ │ ├── all_d.html │ │ ├── classes_0.html │ │ ├── classes_1.html │ │ ├── classes_2.html │ │ ├── classes_3.html │ │ ├── classes_4.html │ │ ├── classes_5.html │ │ ├── classes_6.html │ │ ├── classes_7.html │ │ ├── defines_0.html │ │ ├── enums_0.html │ │ ├── files_0.html │ │ ├── files_1.html │ │ ├── files_2.html │ │ ├── pages_0.html │ │ ├── functions_0.html │ │ ├── functions_1.html │ │ ├── functions_2.html │ │ ├── functions_3.html │ │ ├── functions_4.html │ │ ├── functions_5.html │ │ ├── functions_6.html │ │ ├── functions_7.html │ │ ├── functions_8.html │ │ ├── functions_9.html │ │ ├── variables_0.html │ │ ├── variables_1.html │ │ ├── functions_2.js │ │ ├── all_4.js │ │ ├── functions_7.js │ │ └── all_a.js │ ├── splitbar.png │ ├── sync_off.png │ ├── folderclosed.png │ ├── folderopen.png │ ├── graph_legend.png │ ├── struct___device___point____coll__graph.map │ ├── inherit_graph_0.png │ ├── inherit_graph_1.png │ ├── inherit_graph_10.png │ ├── inherit_graph_2.png │ ├── inherit_graph_3.png │ ├── inherit_graph_4.png │ ├── inherit_graph_5.png │ ├── inherit_graph_6.png │ ├── inherit_graph_7.png │ ├── inherit_graph_8.png │ ├── inherit_graph_9.png │ ├── _system_log_8hpp__incl.png │ ├── _system_log_8hpp__dep__incl.png │ ├── _stereo_camera_common_8cc__incl.png │ ├── _stereo_camera_common_8hpp__incl.png │ ├── _unitree_camera_s_d_k_8hpp__incl.png │ ├── example__get_raw_frame_8cc__incl.png │ ├── class_unitree_camera__coll__graph.png │ ├── example__get_depth_frame_8cc__incl.png │ ├── example__get_point_cloud_8cc__incl.png │ ├── example__get_rect_frame_8cc__incl.png │ ├── _stereo_camera_common_8hpp__dep__incl.png │ ├── _unitree_camera_s_d_k_8hpp__dep__incl.png │ ├── class_stereo_camera__inherit__graph.png │ ├── class_unitree_camera__inherit__graph.png │ ├── struct___device___point____coll__graph.png │ ├── classglwindow_1_1_g_l_window__coll__graph.png │ ├── dir_4eeb864c4eec08c7d6b9d3b0352cfdde_dep.png │ ├── dir_68267d1309a1af8e8297ef4c3efbcdba_dep.png │ ├── dir_d28a4824dc47e487b107a5db32ef43c4_dep.png │ ├── example__get_calib_params_file_8cc__incl.png │ ├── classglwindow_1_1_scene_window__coll__graph.png │ ├── classglwindow_1_1_event_dispatcher__coll__graph.png │ ├── classglwindow_1_1_scene_window__inherit__graph.png │ ├── structglwindow_1_1_event_handler__inherit__graph.png │ ├── classglwindow_1_1_event_dispatcher__inherit__graph.png │ ├── structglwindow_1_1_g_l_window_1_1_scoped_context__coll__graph.png │ ├── class_stereo_camera__inherit__graph.map │ ├── inherit_graph_10.map │ ├── inherit_graph_0.map │ ├── inherit_graph_6.map │ ├── inherit_graph_7.map │ ├── inherit_graph_2.map │ ├── inherit_graph_4.map │ ├── inherit_graph_8.map │ ├── class_unitree_camera__coll__graph.map │ ├── classglwindow_1_1_g_l_window__coll__graph.map │ ├── classglwindow_1_1_scene_window__inherit__graph.map │ ├── inherit_graph_5.map │ ├── class_unitree_camera__inherit__graph.map │ ├── inherit_graph_3.map │ ├── classglwindow_1_1_event_dispatcher__coll__graph.map │ ├── classglwindow_1_1_event_dispatcher__inherit__graph.map │ ├── _stereo_camera_common_8hpp__incl.map │ ├── inherit_graph_9.map │ ├── structglwindow_1_1_event_handler__inherit__graph.map │ ├── dir_68267d1309a1af8e8297ef4c3efbcdba_dep.map │ ├── structglwindow_1_1_g_l_window_1_1_scoped_context__coll__graph.map │ ├── dir_4eeb864c4eec08c7d6b9d3b0352cfdde_dep.map │ ├── _stereo_camera_common_8cc__incl.map │ ├── _unitree_camera_s_d_k_8hpp__incl.map │ ├── inherit_graph_1.map │ ├── dir_d28a4824dc47e487b107a5db32ef43c4_dep.map │ ├── example__get_raw_frame_8cc__incl.map │ ├── example__get_depth_frame_8cc__incl.map │ ├── example__get_rect_frame_8cc__incl.map │ ├── classglwindow_1_1_scene_window__coll__graph.map │ ├── example__get_calib_params_file_8cc__incl.map │ ├── _unitree_camera_s_d_k_8hpp__dep__incl.map │ ├── example__get_point_cloud_8cc__incl.map │ ├── _stereo_camera_common_8hpp__dep__incl.map │ ├── _system_log_8hpp__dep__incl.map │ ├── menu.js │ ├── globals_enum.html │ ├── globals_defs.html │ ├── functions_vars.html │ ├── dir_63772b626f2709090f0bdca0f40827b4.html │ └── dir_8d5e63337d9bc0375b6fa20fd80d83ec.html └── latex │ ├── _system_log_8hpp__incl.md5 │ ├── _system_log_8hpp__dep__incl.md5 │ ├── _stereo_camera_common_8cc__incl.md5 │ ├── _stereo_camera_common_8hpp__incl.md5 │ ├── _unitree_camera_s_d_k_8hpp__incl.md5 │ ├── example__get_raw_frame_8cc__incl.md5 │ ├── _stereo_camera_common_8hpp__dep__incl.md5 │ ├── _unitree_camera_s_d_k_8hpp__dep__incl.md5 │ ├── class_stereo_camera__inherit__graph.md5 │ ├── class_unitree_camera__coll__graph.md5 │ ├── class_unitree_camera__inherit__graph.md5 │ ├── example__get_depth_frame_8cc__incl.md5 │ ├── example__get_point_cloud_8cc__incl.md5 │ ├── example__get_rect_frame_8cc__incl.md5 │ ├── classglwindow_1_1_g_l_window__coll__graph.md5 │ ├── dir_4eeb864c4eec08c7d6b9d3b0352cfdde_dep.md5 │ ├── dir_68267d1309a1af8e8297ef4c3efbcdba_dep.md5 │ ├── dir_d28a4824dc47e487b107a5db32ef43c4_dep.md5 │ ├── example__get_calib_params_file_8cc__incl.md5 │ ├── struct___device___point____coll__graph.md5 │ ├── classglwindow_1_1_event_dispatcher__coll__graph.md5 │ ├── classglwindow_1_1_scene_window__coll__graph.md5 │ ├── classglwindow_1_1_scene_window__inherit__graph.md5 │ ├── classglwindow_1_1_event_dispatcher__inherit__graph.md5 │ ├── structglwindow_1_1_event_handler__inherit__graph.md5 │ ├── structglwindow_1_1_g_l_window_1_1_scoped_context__coll__graph.md5 │ ├── _system_log_8hpp__incl.pdf │ ├── _system_log_8hpp__dep__incl.pdf │ ├── _stereo_camera_common_8cc__incl.pdf │ ├── _stereo_camera_common_8hpp__incl.pdf │ ├── _unitree_camera_s_d_k_8hpp__incl.pdf │ ├── class_unitree_camera__coll__graph.pdf │ ├── example__get_raw_frame_8cc__incl.pdf │ ├── example__get_rect_frame_8cc__incl.pdf │ ├── class_stereo_camera__inherit__graph.pdf │ ├── class_unitree_camera__inherit__graph.pdf │ ├── example__get_depth_frame_8cc__incl.pdf │ ├── example__get_point_cloud_8cc__incl.pdf │ ├── _stereo_camera_common_8hpp__dep__incl.pdf │ ├── _unitree_camera_s_d_k_8hpp__dep__incl.pdf │ ├── struct___device___point____coll__graph.pdf │ ├── classglwindow_1_1_g_l_window__coll__graph.pdf │ ├── dir_4eeb864c4eec08c7d6b9d3b0352cfdde_dep.pdf │ ├── dir_68267d1309a1af8e8297ef4c3efbcdba_dep.pdf │ ├── dir_d28a4824dc47e487b107a5db32ef43c4_dep.pdf │ ├── example__get_calib_params_file_8cc__incl.pdf │ ├── classglwindow_1_1_scene_window__coll__graph.pdf │ ├── classglwindow_1_1_scene_window__inherit__graph.pdf │ ├── classglwindow_1_1_event_dispatcher__coll__graph.pdf │ ├── structglwindow_1_1_event_handler__inherit__graph.pdf │ ├── classglwindow_1_1_event_dispatcher__inherit__graph.pdf │ ├── structglwindow_1_1_g_l_window_1_1_scoped_context__coll__graph.pdf │ ├── dir_8d5e63337d9bc0375b6fa20fd80d83ec.tex │ ├── dir_63772b626f2709090f0bdca0f40827b4.tex │ ├── dir_4fef79e7177ba769987a8da36c892c5f.tex │ ├── dir_209c714a154efd8d40a59e92e6a74502.tex │ ├── dir_8a35f475ed9d8a5443c1993b236eb8f6.tex │ ├── dir_3a56b08581502e42e7c33d229017cb82.tex │ ├── dir_4eeb864c4eec08c7d6b9d3b0352cfdde.tex │ ├── Makefile │ ├── dir_68267d1309a1af8e8297ef4c3efbcdba.tex │ ├── dir_d44c64559bbebec7f509842c48db8b23.tex │ ├── classinfo__camera___string.tex │ ├── struct_p_c_l.tex │ ├── structglwindow_1_1_scene_window_1_1_viewpoint.tex │ ├── structglwindow_1_1_g_l_window_1_1_scoped_context.tex │ ├── dir_d28a4824dc47e487b107a5db32ef43c4.tex │ ├── _system_log_8hpp.tex │ ├── hierarchy.tex │ ├── index.tex │ ├── classinfo__camera__os.tex │ ├── example__get_raw_frame_8cc.tex │ ├── annotated.tex │ ├── files.tex │ ├── example__get_depth_frame_8cc.tex │ ├── example__get_calib_params_file_8cc.tex │ ├── example__get_rect_frame_8cc.tex │ ├── _unitree_camera_s_d_k_8hpp.tex │ ├── _stereo_camera_common_8hpp.tex │ └── example__get_point_cloud_8cc.tex ├── lib ├── amd64 │ ├── libsystemlog.a │ ├── libunitree_camera.a │ └── libtstc_V4L2_xu_camera.a └── arm64 │ ├── libsystemlog.a │ ├── libunitree_camera.a │ └── libtstc_V4L2_xu_camera.a ├── examples ├── example_share.cc ├── example_getCalibParamsFile.cc ├── glViewer │ └── scenewindow.hpp ├── example_getDepthFrame.cc ├── example_getRawFrame.cc ├── example_getimagetrans.cc ├── example_getRectFrame.cc ├── CMakeLists.txt └── example_getPointCloud.cc ├── CMakeLists.txt ├── stereo_camera_config.yaml ├── README.md └── trans_rect_config.yaml /version.txt: -------------------------------------------------------------------------------- 1 | v1.1.0 -------------------------------------------------------------------------------- /doc/html/graph_legend.md5: -------------------------------------------------------------------------------- 1 | 387ff8eb65306fa251338d3c9bd7bfff -------------------------------------------------------------------------------- /doc/html/inherit_graph_0.md5: -------------------------------------------------------------------------------- 1 | 61dd634668d43833ad1b7e4b152b9c1c -------------------------------------------------------------------------------- /doc/html/inherit_graph_1.md5: 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3 | 4 | 5 | -------------------------------------------------------------------------------- /doc/html/dir_4eeb864c4eec08c7d6b9d3b0352cfdde_dep.map: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | -------------------------------------------------------------------------------- /doc/html/search/functions_8.js: -------------------------------------------------------------------------------- 1 | var searchData= 2 | [ 3 | ['unitreecamera',['UnitreeCamera',['../class_unitree_camera.html#af8a5e0c70f99096ecd378680d2f1ec27',1,'UnitreeCamera']]], 4 | ['updatecalibparams2flash',['updateCalibParams2Flash',['../class_unitree_camera.html#ab056c2e429ec5d91b7e838c18cbd0d73',1,'UnitreeCamera']]], 5 | ['updatefirmware',['updateFirmware',['../class_unitree_camera.html#abd0fd0e03ac98f90905ea582e4f397a7',1,'UnitreeCamera']]] 6 | ]; 7 | -------------------------------------------------------------------------------- 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No Matches
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8 | -------------------------------------------------------------------------------- /doc/latex/Makefile: -------------------------------------------------------------------------------- 1 | all: refman.pdf 2 | 3 | pdf: refman.pdf 4 | 5 | refman.pdf: clean refman.tex 6 | pdflatex refman 7 | makeindex refman.idx 8 | pdflatex refman 9 | latex_count=8 ; \ 10 | while egrep -s 'Rerun (LaTeX|to get cross-references right)' refman.log && [ $$latex_count -gt 0 ] ;\ 11 | do \ 12 | echo "Rerunning latex...." ;\ 13 | pdflatex refman ;\ 14 | latex_count=`expr $$latex_count - 1` ;\ 15 | done 16 | makeindex refman.idx 17 | pdflatex refman 18 | 19 | 20 | clean: 21 | rm -f *.ps *.dvi *.aux *.toc *.idx *.ind *.ilg *.log *.out *.brf *.blg *.bbl refman.pdf 22 | -------------------------------------------------------------------------------- /doc/html/search/all_7.js: -------------------------------------------------------------------------------- 1 | var searchData= 2 | [ 3 | ['main',['main',['../example__get_calib_params_file_8cc.html#a0ddf1224851353fc92bfbff6f499fa97',1,'main(int argc, char *argv[]): example_getCalibParamsFile.cc'],['../example__get_depth_frame_8cc.html#a0ddf1224851353fc92bfbff6f499fa97',1,'main(int argc, char *argv[]): example_getDepthFrame.cc'],['../example__get_raw_frame_8cc.html#a0ddf1224851353fc92bfbff6f499fa97',1,'main(int argc, char *argv[]): example_getRawFrame.cc'],['../example__get_rect_frame_8cc.html#a0ddf1224851353fc92bfbff6f499fa97',1,'main(int argc, char *argv[]): example_getRectFrame.cc']]] 4 | ]; 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///< init camera by device node number 8 | if(!cam.isOpened()) ///< get camera open state 9 | exit(EXIT_FAILURE); 10 | cam.startCapture(false, true); 11 | 12 | usleep(500000); 13 | while(cam.isOpened()) 14 | { 15 | cv::Mat left,right,feim; 16 | if(!cam.getRectStereoFrame(left,right)) 17 | { 18 | usleep(1000); 19 | continue; 20 | } 21 | char key = cv::waitKey(10); 22 | if(key == 27) // press ESC key 23 | break; 24 | } 25 | 26 | cam.stopCapture(); ///< stop camera capturing 27 | 28 | return 0; 29 | } -------------------------------------------------------------------------------- /doc/html/search/all_3.js: -------------------------------------------------------------------------------- 1 | var searchData= 2 | [ 3 | ['eventdispatcher',['EventDispatcher',['../classglwindow_1_1_event_dispatcher.html',1,'glwindow']]], 4 | ['eventhandler',['EventHandler',['../structglwindow_1_1_event_handler.html',1,'glwindow']]], 5 | ['example_5fgetcalibparamsfile_2ecc',['example_getCalibParamsFile.cc',['../example__get_calib_params_file_8cc.html',1,'']]], 6 | ['example_5fgetdepthframe_2ecc',['example_getDepthFrame.cc',['../example__get_depth_frame_8cc.html',1,'']]], 7 | ['example_5fgetpointcloud_2ecc',['example_getPointCloud.cc',['../example__get_point_cloud_8cc.html',1,'']]], 8 | ['example_5fgetrawframe_2ecc',['example_getRawFrame.cc',['../example__get_raw_frame_8cc.html',1,'']]], 9 | ['example_5fgetrectframe_2ecc',['example_getRectFrame.cc',['../example__get_rect_frame_8cc.html',1,'']]] 10 | ]; 11 | -------------------------------------------------------------------------------- /doc/html/_unitree_camera_s_d_k_8hpp__dep__incl.map: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | -------------------------------------------------------------------------------- /doc/html/example__get_point_cloud_8cc__incl.map: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | -------------------------------------------------------------------------------- /doc/latex/dir_d44c64559bbebec7f509842c48db8b23.tex: -------------------------------------------------------------------------------- 1 | \hypertarget{dir_d44c64559bbebec7f509842c48db8b23}{}\section{include Directory Reference} 2 | \label{dir_d44c64559bbebec7f509842c48db8b23}\index{include Directory Reference@{include Directory Reference}} 3 | \subsection*{Files} 4 | \begin{DoxyCompactItemize} 5 | \item 6 | file \hyperlink{_stereo_camera_common_8hpp}{Stereo\+Camera\+Common.\+hpp} 7 | \begin{DoxyCompactList}\small\item\em This file is part of Unitree\+Camera\+S\+DK, which declare stereo camera algorithm A\+P\+Is. \end{DoxyCompactList}\item 8 | file \hyperlink{_system_log_8hpp}{System\+Log.\+hpp} 9 | \begin{DoxyCompactList}\small\item\em This file is part of Unitree\+Camera\+S\+DK, which declare the A\+P\+Is of log system. \end{DoxyCompactList}\item 10 | file \hyperlink{_unitree_camera_s_d_k_8hpp}{Unitree\+Camera\+S\+D\+K.\+hpp} 11 | \begin{DoxyCompactList}\small\item\em This file is part of Unitree\+Camera\+S\+DK, which declare unitree camera A\+P\+Is. \end{DoxyCompactList}\end{DoxyCompactItemize} 12 | -------------------------------------------------------------------------------- /doc/html/search/all_0.html: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 |
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25 | 26 | 27 | -------------------------------------------------------------------------------- /examples/example_getCalibParamsFile.cc: -------------------------------------------------------------------------------- 1 | /** 2 | * @file example_getCalibParamsFile.cc 3 | * @brief This file is part of UnitreeCameraSDK. 4 | * @details This example that how to get camera internal parameters 5 | * @author ZhangChunyang 6 | * @date 2021.07.31 7 | * @version 1.0.1 8 | * @copyright Copyright (c) 2020-2021, Hangzhou Yushu Technology Stock CO.LTD. All Rights Reserved. 9 | */ 10 | 11 | #include 12 | #include 13 | 14 | int main(int argc, char *argv[]){ 15 | 16 | UnitreeCamera cam("stereo_camera_config.yaml"); ///< init UnitreeCamera object by config file 17 | if(!cam.isOpened()) ///< get camera open state 18 | exit(EXIT_FAILURE); 19 | 20 | cam.startCapture(); ///< disable image h264 encoding and share memory sharing 21 | usleep(100000); ///< wait parameters initialization finished 22 | cam.saveCalibParams("output_camCalibParams.yaml"); ///< save parameters to output_camCalibParams.yaml 23 | std::cout << cam.getSerialNumber() << " " << cam.getPosNumber() << std::endl; 24 | usleep(100000); 25 | cam.stopCapture(); ///< stop camera capturing 26 | return 0; 27 | } 28 | -------------------------------------------------------------------------------- /CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required( VERSION 2.8 ) 2 | project( UnitreeCameraSDK ) 3 | 4 | set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bins/) 5 | 6 | find_package(OpenCV 4 REQUIRED) 7 | if(OpenCV_FOUND) 8 | include_directories(${OpenCV_INCLUDE_DIR}) 9 | message(STATUS "OpenCV ${OpenCV_VERSION} FOUND") 10 | message(STATUS ${OpenCV_LIBS}) 11 | if(${OpenCV_VERSION_MAJOR} EQUAL 4) 12 | add_definitions(-DOPENCV_VERSION_4) 13 | elseif(${OpenCV_VERSION_MAJOR} LESS 4) 14 | add_definitions(-DOPENCV_VERSION_3) 15 | endif() 16 | else() 17 | message(FATAL_ERROR "OpenCV Library Not Found") 18 | endif() 19 | 20 | if(CMAKE_HOST_SYSTEM_PROCESSOR MATCHES "x86_64") 21 | set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib/amd64/) 22 | link_directories(${PROJECT_SOURCE_DIR}/lib/amd64/) 23 | else() 24 | set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib/arm64/) 25 | link_directories(${PROJECT_SOURCE_DIR}/lib/arm64/) 26 | endif() 27 | 28 | set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 -pthread") 29 | include_directories(${PROJECT_SOURCE_DIR}/include) 30 | 31 | set(SDKLIBS unitree_camera tstc_V4L2_xu_camera udev systemlog ${OpenCV_LIBS}) 32 | 33 | add_subdirectory(${PROJECT_SOURCE_DIR}/examples) 34 | 35 | -------------------------------------------------------------------------------- /doc/latex/classinfo__camera___string.tex: -------------------------------------------------------------------------------- 1 | \hypertarget{classinfo__camera___string}{}\section{info\+\_\+camera\+\_\+\+String Class Reference} 2 | \label{classinfo__camera___string}\index{info\+\_\+camera\+\_\+\+String@{info\+\_\+camera\+\_\+\+String}} 3 | \subsection*{Public Attributes} 4 | \begin{DoxyCompactItemize} 5 | \item 6 | \mbox{\Hypertarget{classinfo__camera___string_a534901ae79a44cbd9e298e237fa4fc0f}\label{classinfo__camera___string_a534901ae79a44cbd9e298e237fa4fc0f}} 7 | char {\bfseries i\+Manufacturer} \mbox{[}M\+A\+X\+\_\+\+P\+A\+TH\mbox{]} 8 | \item 9 | \mbox{\Hypertarget{classinfo__camera___string_a7760c615973f721307ccc15d291b82dd}\label{classinfo__camera___string_a7760c615973f721307ccc15d291b82dd}} 10 | char {\bfseries i\+Product} \mbox{[}M\+A\+X\+\_\+\+P\+A\+TH\mbox{]} 11 | \item 12 | \mbox{\Hypertarget{classinfo__camera___string_aa36e331d9d8aa31382774bdd0a22f23e}\label{classinfo__camera___string_aa36e331d9d8aa31382774bdd0a22f23e}} 13 | char {\bfseries i\+Serial\+Number} \mbox{[}M\+A\+X\+\_\+\+P\+A\+TH\mbox{]} 14 | \end{DoxyCompactItemize} 15 | 16 | 17 | The documentation for this class was generated from the following file\+:\begin{DoxyCompactItemize} 18 | \item 19 | src/camera\+\_\+api.\+h\end{DoxyCompactItemize} 20 | -------------------------------------------------------------------------------- /doc/html/_stereo_camera_common_8hpp__dep__incl.map: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | -------------------------------------------------------------------------------- /doc/html/search/functions_2.js: -------------------------------------------------------------------------------- 1 | var searchData= 2 | [ 3 | ['getcalibparams',['getCalibParams',['../class_stereo_camera.html#a61ea11e661cca31acb780edbbba1d32e',1,'StereoCamera']]], 4 | ['getdepthframe',['getDepthFrame',['../class_stereo_camera.html#aa0bd7e3a7ab4fcf2598ac4e780a27cb3',1,'StereoCamera']]], 5 | ['getdevicenode',['getDeviceNode',['../class_stereo_camera.html#a34d50c8166cf8f3f76fff5789f8f1eee',1,'StereoCamera']]], 6 | ['getloglevel',['getLogLevel',['../class_stereo_camera.html#a105495e27d95f3f905ef1de0f9866c70',1,'StereoCamera']]], 7 | ['getposnumber',['getPosNumber',['../class_stereo_camera.html#ab844029084a9a9de0996c1e7b24c258c',1,'StereoCamera']]], 8 | ['getrawframe',['getRawFrame',['../class_stereo_camera.html#ac8fbb6e1ebd828b1640d43ad7cdc0f9c',1,'StereoCamera']]], 9 | ['getrawframerate',['getRawFrameRate',['../class_stereo_camera.html#ac92c3a60ae0c38e203c81bb2a2738eb4',1,'StereoCamera']]], 10 | ['getrawframesize',['getRawFrameSize',['../class_stereo_camera.html#a38c990b26167c2f7823b20f44b1a8fa7',1,'StereoCamera']]], 11 | ['getserialnumber',['getSerialNumber',['../class_stereo_camera.html#a3cb43015d545854892dd2e4057f5b2be',1,'StereoCamera']]], 12 | ['getstereoframe',['getStereoFrame',['../class_stereo_camera.html#aa25f48d95ba8d1c71fb0e40b53f68379',1,'StereoCamera']]] 13 | ]; 14 | -------------------------------------------------------------------------------- /doc/html/search/all_4.js: -------------------------------------------------------------------------------- 1 | var searchData= 2 | [ 3 | ['getcalibparams',['getCalibParams',['../class_stereo_camera.html#a61ea11e661cca31acb780edbbba1d32e',1,'StereoCamera']]], 4 | ['getdepthframe',['getDepthFrame',['../class_stereo_camera.html#aa0bd7e3a7ab4fcf2598ac4e780a27cb3',1,'StereoCamera']]], 5 | ['getdevicenode',['getDeviceNode',['../class_stereo_camera.html#a34d50c8166cf8f3f76fff5789f8f1eee',1,'StereoCamera']]], 6 | ['getloglevel',['getLogLevel',['../class_stereo_camera.html#a105495e27d95f3f905ef1de0f9866c70',1,'StereoCamera']]], 7 | ['getposnumber',['getPosNumber',['../class_stereo_camera.html#ab844029084a9a9de0996c1e7b24c258c',1,'StereoCamera']]], 8 | ['getrawframe',['getRawFrame',['../class_stereo_camera.html#ac8fbb6e1ebd828b1640d43ad7cdc0f9c',1,'StereoCamera']]], 9 | ['getrawframerate',['getRawFrameRate',['../class_stereo_camera.html#ac92c3a60ae0c38e203c81bb2a2738eb4',1,'StereoCamera']]], 10 | ['getrawframesize',['getRawFrameSize',['../class_stereo_camera.html#a38c990b26167c2f7823b20f44b1a8fa7',1,'StereoCamera']]], 11 | ['getserialnumber',['getSerialNumber',['../class_stereo_camera.html#a3cb43015d545854892dd2e4057f5b2be',1,'StereoCamera']]], 12 | ['getstereoframe',['getStereoFrame',['../class_stereo_camera.html#aa25f48d95ba8d1c71fb0e40b53f68379',1,'StereoCamera']]], 13 | ['glwindow',['GLWindow',['../classglwindow_1_1_g_l_window.html',1,'glwindow']]] 14 | ]; 15 | -------------------------------------------------------------------------------- /examples/glViewer/scenewindow.hpp: -------------------------------------------------------------------------------- 1 | // Copyright (c) Ethan Eade, https://bitbucket.org/ethaneade/glwindow 2 | 3 | #pragma once 4 | 5 | #include "glwindow.hpp" 6 | 7 | namespace glwindow 8 | { 9 | 10 | class SceneWindow : public EventHandler 11 | { 12 | public: 13 | 14 | struct Viewpoint 15 | { 16 | double target[3]; 17 | double azimuth, elevation, distance; 18 | Viewpoint(); 19 | }; 20 | 21 | SceneWindow(int width, int height, const char *title); 22 | virtual ~SceneWindow(); 23 | 24 | void update(); 25 | 26 | bool start_draw(); 27 | void finish_draw(); 28 | 29 | GLWindow win; 30 | Viewpoint viewpoint; 31 | 32 | protected: 33 | bool on_key_down(GLWindow& win, int key); 34 | bool on_button_down(GLWindow& win, int btn, int state, int x, int y); 35 | bool on_button_up(GLWindow& win, int btn, int state, int x, int y); 36 | bool on_mouse_move(GLWindow& win, int state, int x, int y); 37 | bool on_mouse_wheel(GLWindow& win, int state, int x, int y, int dx, int dy); 38 | bool on_resize(GLWindow& win, int x, int y, int w, int h); 39 | 40 | bool dragging; 41 | int drag_btn; 42 | int x0, y0; 43 | double inv_w0, inv_h0; 44 | Viewpoint vp0; 45 | 46 | bool drawing; 47 | }; 48 | 49 | } 50 | -------------------------------------------------------------------------------- /doc/html/_system_log_8hpp__dep__incl.map: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | -------------------------------------------------------------------------------- /examples/example_getDepthFrame.cc: -------------------------------------------------------------------------------- 1 | /** 2 | * @file example_getDepthFrame.cc 3 | * @brief This file is part of UnitreeCameraSDK. 4 | * @details This example that how to get depth frame 5 | * @author SunMingzhe 6 | * @date 2021.12.07 7 | * @version 1.1.0 8 | * @copyright Copyright (c) 2020-2021, Hangzhou Yushu Technology Stock CO.LTD. All Rights Reserved. 9 | */ 10 | 11 | #include 12 | #include 13 | 14 | int main(int argc, char *argv[]){ 15 | 16 | UnitreeCamera cam("stereo_camera_config.yaml"); ///< init UnitreeCamera object by config file 17 | if(!cam.isOpened()) ///< get camera open state 18 | exit(EXIT_FAILURE); 19 | 20 | cam.startCapture(); ///< disable image h264 encoding and share memory sharing 21 | cam.startStereoCompute(); ///< start disparity computing 22 | 23 | while(cam.isOpened()){ 24 | cv::Mat depth; 25 | std::chrono::microseconds t; 26 | if(!cam.getDepthFrame(depth, true, t)){ ///< get stereo camera depth image 27 | usleep(1000); 28 | continue; 29 | } 30 | if(!depth.empty()){ 31 | cv::imshow("UnitreeCamera-Depth", depth); 32 | } 33 | char key = cv::waitKey(10); 34 | if(key == 27) // press ESC key 35 | break; 36 | } 37 | 38 | cam.stopStereoCompute(); ///< stop disparity computing 39 | cam.stopCapture(); ///< stop camera capturing 40 | 41 | return 0; 42 | } 43 | -------------------------------------------------------------------------------- /doc/latex/struct_p_c_l.tex: -------------------------------------------------------------------------------- 1 | \hypertarget{struct_p_c_l}{}\section{P\+CL Struct Reference} 2 | \label{struct_p_c_l}\index{P\+CL@{P\+CL}} 3 | 4 | 5 | this struct is used for R\+GB point cloud capture and display 6 | 7 | 8 | 9 | 10 | {\ttfamily \#include $<$Stereo\+Camera\+Common.\+hpp$>$} 11 | 12 | \subsection*{Public Attributes} 13 | \begin{DoxyCompactItemize} 14 | \item 15 | \mbox{\Hypertarget{struct_p_c_l_a07c28b7f533724d91ec4a9e461989d8c}\label{struct_p_c_l_a07c28b7f533724d91ec4a9e461989d8c}} 16 | cv\+::\+Vec3f \hyperlink{struct_p_c_l_a07c28b7f533724d91ec4a9e461989d8c}{pts} 17 | \begin{DoxyCompactList}\small\item\em points coordinates (x, y, z) \end{DoxyCompactList}\item 18 | \mbox{\Hypertarget{struct_p_c_l_a6555550c790378b130273dd6ae3a2158}\label{struct_p_c_l_a6555550c790378b130273dd6ae3a2158}} 19 | cv\+::\+Vec3b \hyperlink{struct_p_c_l_a6555550c790378b130273dd6ae3a2158}{clr} 20 | \begin{DoxyCompactList}\small\item\em points color (b, g, r) \end{DoxyCompactList}\end{DoxyCompactItemize} 21 | 22 | 23 | \subsection{Detailed Description} 24 | this struct is used for R\+GB point cloud capture and display 25 | 26 | pts for point coordinates (x, y, z), clr for point color (b, g, r) \begin{DoxyNote}{Note} 27 | point cloud simple type 28 | \end{DoxyNote} 29 | \begin{DoxyAttention}{Attention} 30 | point data element type float, color data element type uchar 31 | \end{DoxyAttention} 32 | 33 | 34 | The documentation for this struct was generated from the following file\+:\begin{DoxyCompactItemize} 35 | \item 36 | include/\hyperlink{_stereo_camera_common_8hpp}{Stereo\+Camera\+Common.\+hpp}\end{DoxyCompactItemize} 37 | -------------------------------------------------------------------------------- /doc/latex/structglwindow_1_1_scene_window_1_1_viewpoint.tex: -------------------------------------------------------------------------------- 1 | \hypertarget{structglwindow_1_1_scene_window_1_1_viewpoint}{}\section{glwindow\+:\+:Scene\+Window\+:\+:Viewpoint Struct Reference} 2 | \label{structglwindow_1_1_scene_window_1_1_viewpoint}\index{glwindow\+::\+Scene\+Window\+::\+Viewpoint@{glwindow\+::\+Scene\+Window\+::\+Viewpoint}} 3 | \subsection*{Public Attributes} 4 | \begin{DoxyCompactItemize} 5 | \item 6 | \mbox{\Hypertarget{structglwindow_1_1_scene_window_1_1_viewpoint_a48d71514393c6538f2753b219ec25e1e}\label{structglwindow_1_1_scene_window_1_1_viewpoint_a48d71514393c6538f2753b219ec25e1e}} 7 | double {\bfseries target} \mbox{[}3\mbox{]} 8 | \item 9 | \mbox{\Hypertarget{structglwindow_1_1_scene_window_1_1_viewpoint_a2c4761518908d5af7812a2427275b9da}\label{structglwindow_1_1_scene_window_1_1_viewpoint_a2c4761518908d5af7812a2427275b9da}} 10 | double {\bfseries azimuth} 11 | \item 12 | \mbox{\Hypertarget{structglwindow_1_1_scene_window_1_1_viewpoint_a019ecd110fdfc130d30318e728198718}\label{structglwindow_1_1_scene_window_1_1_viewpoint_a019ecd110fdfc130d30318e728198718}} 13 | double {\bfseries elevation} 14 | \item 15 | \mbox{\Hypertarget{structglwindow_1_1_scene_window_1_1_viewpoint_ab9bf343d65bfd4a4ef814c812ab92136}\label{structglwindow_1_1_scene_window_1_1_viewpoint_ab9bf343d65bfd4a4ef814c812ab92136}} 16 | double {\bfseries distance} 17 | \end{DoxyCompactItemize} 18 | 19 | 20 | The documentation for this struct was generated from the following files\+:\begin{DoxyCompactItemize} 21 | \item 22 | examples/gl\+Viewer/scenewindow.\+hpp\item 23 | examples/gl\+Viewer/scenewindow.\+cpp\end{DoxyCompactItemize} 24 | -------------------------------------------------------------------------------- /doc/latex/structglwindow_1_1_g_l_window_1_1_scoped_context.tex: -------------------------------------------------------------------------------- 1 | \hypertarget{structglwindow_1_1_g_l_window_1_1_scoped_context}{}\section{glwindow\+:\+:G\+L\+Window\+:\+:Scoped\+Context Struct Reference} 2 | \label{structglwindow_1_1_g_l_window_1_1_scoped_context}\index{glwindow\+::\+G\+L\+Window\+::\+Scoped\+Context@{glwindow\+::\+G\+L\+Window\+::\+Scoped\+Context}} 3 | 4 | 5 | Collaboration diagram for glwindow\+:\+:G\+L\+Window\+:\+:Scoped\+Context\+: 6 | \nopagebreak 7 | \begin{figure}[H] 8 | \begin{center} 9 | \leavevmode 10 | \includegraphics[width=276pt]{structglwindow_1_1_g_l_window_1_1_scoped_context__coll__graph} 11 | \end{center} 12 | \end{figure} 13 | \subsection*{Public Member Functions} 14 | \begin{DoxyCompactItemize} 15 | \item 16 | \mbox{\Hypertarget{structglwindow_1_1_g_l_window_1_1_scoped_context_a50c8bb3920c309f393427a712ef92fab}\label{structglwindow_1_1_g_l_window_1_1_scoped_context_a50c8bb3920c309f393427a712ef92fab}} 17 | {\bfseries Scoped\+Context} (\hyperlink{classglwindow_1_1_g_l_window}{G\+L\+Window} \&w) 18 | \end{DoxyCompactItemize} 19 | \subsection*{Public Attributes} 20 | \begin{DoxyCompactItemize} 21 | \item 22 | \mbox{\Hypertarget{structglwindow_1_1_g_l_window_1_1_scoped_context_a4d650e6dd6b405ea6f6b344b3e98a3af}\label{structglwindow_1_1_g_l_window_1_1_scoped_context_a4d650e6dd6b405ea6f6b344b3e98a3af}} 23 | \hyperlink{classglwindow_1_1_g_l_window}{G\+L\+Window} \& {\bfseries win} 24 | \end{DoxyCompactItemize} 25 | 26 | 27 | The documentation for this struct was generated from the following file\+:\begin{DoxyCompactItemize} 28 | \item 29 | examples/gl\+Viewer/glwindow.\+hpp\end{DoxyCompactItemize} 30 | -------------------------------------------------------------------------------- /doc/latex/dir_d28a4824dc47e487b107a5db32ef43c4.tex: -------------------------------------------------------------------------------- 1 | \hypertarget{dir_d28a4824dc47e487b107a5db32ef43c4}{}\section{examples Directory Reference} 2 | \label{dir_d28a4824dc47e487b107a5db32ef43c4}\index{examples Directory Reference@{examples Directory Reference}} 3 | Directory dependency graph for examples\+: 4 | \nopagebreak 5 | \begin{figure}[H] 6 | \begin{center} 7 | \leavevmode 8 | \includegraphics[width=244pt]{dir_d28a4824dc47e487b107a5db32ef43c4_dep} 9 | \end{center} 10 | \end{figure} 11 | \subsection*{Directories} 12 | \begin{DoxyCompactItemize} 13 | \end{DoxyCompactItemize} 14 | \subsection*{Files} 15 | \begin{DoxyCompactItemize} 16 | \item 17 | file \hyperlink{example__get_calib_params_file_8cc}{example\+\_\+get\+Calib\+Params\+File.\+cc} 18 | \begin{DoxyCompactList}\small\item\em This file is part of Unitree\+Camera\+S\+DK. \end{DoxyCompactList}\item 19 | file \hyperlink{example__get_depth_frame_8cc}{example\+\_\+get\+Depth\+Frame.\+cc} 20 | \begin{DoxyCompactList}\small\item\em This file is part of Unitree\+Camera\+S\+DK. \end{DoxyCompactList}\item 21 | file \hyperlink{example__get_point_cloud_8cc}{example\+\_\+get\+Point\+Cloud.\+cc} 22 | \begin{DoxyCompactList}\small\item\em This file is part of Unitree\+Camera\+S\+DK. \end{DoxyCompactList}\item 23 | file \hyperlink{example__get_raw_frame_8cc}{example\+\_\+get\+Raw\+Frame.\+cc} 24 | \begin{DoxyCompactList}\small\item\em This file is part of Unitree\+Camera\+S\+DK. \end{DoxyCompactList}\item 25 | file \hyperlink{example__get_rect_frame_8cc}{example\+\_\+get\+Rect\+Frame.\+cc} 26 | \begin{DoxyCompactList}\small\item\em This file is part of Unitree\+Camera\+S\+DK. \end{DoxyCompactList}\end{DoxyCompactItemize} 27 | -------------------------------------------------------------------------------- /doc/latex/_system_log_8hpp.tex: -------------------------------------------------------------------------------- 1 | \hypertarget{_system_log_8hpp}{}\section{include/\+System\+Log.hpp File Reference} 2 | \label{_system_log_8hpp}\index{include/\+System\+Log.\+hpp@{include/\+System\+Log.\+hpp}} 3 | 4 | 5 | This file is part of Unitree\+Camera\+S\+DK, which declare the A\+P\+Is of log system. 6 | 7 | 8 | {\ttfamily \#include $<$stdarg.\+h$>$}\newline 9 | {\ttfamily \#include $<$stdio.\+h$>$}\newline 10 | {\ttfamily \#include $<$string$>$}\newline 11 | Include dependency graph for System\+Log.\+hpp\+: 12 | \nopagebreak 13 | \begin{figure}[H] 14 | \begin{center} 15 | \leavevmode 16 | \includegraphics[width=256pt]{_system_log_8hpp__incl} 17 | \end{center} 18 | \end{figure} 19 | This graph shows which files directly or indirectly include this file\+: 20 | \nopagebreak 21 | \begin{figure}[H] 22 | \begin{center} 23 | \leavevmode 24 | \includegraphics[width=350pt]{_system_log_8hpp__dep__incl} 25 | \end{center} 26 | \end{figure} 27 | \subsection*{Classes} 28 | \begin{DoxyCompactItemize} 29 | \item 30 | class \hyperlink{class_system_log}{System\+Log} 31 | \end{DoxyCompactItemize} 32 | 33 | 34 | \subsection{Detailed Description} 35 | This file is part of Unitree\+Camera\+S\+DK, which declare the A\+P\+Is of log system. 36 | 37 | The log system is used for unified management of the output information of the special system. \begin{DoxyAuthor}{Author} 38 | Zhang\+Chunyang 39 | \end{DoxyAuthor} 40 | \begin{DoxyDate}{Date} 41 | 2021.\+07.\+31 42 | \end{DoxyDate} 43 | \begin{DoxyVersion}{Version} 44 | 1.\+0.\+1 45 | \end{DoxyVersion} 46 | \begin{DoxyCopyright}{Copyright} 47 | Copyright (c)2020-\/2021, Hangzhou Yushu Technology Stock C\+O.\+L\+TD. All Rights Reserved. 48 | \end{DoxyCopyright} 49 | -------------------------------------------------------------------------------- /doc/latex/hierarchy.tex: -------------------------------------------------------------------------------- 1 | \section{Class Hierarchy} 2 | This inheritance list is sorted roughly, but not completely, alphabetically\+:\begin{DoxyCompactList} 3 | \item \contentsline{section}{\+\_\+\+Device\+\_\+\+Point\+\_\+}{\pageref{struct___device___point__}}{} 4 | \item \contentsline{section}{glwindow\+:\+:Event\+Handler}{\pageref{structglwindow_1_1_event_handler}}{} 5 | \begin{DoxyCompactList} 6 | \item \contentsline{section}{glwindow\+:\+:Event\+Dispatcher}{\pageref{classglwindow_1_1_event_dispatcher}}{} 7 | \item \contentsline{section}{glwindow\+:\+:Scene\+Window}{\pageref{classglwindow_1_1_scene_window}}{} 8 | \end{DoxyCompactList} 9 | \item \contentsline{section}{glwindow\+:\+:G\+L\+Window}{\pageref{classglwindow_1_1_g_l_window}}{} 10 | \item \contentsline{section}{info\+\_\+camera\+\_\+os}{\pageref{classinfo__camera__os}}{} 11 | \item \contentsline{section}{info\+\_\+camera\+\_\+\+String}{\pageref{classinfo__camera___string}}{} 12 | \item \contentsline{section}{P\+CL}{\pageref{struct_p_c_l}}{} 13 | \item \contentsline{section}{glwindow\+:\+:G\+L\+Window\+:\+:Scoped\+Context}{\pageref{structglwindow_1_1_g_l_window_1_1_scoped_context}}{} 14 | \item \contentsline{section}{Stereo\+Camera}{\pageref{class_stereo_camera}}{} 15 | \begin{DoxyCompactList} 16 | \item \contentsline{section}{Unitree\+Camera}{\pageref{class_unitree_camera}}{} 17 | \end{DoxyCompactList} 18 | \item \contentsline{section}{System\+Log}{\pageref{class_system_log}}{} 19 | \item \contentsline{section}{glwindow\+:\+:G\+L\+Window\+:\+:System\+State}{\pageref{struct_g_l_window_1_1_system_state}}{} 20 | \item \contentsline{section}{glwindow\+:\+:Scene\+Window\+:\+:Viewpoint}{\pageref{structglwindow_1_1_scene_window_1_1_viewpoint}}{} 21 | \end{DoxyCompactList} 22 | -------------------------------------------------------------------------------- /stereo_camera_config.yaml: -------------------------------------------------------------------------------- 1 | %YAML:1.0 2 | --- 3 | # unimportant 4 | LogLevel: !!opencv-matrix 5 | rows: 1 6 | cols: 1 7 | dt: d 8 | data: [ 1. ] 9 | # unimportant 10 | Threshold: !!opencv-matrix 11 | rows: 1 12 | cols: 1 13 | dt: d 14 | data: [ 190. ] 15 | # unimportant. It is recommended not to change 16 | Algorithm: !!opencv-matrix 17 | rows: 1 18 | cols: 1 19 | dt: d 20 | data: [1. ] 21 | #UDP address for image transfer 192.168.123.IpLastSegment 22 | IpLastSegment: !!opencv-matrix 23 | rows: 1 24 | cols: 1 25 | dt: d 26 | data: [ 15. ] 27 | #DeviceNode 28 | DeviceNode: !!opencv-matrix 29 | rows: 1 30 | cols: 1 31 | dt: d 32 | data: [ 0. ] 33 | #fov (perspective 60~140) 34 | hFov: !!opencv-matrix 35 | rows: 1 36 | cols: 1 37 | dt: d 38 | data: [ 90. ] 39 | #image size ([1856.,800.] or [928.,400.]) 40 | FrameSize: !!opencv-matrix 41 | rows: 1 42 | cols: 2 43 | dt: d 44 | data: [928.,400.] 45 | # [232.,200.] [464.,400.] [928.,800.] 46 | RectifyFrameSize: !!opencv-matrix 47 | rows: 1 48 | cols: 2 49 | dt: d 50 | data: [464.,400.] 51 | #FrameRate 52 | FrameRate: !!opencv-matrix 53 | rows: 1 54 | cols: 1 55 | dt: d 56 | data: [ 3e+01 ] 57 | #0 ori img - right 1 ori img - stereo 2 rect img - right 3 rect img - stereo -1 不传图 58 | Transmode: !!opencv-matrix 59 | rows: 1 60 | cols: 1 61 | dt: d 62 | data: [ -1. ] 63 | #Transmission rate 64 | Transrate: !!opencv-matrix 65 | rows: 1 66 | cols: 1 67 | dt: d 68 | data: [ 3e+01 ] 69 | # unimportant 70 | Depthmode: !!opencv-matrix 71 | rows: 1 72 | cols: 1 73 | dt: d 74 | data: [ 1. ] 75 | Reserved: !!opencv-matrix 76 | rows: 3 77 | cols: 3 78 | dt: d -------------------------------------------------------------------------------- /doc/latex/index.tex: -------------------------------------------------------------------------------- 1 | Unitree Robotics is a energetic start-\/up company that focuses on the development, production and sales of high-\/performance quadruped robots. It has been interviewed by B\+BC and C\+C\+TV, and is one of the earliest company to publicly sell quadruped robots. 2 | 3 | The company has an outstanding leadership in developing robot core components, motion control, robot perception, etc. 4 | 5 | We attaches great importance to research and development, and thus independently developed the motors, reducers, controllers, and even some sensors of the quadruped robot. 6 | 7 | \subsection*{1.\+Overview } 8 | 9 | Unitree\+Camera\+S\+DK 1.\+0 is a cross-\/platform library for unitree depth cameras 10 | 11 | The S\+DK allows depth and color streaming, and provides intrinsic calibration information. The library also offers pointcloud, depth aligned to color and vise-\/versa. 12 | 13 | \subsection*{2.\+Dependencies } 14 | 15 | Open\+CV, version\+: equal or lager than 4 Cmake, version\+: 2.\+8 16 | 17 | \subsection*{2.\+Build } 18 | 19 | 20 | \begin{DoxyCode} 21 | cd UnitreeCameraSDK; 22 | mkdir build; cd build; 23 | cmake ..; make 24 | \end{DoxyCode} 25 | 26 | 27 | \subsection*{3.\+Run Examples } 28 | 29 | Get Camera Raw Frame\+: 30 | \begin{DoxyCode} 31 | cd UnitreeCameraSDK; 32 | ./bin/example\_getRawFrame 33 | \end{DoxyCode} 34 | 35 | 36 | Get Calibration Parameters File 37 | \begin{DoxyCode} 38 | cd UnitreeCameraSDK; 39 | ./bin/example\_getCalibParamsFile 40 | \end{DoxyCode} 41 | 42 | 43 | Get Rectify Frame 44 | \begin{DoxyCode} 45 | cd UnitreeCameraSDK; 46 | ./bin/example\_getRectFrame 47 | \end{DoxyCode} 48 | 49 | 50 | Get Depth Frame 51 | \begin{DoxyCode} 52 | cd UnitreeCameraSDK; 53 | ./bin/example\_getDepthFrame 54 | \end{DoxyCode} 55 | 56 | 57 | Get Point Cloud\+: 58 | \begin{DoxyCode} 59 | cd UnitreeCameraSDK; 60 | ./bin/example\_getPointCloud 61 | \end{DoxyCode} 62 | -------------------------------------------------------------------------------- /doc/html/menu.js: -------------------------------------------------------------------------------- 1 | function initMenu(relPath,searchEnabled,serverSide,searchPage,search) { 2 | function makeTree(data,relPath) { 3 | var result=''; 4 | if ('children' in data) { 5 | result+=''; 12 | } 13 | return result; 14 | } 15 | 16 | $('#main-nav').append(makeTree(menudata,relPath)); 17 | $('#main-nav').children(':first').addClass('sm sm-dox').attr('id','main-menu'); 18 | if (searchEnabled) { 19 | if (serverSide) { 20 | $('#main-menu').append('
    • '); 21 | } else { 22 | $('#main-menu').append('
    • '); 23 | } 24 | } 25 | $('#main-menu').smartmenus(); 26 | } 27 | -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | Introduction 2 | --- 3 | Unitree Robotics is a energetic start-up company that focuses on the development, production and sales of high-performance quadruped robots. It has been interviewed by BBC and CCTV, and is one of the earliest company to publicly sell quadruped robots. 4 | 5 | The company has an outstanding leadership in developing robot core components, motion control, robot perception, etc. 6 | 7 | We attaches great importance to research and development, and thus independently developed the motors, reducers, controllers, and even some sensors of the quadruped robot. 8 | 9 | 1.Overview 10 | --- 11 | UnitreeCameraSDK 1.1.0 is a cross-platform library for unitree stereo cameras 12 | 13 | The SDK allows depth and color streaming, and provides intrinsic calibration information. The library also offers pointcloud, depth image aligned to color image. 14 | 15 | 2.Dependencies 16 | --- 17 | 18 | OpenCV, version: equal or lager than 4 (need gstreamer) 19 | 20 | CMake, version: 2.8 or higher 21 | 22 | [OpenGL] for point cloud gui 23 | 24 | [GLUT] for point cloud gui 25 | 26 | [X11], for point cloud gui 27 | 28 | 2.Build 29 | --- 30 | 31 | ``` 32 | cd UnitreeCameraSDK; 33 | mkdir build && cd build; 34 | cmake ..; make 35 | ``` 36 | 37 | 3.Run Examples 38 | --- 39 | 40 | Get Camera Raw Frame: 41 | ``` 42 | cd UnitreeCameraSDK; 43 | ./bin/example_getRawFrame 44 | ``` 45 | 46 | Get Calibration Parameters File 47 | ``` 48 | cd UnitreeCameraSDK; 49 | ./bin/example_getCalibParamsFile 50 | ``` 51 | 52 | Get Rectify Frame 53 | ``` 54 | cd UnitreeCameraSDK; 55 | ./bin/example_getRectFrame 56 | ``` 57 | 58 | Get Depth Frame 59 | ``` 60 | cd UnitreeCameraSDK; 61 | ./bin/example_getDepthFrame 62 | ``` 63 | 64 | Get Point Cloud: 65 | ``` 66 | cd UnitreeCameraSDK; 67 | ./bin/example_getPointCloud 68 | ``` 69 | 70 | 4.send image and listen image 71 | sender:put image to another devices 72 | ``` 73 | cd UnitreeCameraSDK; 74 | ./bin/example_putImagetrans 75 | ``` 76 | 77 | listener:get image from another devices 78 | ``` 79 | cd UnitreeCameraSDK; 80 | ./bin/example_getimagetrans 81 | ``` 82 | 83 | 84 | 85 | -------------------------------------------------------------------------------- /trans_rect_config.yaml: -------------------------------------------------------------------------------- 1 | %YAML:1.0 2 | --- 3 | # [pls dont change] The log level 4 | LogLevel: !!opencv-matrix 5 | rows: 1 6 | cols: 1 7 | dt: d 8 | data: [ 1. ] 9 | # [pls dont change] The threshold is applied to detecd point cloud 10 | Threshold: !!opencv-matrix 11 | rows: 1 12 | cols: 1 13 | dt: d 14 | data: [ 190. ] 15 | #[pls dont change] it's a switch for a algorithm in the process of computing stereo disparity 16 | Algorithm: !!opencv-matrix 17 | rows: 1 18 | cols: 1 19 | dt: d 20 | data: [1. ] 21 | #UDP address for image transfer 192.168.123.IpLastSegment 22 | IpLastSegment: !!opencv-matrix 23 | rows: 1 24 | cols: 1 25 | dt: d 26 | data: [ 15. ] 27 | #DeviceNode 28 | DeviceNode: !!opencv-matrix 29 | rows: 1 30 | cols: 1 31 | dt: d 32 | data: [ 0. ] 33 | #fov (perspective 60~140) 34 | hFov: !!opencv-matrix 35 | rows: 1 36 | cols: 1 37 | dt: d 38 | data: [ 90. ] 39 | #image size ([1856,800] or [928,400]) 40 | FrameSize: !!opencv-matrix 41 | rows: 1 42 | cols: 2 43 | dt: d 44 | data: [ 1856., 800. ] 45 | #rectified frame size 46 | RectifyFrameSize: !!opencv-matrix 47 | rows: 1 48 | cols: 2 49 | dt: d 50 | data: [ 928., 800. ] 51 | #FrameRate, it gives the limitation for transmission rate(FPS) 52 | FrameRate: !!opencv-matrix 53 | rows: 1 54 | cols: 1 55 | dt: d 56 | data: [ 3e+01 ] 57 | #0 ori img - right 1 ori img - stereo 2 rect img - right 3 rect img - stereo -1 不传图 58 | Transmode: !!opencv-matrix 59 | rows: 1 60 | cols: 1 61 | dt: d 62 | data: [ 0. ] 63 | #Transmission rate(FPS) in the UDP transmitting process. <= FrameRate 64 | Transrate: !!opencv-matrix 65 | rows: 1 66 | cols: 1 67 | dt: d 68 | data: [ 3e+01 ] 69 | # [pls dont change] It's a switch in distortion process of fisheye camera. 1 represents “Longitude and latitude expansion of fisheye camera”; 2 represnets "Perspective distortion correction". 70 | Depthmode: !!opencv-matrix 71 | rows: 1 72 | cols: 1 73 | dt: d 74 | data: [ 1. ] 75 | # empty reserved IO 76 | Reserved: !!opencv-matrix 77 | rows: 3 78 | cols: 3 79 | dt: d 80 | -------------------------------------------------------------------------------- /examples/example_getRawFrame.cc: -------------------------------------------------------------------------------- 1 | /** 2 | * @file example_getRawFrame.cc 3 | * @brief This file is part of UnitreeCameraSDK. 4 | * @details This example that how to get camera raw frame. 5 | * @author ZhangChunyang 6 | * @date 2021.07.31 7 | * @version 1.0.1 8 | * @copyright Copyright (c) 2020-2021, Hangzhou Yushu Technology Stock CO.LTD. All Rights Reserved. 9 | */ 10 | 11 | #include 12 | #include 13 | 14 | int main(int argc, char *argv[]){ 15 | 16 | int deviceNode = 0; // default 0 -> /dev/video0 17 | cv::Size frameSize(1856, 800); // defalut image size: 1856 X 800 18 | int fps = 30; 19 | 20 | if(argc >= 2){ 21 | deviceNode = std::atoi(argv[1]); 22 | if(argc >= 4){ 23 | frameSize = cv::Size(std::atoi(argv[2]), std::atoi(argv[3])); 24 | } 25 | if(argc >=5) 26 | fps = std::atoi(argv[4]); 27 | } 28 | 29 | UnitreeCamera cam(deviceNode); ///< init camera by device node number 30 | if(!cam.isOpened()) 31 | exit(EXIT_FAILURE); 32 | 33 | cam.setRawFrameSize(frameSize); ///< set camera frame size 34 | cam.setRawFrameRate(fps); ///< set camera frame rate 35 | 36 | std::cout << "Device Position Number:" << cam.getPosNumber() << std::endl; 37 | 38 | cam.startCapture(); ///< start camera capturing 39 | 40 | while(cam.isOpened()) 41 | { 42 | 43 | cv::Mat frame; 44 | std::chrono::microseconds t; 45 | if(!cam.getRawFrame(frame, t)){ ///< get camera raw image 46 | usleep(1000); 47 | continue; 48 | } 49 | 50 | cv::Mat left,right; 51 | frame(cv::Rect(0, 0, frame.size().width/2, frame.size().height)).copyTo(right); 52 | frame(cv::Rect(frame.size().width/2,0, frame.size().width/2, frame.size().height)).copyTo(left); 53 | cv::hconcat(left, right, frame); 54 | cv::imshow("UnitreeCamera_Left-Right", frame); 55 | char key = cv::waitKey(10); 56 | if(key == 27) // press ESC key 57 | break; 58 | } 59 | 60 | cam.stopCapture(); ///< stop camera capturing 61 | 62 | return 0; 63 | } 64 | -------------------------------------------------------------------------------- /examples/example_getimagetrans.cc: -------------------------------------------------------------------------------- 1 | /** 2 | * @file example_getRectFrame.cc 3 | * @brief This file is part of UnitreeCameraSDK. 4 | * @details This example that how to Transmission picture 5 | * @author SunMingzhe 6 | * @date 2021.12.07 7 | * @version 1.1.0 8 | * @copyright Copyright (c) 2020-2021, Hangzhou Yushu Technology Stock CO.LTD. All Rights Reserved. 9 | */ 10 | 11 | /* 12 | 接收端： 13 | 方法概述：采用定向udp方法接收图片，在应用其之前，需要先发送图片，例子:example_putImagetrans.cc 14 | 端口9201~9205分别对应前方，下巴，左，右，腹部 15 | 本机ip需要是192.168.123.IpLastSegment，IpLastSegment被设置在发送端cofigure yaml- 16 | */ 17 | 18 | /* 19 | listener 20 | Introduction: This program uses directed UDP methods to get pictures,whitch requires sending pictures on other programs. for example:example_putImagetrans.cc 21 | port:9201~9205 -> Front,chin,left,right,abdomen 22 | local ip must be set to 192.168.123.IpLastSegment and IpLastSegment musb be set in cofigure yaml 23 | */ 24 | 25 | /* 26 | local ip config 27 | ip 192.168.123.IpLastSegment 28 | netmask 255.255.255.0 29 | gateway 192.168.123.1 30 | */ 31 | 32 | 33 | 34 | #include 35 | #include 36 | int main(int argc,char** argv) 37 | { 38 | std::string IpLastSegment = "15"; 39 | int cam = 1; 40 | if (argc>=2) 41 | cam = std::atoi(argv[1]); 42 | std::string udpstrPrevData = "udpsrc address=192.168.123."+ IpLastSegment + " port="; 43 | //端口：前方，下巴，左，右，腹部 44 | std::array udpPORT = std::array{9201, 9202, 9203, 9204, 9205}; 45 | std::string udpstrBehindData = " ! application/x-rtp,media=video,encoding-name=H264 ! rtph264depay ! h264parse ! omxh264dec ! videoconvert ! appsink"; 46 | std::string udpSendIntegratedPipe = udpstrPrevData + std::to_string(udpPORT[cam-1]) + udpstrBehindData; 47 | std::cout<<"udpSendIntegratedPipe:"<> frame; 55 | if(frame.empty()) 56 | break; 57 | imshow("video", frame); 58 | cv::waitKey(20); 59 | } 60 | cap.release();//释放资源 61 | return 0; 62 | } 63 | -------------------------------------------------------------------------------- /examples/example_getRectFrame.cc: -------------------------------------------------------------------------------- 1 | /** 2 | * @file example_getRectFrame.cc 3 | * @brief This file is part of UnitreeCameraSDK. 4 | * @details This example that how to get depth frame 5 | * @author ZhangChunyang 6 | * @date 2021.07.31 7 | * @version 1.0.1 8 | * @copyright Copyright (c) 2020-2021, Hangzhou Yushu Technology Stock CO.LTD. All Rights Reserved. 9 | */ 10 | 11 | #include 12 | #include 13 | 14 | int main(int argc, char *argv[]){ 15 | 16 | int deviceNode = 0; ///< default 0 -> /dev/video0 17 | cv::Size frameSize(1856, 800); ///< default frame size 1856x800 18 | int fps = 30; ///< default camera fps: 30 19 | 20 | if(argc >= 2){ 21 | deviceNode = std::atoi(argv[1]); 22 | if(argc >= 4){ 23 | frameSize = cv::Size(std::atoi(argv[2]), std::atoi(argv[3])); 24 | } 25 | if(argc >=5) 26 | fps = std::atoi(argv[4]); 27 | } 28 | 29 | UnitreeCamera cam("stereo_camera_config.yaml"); ///< init camera by device node number 30 | if(!cam.isOpened()) ///< get camera open state 31 | exit(EXIT_FAILURE); 32 | 33 | cam.setRawFrameSize(frameSize); ///< set camera frame size 34 | cam.setRawFrameRate(fps); ///< set camera camera fps 35 | cam.setRectFrameSize(cv::Size(frameSize.width >> 2, frameSize.height >> 1)); ///< set camera rectify frame size 36 | cam.startCapture(); ///< disable image h264 encoding and share memory sharing 37 | 38 | usleep(500000); 39 | while(cam.isOpened()){ 40 | cv::Mat left,right; 41 | if(!cam.getRectStereoFrame(left,right)){ ///< get rectify left,right frame 42 | usleep(1000); 43 | continue; 44 | } 45 | 46 | cv::Mat stereo; 47 | // cv::flip(left,left, -1); 48 | // cv::flip(right,right, -1); 49 | cv::hconcat(left, right, stereo); 50 | cv::flip(stereo,stereo, -1); 51 | cv::imshow("Longlat_Rect", stereo); 52 | char key = cv::waitKey(10); 53 | if(key == 27) // press ESC key 54 | break; 55 | } 56 | 57 | cam.stopCapture(); ///< stop camera capturing 58 | 59 | return 0; 60 | } 61 | -------------------------------------------------------------------------------- /doc/html/search/functions_7.js: -------------------------------------------------------------------------------- 1 | var searchData= 2 | [ 3 | ['savecalibparams',['saveCalibParams',['../class_stereo_camera.html#a7611e0d97d57abf36b4fa7dca2a3cfc5',1,'StereoCamera']]], 4 | ['saveconfig',['saveConfig',['../class_stereo_camera.html#a568930e8b3668361fedad5233ab5ba47',1,'StereoCamera']]], 5 | ['savelog',['saveLog',['../class_system_log.html#a9714a265975472433882962b7449bd45',1,'SystemLog']]], 6 | ['savelogtofile',['saveLogToFile',['../class_system_log.html#af41d346f86242f5be187fe2be354347d',1,'SystemLog']]], 7 | ['setcalibparams',['setCalibParams',['../class_stereo_camera.html#a98d7546631507bcede3c9a850e69db7a',1,'StereoCamera']]], 8 | ['setloglevel',['setLogLevel',['../class_stereo_camera.html#adb684170c2180eb2109f9eecd1723c1c',1,'StereoCamera::setLogLevel()'],['../class_system_log.html#a21296bb67489848bad6cfa04280fec85',1,'SystemLog::setLogLevel()']]], 9 | ['setposnumber',['setPosNumber',['../class_stereo_camera.html#ad570580bd5b16ac58831d57ffd23ce5b',1,'StereoCamera']]], 10 | ['setrawframerate',['setRawFrameRate',['../class_stereo_camera.html#aa28635e45b1d0ade5353a69e2a7175e4',1,'StereoCamera']]], 11 | ['setrawframesize',['setRawFrameSize',['../class_stereo_camera.html#adb1ed69d226251cd050b1deab0270af8',1,'StereoCamera']]], 12 | ['setrectframesize',['setRectFrameSize',['../class_stereo_camera.html#ac2d8d3a96e0ac426af20a3e88df0167a',1,'StereoCamera']]], 13 | ['setserialnumber',['setSerialNumber',['../class_stereo_camera.html#a110ad0dc21cea5bfa5607752fc858163',1,'StereoCamera']]], 14 | ['startcapture',['startCapture',['../class_stereo_camera.html#a4e5146c1d33ab5f4f9a3995b93e3cbc5',1,'StereoCamera']]], 15 | ['startstereocompute',['startStereoCompute',['../class_stereo_camera.html#abb6da9140cb988beb753514e7416032b',1,'StereoCamera']]], 16 | ['stereocamera',['StereoCamera',['../class_stereo_camera.html#a6d9ac42b50dc07f5f846336ffd29e752',1,'StereoCamera']]], 17 | ['stopcapture',['stopCapture',['../class_stereo_camera.html#a8c9f54bf349fd4dc5a8ba9fd26f22c31',1,'StereoCamera']]], 18 | ['stopstereocompute',['stopStereoCompute',['../class_stereo_camera.html#a3597295e386dfe27474ff0e9567e6d6c',1,'StereoCamera']]], 19 | ['systemlog',['SystemLog',['../class_system_log.html#aad41c68c3a8192ddb646170349023c99',1,'SystemLog']]] 20 | ]; 21 | -------------------------------------------------------------------------------- /doc/latex/classinfo__camera__os.tex: -------------------------------------------------------------------------------- 1 | \hypertarget{classinfo__camera__os}{}\section{info\+\_\+camera\+\_\+os Class Reference} 2 | \label{classinfo__camera__os}\index{info\+\_\+camera\+\_\+os@{info\+\_\+camera\+\_\+os}} 3 | \subsection*{Public Attributes} 4 | \begin{DoxyCompactItemize} 5 | \item 6 | \mbox{\Hypertarget{classinfo__camera__os_a3cda29196c1943c0312f89220c635872}\label{classinfo__camera__os_a3cda29196c1943c0312f89220c635872}} 7 | W\+O\+RD {\bfseries vid} 8 | \item 9 | \mbox{\Hypertarget{classinfo__camera__os_a939af1154643fade0a13b89640955244}\label{classinfo__camera__os_a939af1154643fade0a13b89640955244}} 10 | W\+O\+RD {\bfseries pid} 11 | \item 12 | \mbox{\Hypertarget{classinfo__camera__os_a5634876a9841ff0a903a06e224213287}\label{classinfo__camera__os_a5634876a9841ff0a903a06e224213287}} 13 | W\+O\+RD {\bfseries bcd\+Device} 14 | \item 15 | \mbox{\Hypertarget{classinfo__camera__os_a9e417bafcff3ee428bfdf2510047dd80}\label{classinfo__camera__os_a9e417bafcff3ee428bfdf2510047dd80}} 16 | char {\bfseries device\+ID} \mbox{[}M\+A\+X\+\_\+\+P\+A\+TH\mbox{]} 17 | \item 18 | \mbox{\Hypertarget{classinfo__camera__os_a47c4e49f8d85be806ad67a052330483f}\label{classinfo__camera__os_a47c4e49f8d85be806ad67a052330483f}} 19 | char {\bfseries device} \mbox{[}M\+A\+X\+\_\+\+P\+A\+TH\mbox{]} 20 | \item 21 | \mbox{\Hypertarget{classinfo__camera__os_a18e02e7605102fc883644a840c4d000d}\label{classinfo__camera__os_a18e02e7605102fc883644a840c4d000d}} 22 | B\+Y\+TE {\bfseries ic\+Type} 23 | \item 24 | \mbox{\Hypertarget{classinfo__camera__os_a85043a073c9215c6957c2df585d8fcb2}\label{classinfo__camera__os_a85043a073c9215c6957c2df585d8fcb2}} 25 | uint64\+\_\+t {\bfseries busnum} 26 | \item 27 | \mbox{\Hypertarget{classinfo__camera__os_ae82dc3a3a9af8c1b0a6c10b3ac2415bf}\label{classinfo__camera__os_ae82dc3a3a9af8c1b0a6c10b3ac2415bf}} 28 | uint64\+\_\+t {\bfseries devnum} 29 | \item 30 | \mbox{\Hypertarget{classinfo__camera__os_a37e158cee8c551ed73bb67c7647dfed9}\label{classinfo__camera__os_a37e158cee8c551ed73bb67c7647dfed9}} 31 | char {\bfseries location} \mbox{[}M\+A\+X\+\_\+\+P\+A\+TH\mbox{]} 32 | \end{DoxyCompactItemize} 33 | 34 | 35 | The documentation for this class was generated from the following file\+:\begin{DoxyCompactItemize} 36 | \item 37 | src/camera\+\_\+api.\+h\end{DoxyCompactItemize} 38 | -------------------------------------------------------------------------------- /doc/latex/example__get_raw_frame_8cc.tex: -------------------------------------------------------------------------------- 1 | \hypertarget{example__get_raw_frame_8cc}{}\section{examples/example\+\_\+get\+Raw\+Frame.cc File Reference} 2 | \label{example__get_raw_frame_8cc}\index{examples/example\+\_\+get\+Raw\+Frame.\+cc@{examples/example\+\_\+get\+Raw\+Frame.\+cc}} 3 | 4 | 5 | This file is part of Unitree\+Camera\+S\+DK. 6 | 7 | 8 | {\ttfamily \#include $<$Unitree\+Camera\+S\+D\+K.\+hpp$>$}\newline 9 | {\ttfamily \#include $<$unistd.\+h$>$}\newline 10 | Include dependency graph for example\+\_\+get\+Raw\+Frame.\+cc\+: 11 | \nopagebreak 12 | \begin{figure}[H] 13 | \begin{center} 14 | \leavevmode 15 | \includegraphics[width=350pt]{example__get_raw_frame_8cc__incl} 16 | \end{center} 17 | \end{figure} 18 | \subsection*{Functions} 19 | \begin{DoxyCompactItemize} 20 | \item 21 | int \hyperlink{example__get_raw_frame_8cc_a0ddf1224851353fc92bfbff6f499fa97}{main} (int argc, char $\ast$argv\mbox{[}$\,$\mbox{]}) 22 | \end{DoxyCompactItemize} 23 | 24 | 25 | \subsection{Detailed Description} 26 | This file is part of Unitree\+Camera\+S\+DK. 27 | 28 | This example that how to get camera raw frame. \begin{DoxyAuthor}{Author} 29 | Zhang\+Chunyang 30 | \end{DoxyAuthor} 31 | \begin{DoxyDate}{Date} 32 | 2021.\+07.\+31 33 | \end{DoxyDate} 34 | \begin{DoxyVersion}{Version} 35 | 1.\+0.\+1 36 | \end{DoxyVersion} 37 | \begin{DoxyCopyright}{Copyright} 38 | Copyright (c) 2020-\/2021, Hangzhou Yushu Technology Stock C\+O.\+L\+TD. All Rights Reserved. 39 | \end{DoxyCopyright} 40 | 41 | 42 | \subsection{Function Documentation} 43 | \mbox{\Hypertarget{example__get_raw_frame_8cc_a0ddf1224851353fc92bfbff6f499fa97}\label{example__get_raw_frame_8cc_a0ddf1224851353fc92bfbff6f499fa97}} 44 | \index{example\+\_\+get\+Raw\+Frame.\+cc@{example\+\_\+get\+Raw\+Frame.\+cc}!main@{main}} 45 | \index{main@{main}!example\+\_\+get\+Raw\+Frame.\+cc@{example\+\_\+get\+Raw\+Frame.\+cc}} 46 | \subsubsection{\texorpdfstring{main()}{main()}} 47 | {\footnotesize\ttfamily int main (\begin{DoxyParamCaption}\item[{int}]{argc, }\item[{char $\ast$}]{argv\mbox{[}$\,$\mbox{]} }\end{DoxyParamCaption})} 48 | 49 | $<$ init camera by device node number 50 | 51 | $<$ set camera frame size 52 | 53 | $<$ set camera frame rate 54 | 55 | $<$ start camera capturing 56 | 57 | $<$ get camera raw image 58 | 59 | $<$ stop camera capturing -------------------------------------------------------------------------------- /doc/latex/annotated.tex: -------------------------------------------------------------------------------- 1 | \section{Class List} 2 | Here are the classes, structs, unions and interfaces with brief descriptions\+:\begin{DoxyCompactList} 3 | \item\contentsline{section}{\hyperlink{struct___device___point__}{\+\_\+\+Device\+\_\+\+Point\+\_\+} }{\pageref{struct___device___point__}}{} 4 | \item\contentsline{section}{\hyperlink{classglwindow_1_1_event_dispatcher}{glwindow\+::\+Event\+Dispatcher} }{\pageref{classglwindow_1_1_event_dispatcher}}{} 5 | \item\contentsline{section}{\hyperlink{structglwindow_1_1_event_handler}{glwindow\+::\+Event\+Handler} }{\pageref{structglwindow_1_1_event_handler}}{} 6 | \item\contentsline{section}{\hyperlink{classglwindow_1_1_g_l_window}{glwindow\+::\+G\+L\+Window} }{\pageref{classglwindow_1_1_g_l_window}}{} 7 | \item\contentsline{section}{\hyperlink{classinfo__camera__os}{info\+\_\+camera\+\_\+os} }{\pageref{classinfo__camera__os}}{} 8 | \item\contentsline{section}{\hyperlink{classinfo__camera___string}{info\+\_\+camera\+\_\+\+String} }{\pageref{classinfo__camera___string}}{} 9 | \item\contentsline{section}{\hyperlink{struct_p_c_l}{P\+CL} \\*This struct is used for R\+GB point cloud capture and display }{\pageref{struct_p_c_l}}{} 10 | \item\contentsline{section}{\hyperlink{classglwindow_1_1_scene_window}{glwindow\+::\+Scene\+Window} }{\pageref{classglwindow_1_1_scene_window}}{} 11 | \item\contentsline{section}{\hyperlink{structglwindow_1_1_g_l_window_1_1_scoped_context}{glwindow\+::\+G\+L\+Window\+::\+Scoped\+Context} }{\pageref{structglwindow_1_1_g_l_window_1_1_scoped_context}}{} 12 | \item\contentsline{section}{\hyperlink{class_stereo_camera}{Stereo\+Camera} \\*This class integrate camera control and stereo vision algorithm }{\pageref{class_stereo_camera}}{} 13 | \item\contentsline{section}{\hyperlink{class_system_log}{System\+Log} }{\pageref{class_system_log}}{} 14 | \item\contentsline{section}{\hyperlink{struct_g_l_window_1_1_system_state}{glwindow\+::\+G\+L\+Window\+::\+System\+State} }{\pageref{struct_g_l_window_1_1_system_state}}{} 15 | \item\contentsline{section}{\hyperlink{class_unitree_camera}{Unitree\+Camera} }{\pageref{class_unitree_camera}}{} 16 | \item\contentsline{section}{\hyperlink{structglwindow_1_1_scene_window_1_1_viewpoint}{glwindow\+::\+Scene\+Window\+::\+Viewpoint} }{\pageref{structglwindow_1_1_scene_window_1_1_viewpoint}}{} 17 | \end{DoxyCompactList} 18 | -------------------------------------------------------------------------------- /examples/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | 2 | add_executable(example_getRawFrame ./example_getRawFrame.cc) 3 | target_link_libraries(example_getRawFrame ${SDKLIBS}) 4 | 5 | add_executable(example_getDepthFrame ./example_getDepthFrame.cc) 6 | target_link_libraries(example_getDepthFrame ${SDKLIBS}) 7 | 8 | add_executable(example_getRectFrame ./example_getRectFrame.cc) 9 | target_link_libraries(example_getRectFrame ${SDKLIBS}) 10 | 11 | add_executable(example_getCalibParamsFile ./example_getCalibParamsFile.cc) 12 | target_link_libraries(example_getCalibParamsFile ${SDKLIBS}) 13 | 14 | add_executable(example_putImagetrans ./example_putImagetrans.cc) 15 | target_link_libraries(example_putImagetrans ${SDKLIBS}) 16 | 17 | add_executable(example_getimagetrans ./example_getimagetrans.cc) 18 | target_link_libraries(example_getimagetrans ${SDKLIBS}) 19 | 20 | # add_executable(example_share ./example_share.cc) 21 | # target_link_libraries(example_share ${SDKLIBS}) 22 | 23 | find_package(OpenGL REQUIRED) 24 | if(OpenGL_FOUND) 25 | include_directories(${OPENGL_INCLUDE_DIR}) 26 | message(STATUS ${OPENGL_INCLUDE_DIR}) 27 | message(STATUS ${OPENGL_LIBRARIES}) 28 | else() 29 | message(WARNING "OpenGL Library Not Found") 30 | endif() 31 | 32 | find_package(GLUT REQUIRED) 33 | if(GLUT_FOUND) 34 | include_directories(${GLUT_INCLUDE_DIR}) 35 | message(STATUS ${GLUT_INCLUDE_DIR}) 36 | message(STATUS ${GLUT_LIBRARY}) 37 | else() 38 | message(WARNING "GLUT Library Not Found") 39 | endif() 40 | 41 | find_package(X11 REQUIRED) 42 | if(X11_FOUND) 43 | include_directories(${X11_INCLUDE_DIR}) 44 | message(${X11_INCLUDE_DIR}) 45 | message(${X11_LIBRARIES}) 46 | else() 47 | message(WARNING "X11 Library Not Found") 48 | endif() 49 | 50 | if(X11_FOUND AND OpenGL_FOUND AND GLUT_FOUND) 51 | set(ShowPointCloud true) 52 | message(STATUS "Point Cloud Example Enabled") 53 | else() 54 | set(ShowPointCloud false) 55 | message(WARNING "Point Cloud Example Disabled") 56 | endif() 57 | 58 | if(${ShowPointCloud}) 59 | add_executable(example_getPointCloud ./example_getPointCloud.cc ./glViewer/glwindow_x11.cpp ./glViewer/scenewindow.cpp) 60 | target_link_libraries(example_getPointCloud ${SDKLIBS} ${OPENGL_LIBRARIES} ${GLUT_LIBRARY} ${X11_LIBRARIES} ) 61 | endif() 62 | 63 | 64 | set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 -pthread") 65 | 66 | 67 | -------------------------------------------------------------------------------- /doc/latex/files.tex: -------------------------------------------------------------------------------- 1 | \section{File List} 2 | Here is a list of all documented files with brief descriptions\+:\begin{DoxyCompactList} 3 | \item\contentsline{section}{examples/\hyperlink{example__get_calib_params_file_8cc}{example\+\_\+get\+Calib\+Params\+File.\+cc} \\*This file is part of Unitree\+Camera\+S\+DK }{\pageref{example__get_calib_params_file_8cc}}{} 4 | \item\contentsline{section}{examples/\hyperlink{example__get_depth_frame_8cc}{example\+\_\+get\+Depth\+Frame.\+cc} \\*This file is part of Unitree\+Camera\+S\+DK }{\pageref{example__get_depth_frame_8cc}}{} 5 | \item\contentsline{section}{examples/\hyperlink{example__get_point_cloud_8cc}{example\+\_\+get\+Point\+Cloud.\+cc} \\*This file is part of Unitree\+Camera\+S\+DK }{\pageref{example__get_point_cloud_8cc}}{} 6 | \item\contentsline{section}{examples/\hyperlink{example__get_raw_frame_8cc}{example\+\_\+get\+Raw\+Frame.\+cc} \\*This file is part of Unitree\+Camera\+S\+DK }{\pageref{example__get_raw_frame_8cc}}{} 7 | \item\contentsline{section}{examples/\hyperlink{example__get_rect_frame_8cc}{example\+\_\+get\+Rect\+Frame.\+cc} \\*This file is part of Unitree\+Camera\+S\+DK }{\pageref{example__get_rect_frame_8cc}}{} 8 | \item\contentsline{section}{examples/gl\+Viewer/{\bfseries glwindow.\+hpp} }{\pageref{glwindow_8hpp}}{} 9 | \item\contentsline{section}{examples/gl\+Viewer/{\bfseries scenewindow.\+hpp} }{\pageref{scenewindow_8hpp}}{} 10 | \item\contentsline{section}{include/\hyperlink{_stereo_camera_common_8hpp}{Stereo\+Camera\+Common.\+hpp} \\*This file is part of Unitree\+Camera\+S\+DK, which declare stereo camera algorithm A\+P\+Is }{\pageref{_stereo_camera_common_8hpp}}{} 11 | \item\contentsline{section}{include/\hyperlink{_system_log_8hpp}{System\+Log.\+hpp} \\*This file is part of Unitree\+Camera\+S\+DK, which declare the A\+P\+Is of log system }{\pageref{_system_log_8hpp}}{} 12 | \item\contentsline{section}{include/\hyperlink{_unitree_camera_s_d_k_8hpp}{Unitree\+Camera\+S\+D\+K.\+hpp} \\*This file is part of Unitree\+Camera\+S\+DK, which declare unitree camera A\+P\+Is }{\pageref{_unitree_camera_s_d_k_8hpp}}{} 13 | \item\contentsline{section}{src/{\bfseries camera\+\_\+api.\+h} }{\pageref{camera__api_8h}}{} 14 | \item\contentsline{section}{src/\hyperlink{_stereo_camera_common_8cc}{Stereo\+Camera\+Common.\+cc} \\*This file is part of Unitree\+Camera\+S\+DK, which implement stereo vision algorithm }{\pageref{_stereo_camera_common_8cc}}{} 15 | \end{DoxyCompactList} 16 | -------------------------------------------------------------------------------- /doc/latex/example__get_depth_frame_8cc.tex: -------------------------------------------------------------------------------- 1 | \hypertarget{example__get_depth_frame_8cc}{}\section{examples/example\+\_\+get\+Depth\+Frame.cc File Reference} 2 | \label{example__get_depth_frame_8cc}\index{examples/example\+\_\+get\+Depth\+Frame.\+cc@{examples/example\+\_\+get\+Depth\+Frame.\+cc}} 3 | 4 | 5 | This file is part of Unitree\+Camera\+S\+DK. 6 | 7 | 8 | {\ttfamily \#include $<$Unitree\+Camera\+S\+D\+K.\+hpp$>$}\newline 9 | {\ttfamily \#include $<$unistd.\+h$>$}\newline 10 | Include dependency graph for example\+\_\+get\+Depth\+Frame.\+cc\+: 11 | \nopagebreak 12 | \begin{figure}[H] 13 | \begin{center} 14 | \leavevmode 15 | \includegraphics[width=350pt]{example__get_depth_frame_8cc__incl} 16 | \end{center} 17 | \end{figure} 18 | \subsection*{Functions} 19 | \begin{DoxyCompactItemize} 20 | \item 21 | int \hyperlink{example__get_depth_frame_8cc_a0ddf1224851353fc92bfbff6f499fa97}{main} (int argc, char $\ast$argv\mbox{[}$\,$\mbox{]}) 22 | \end{DoxyCompactItemize} 23 | 24 | 25 | \subsection{Detailed Description} 26 | This file is part of Unitree\+Camera\+S\+DK. 27 | 28 | This example that how to get depth frame \begin{DoxyAuthor}{Author} 29 | Zhang\+Chunyang 30 | \end{DoxyAuthor} 31 | \begin{DoxyDate}{Date} 32 | 2021.\+07.\+31 33 | \end{DoxyDate} 34 | \begin{DoxyVersion}{Version} 35 | 1.\+0.\+1 36 | \end{DoxyVersion} 37 | \begin{DoxyCopyright}{Copyright} 38 | Copyright (c) 2020-\/2021, Hangzhou Yushu Technology Stock C\+O.\+L\+TD. All Rights Reserved. 39 | \end{DoxyCopyright} 40 | 41 | 42 | \subsection{Function Documentation} 43 | \mbox{\Hypertarget{example__get_depth_frame_8cc_a0ddf1224851353fc92bfbff6f499fa97}\label{example__get_depth_frame_8cc_a0ddf1224851353fc92bfbff6f499fa97}} 44 | \index{example\+\_\+get\+Depth\+Frame.\+cc@{example\+\_\+get\+Depth\+Frame.\+cc}!main@{main}} 45 | \index{main@{main}!example\+\_\+get\+Depth\+Frame.\+cc@{example\+\_\+get\+Depth\+Frame.\+cc}} 46 | \subsubsection{\texorpdfstring{main()}{main()}} 47 | {\footnotesize\ttfamily int main (\begin{DoxyParamCaption}\item[{int}]{argc, }\item[{char $\ast$}]{argv\mbox{[}$\,$\mbox{]} }\end{DoxyParamCaption})} 48 | 49 | $<$ init \hyperlink{class_unitree_camera}{Unitree\+Camera} object by config file 50 | 51 | $<$ get camera open state 52 | 53 | $<$ disable image h264 encoding and share memory sharing 54 | 55 | $<$ start disparity computing 56 | 57 | $<$ get stereo camera depth image 58 | 59 | $<$ stop disparity computing 60 | 61 | $<$ stop camera capturing -------------------------------------------------------------------------------- /doc/latex/example__get_calib_params_file_8cc.tex: -------------------------------------------------------------------------------- 1 | \hypertarget{example__get_calib_params_file_8cc}{}\section{examples/example\+\_\+get\+Calib\+Params\+File.cc File Reference} 2 | \label{example__get_calib_params_file_8cc}\index{examples/example\+\_\+get\+Calib\+Params\+File.\+cc@{examples/example\+\_\+get\+Calib\+Params\+File.\+cc}} 3 | 4 | 5 | This file is part of Unitree\+Camera\+S\+DK. 6 | 7 | 8 | {\ttfamily \#include $<$Unitree\+Camera\+S\+D\+K.\+hpp$>$}\newline 9 | {\ttfamily \#include $<$unistd.\+h$>$}\newline 10 | Include dependency graph for example\+\_\+get\+Calib\+Params\+File.\+cc\+: 11 | \nopagebreak 12 | \begin{figure}[H] 13 | \begin{center} 14 | \leavevmode 15 | \includegraphics[width=350pt]{example__get_calib_params_file_8cc__incl} 16 | \end{center} 17 | \end{figure} 18 | \subsection*{Functions} 19 | \begin{DoxyCompactItemize} 20 | \item 21 | int \hyperlink{example__get_calib_params_file_8cc_a0ddf1224851353fc92bfbff6f499fa97}{main} (int argc, char $\ast$argv\mbox{[}$\,$\mbox{]}) 22 | \end{DoxyCompactItemize} 23 | 24 | 25 | \subsection{Detailed Description} 26 | This file is part of Unitree\+Camera\+S\+DK. 27 | 28 | This example that how to get camera internal parameters \begin{DoxyAuthor}{Author} 29 | Zhang\+Chunyang 30 | \end{DoxyAuthor} 31 | \begin{DoxyDate}{Date} 32 | 2021.\+07.\+31 33 | \end{DoxyDate} 34 | \begin{DoxyVersion}{Version} 35 | 1.\+0.\+1 36 | \end{DoxyVersion} 37 | \begin{DoxyCopyright}{Copyright} 38 | Copyright (c) 2020-\/2021, Hangzhou Yushu Technology Stock C\+O.\+L\+TD. All Rights Reserved. 39 | \end{DoxyCopyright} 40 | 41 | 42 | \subsection{Function Documentation} 43 | \mbox{\Hypertarget{example__get_calib_params_file_8cc_a0ddf1224851353fc92bfbff6f499fa97}\label{example__get_calib_params_file_8cc_a0ddf1224851353fc92bfbff6f499fa97}} 44 | \index{example\+\_\+get\+Calib\+Params\+File.\+cc@{example\+\_\+get\+Calib\+Params\+File.\+cc}!main@{main}} 45 | \index{main@{main}!example\+\_\+get\+Calib\+Params\+File.\+cc@{example\+\_\+get\+Calib\+Params\+File.\+cc}} 46 | \subsubsection{\texorpdfstring{main()}{main()}} 47 | {\footnotesize\ttfamily int main (\begin{DoxyParamCaption}\item[{int}]{argc, }\item[{char $\ast$}]{argv\mbox{[}$\,$\mbox{]} }\end{DoxyParamCaption})} 48 | 49 | $<$ init \hyperlink{class_unitree_camera}{Unitree\+Camera} object by config file 50 | 51 | $<$ get camera open state 52 | 53 | $<$ disable image h264 encoding and share memory sharing 54 | 55 | $<$ wait parameters initialization finished 56 | 57 | $<$ save parameters to output\+\_\+cam\+Calib\+Params.\+yaml 58 | 59 | $<$ stop camera capturing -------------------------------------------------------------------------------- /doc/latex/example__get_rect_frame_8cc.tex: -------------------------------------------------------------------------------- 1 | \hypertarget{example__get_rect_frame_8cc}{}\section{examples/example\+\_\+get\+Rect\+Frame.cc File Reference} 2 | \label{example__get_rect_frame_8cc}\index{examples/example\+\_\+get\+Rect\+Frame.\+cc@{examples/example\+\_\+get\+Rect\+Frame.\+cc}} 3 | 4 | 5 | This file is part of Unitree\+Camera\+S\+DK. 6 | 7 | 8 | {\ttfamily \#include $<$Unitree\+Camera\+S\+D\+K.\+hpp$>$}\newline 9 | {\ttfamily \#include $<$unistd.\+h$>$}\newline 10 | Include dependency graph for example\+\_\+get\+Rect\+Frame.\+cc\+: 11 | \nopagebreak 12 | \begin{figure}[H] 13 | \begin{center} 14 | \leavevmode 15 | \includegraphics[width=350pt]{example__get_rect_frame_8cc__incl} 16 | \end{center} 17 | \end{figure} 18 | \subsection*{Functions} 19 | \begin{DoxyCompactItemize} 20 | \item 21 | int \hyperlink{example__get_rect_frame_8cc_a0ddf1224851353fc92bfbff6f499fa97}{main} (int argc, char $\ast$argv\mbox{[}$\,$\mbox{]}) 22 | \end{DoxyCompactItemize} 23 | 24 | 25 | \subsection{Detailed Description} 26 | This file is part of Unitree\+Camera\+S\+DK. 27 | 28 | This example that how to get depth frame \begin{DoxyAuthor}{Author} 29 | Zhang\+Chunyang 30 | \end{DoxyAuthor} 31 | \begin{DoxyDate}{Date} 32 | 2021.\+07.\+31 33 | \end{DoxyDate} 34 | \begin{DoxyVersion}{Version} 35 | 1.\+0.\+1 36 | \end{DoxyVersion} 37 | \begin{DoxyCopyright}{Copyright} 38 | Copyright (c) 2020-\/2021, Hangzhou Yushu Technology Stock C\+O.\+L\+TD. All Rights Reserved. 39 | \end{DoxyCopyright} 40 | 41 | 42 | \subsection{Function Documentation} 43 | \mbox{\Hypertarget{example__get_rect_frame_8cc_a0ddf1224851353fc92bfbff6f499fa97}\label{example__get_rect_frame_8cc_a0ddf1224851353fc92bfbff6f499fa97}} 44 | \index{example\+\_\+get\+Rect\+Frame.\+cc@{example\+\_\+get\+Rect\+Frame.\+cc}!main@{main}} 45 | \index{main@{main}!example\+\_\+get\+Rect\+Frame.\+cc@{example\+\_\+get\+Rect\+Frame.\+cc}} 46 | \subsubsection{\texorpdfstring{main()}{main()}} 47 | {\footnotesize\ttfamily int main (\begin{DoxyParamCaption}\item[{int}]{argc, }\item[{char $\ast$}]{argv\mbox{[}$\,$\mbox{]} }\end{DoxyParamCaption})} 48 | 49 | $<$ default 0 -\/$>$ /dev/video0 50 | 51 | $<$ default frame size 1856x800 52 | 53 | $<$ default camera fps\+: 30 54 | 55 | $<$ init camera by device node number 56 | 57 | $<$ get camera open state 58 | 59 | $<$ set camera frame size 60 | 61 | $<$ set camera camera fps 62 | 63 | $<$ set camera rectify frame size 64 | 65 | $<$ disable image h264 encoding and share memory sharing 66 | 67 | $<$ get longlat rectify left,right and fisheye rectify feim 68 | 69 | $<$ stop camera capturing -------------------------------------------------------------------------------- /doc/latex/_unitree_camera_s_d_k_8hpp.tex: -------------------------------------------------------------------------------- 1 | \hypertarget{_unitree_camera_s_d_k_8hpp}{}\section{include/\+Unitree\+Camera\+S\+DK.hpp File Reference} 2 | \label{_unitree_camera_s_d_k_8hpp}\index{include/\+Unitree\+Camera\+S\+D\+K.\+hpp@{include/\+Unitree\+Camera\+S\+D\+K.\+hpp}} 3 | 4 | 5 | This file is part of Unitree\+Camera\+S\+DK, which declare unitree camera A\+P\+Is. 6 | 7 | 8 | {\ttfamily \#include \char`\"{}Stereo\+Camera\+Common.\+hpp\char`\"{}}\newline 9 | Include dependency graph for Unitree\+Camera\+S\+D\+K.\+hpp\+: 10 | \nopagebreak 11 | \begin{figure}[H] 12 | \begin{center} 13 | \leavevmode 14 | \includegraphics[width=350pt]{_unitree_camera_s_d_k_8hpp__incl} 15 | \end{center} 16 | \end{figure} 17 | This graph shows which files directly or indirectly include this file\+: 18 | \nopagebreak 19 | \begin{figure}[H] 20 | \begin{center} 21 | \leavevmode 22 | \includegraphics[width=350pt]{_unitree_camera_s_d_k_8hpp__dep__incl} 23 | \end{center} 24 | \end{figure} 25 | \subsection*{Classes} 26 | \begin{DoxyCompactItemize} 27 | \item 28 | class \hyperlink{class_unitree_camera}{Unitree\+Camera} 29 | \end{DoxyCompactItemize} 30 | \subsection*{Functions} 31 | \begin{DoxyCompactItemize} 32 | \item 33 | \mbox{\Hypertarget{_unitree_camera_s_d_k_8hpp_a698a13c84f0a5e266fabc2722bcc33e1}\label{_unitree_camera_s_d_k_8hpp_a698a13c84f0a5e266fabc2722bcc33e1}} 34 | cv\+::\+Mat {\bfseries get\+Rotation\+Matrix} (int axis=\textquotesingle{}x\textquotesingle{}, float theta=0.\+0) 35 | \item 36 | \mbox{\Hypertarget{_unitree_camera_s_d_k_8hpp_a3b00277586cab0e3a3d1ba29e3aa6d8e}\label{_unitree_camera_s_d_k_8hpp_a3b00277586cab0e3a3d1ba29e3aa6d8e}} 37 | cv\+::\+Mat {\bfseries get\+Translation\+Matrix} (int axis=\textquotesingle{}x\textquotesingle{}, float theta=0.\+0, cv\+::\+Mat vec=cv\+::\+Mat()) 38 | \end{DoxyCompactItemize} 39 | 40 | 41 | \subsection{Detailed Description} 42 | This file is part of Unitree\+Camera\+S\+DK, which declare unitree camera A\+P\+Is. 43 | 44 | class \hyperlink{class_unitree_camera}{Unitree\+Camera} inherits the A\+P\+Is of class \hyperlink{class_stereo_camera}{Stereo\+Camera} image capture, image rectification, disparity computation, depth image and point cloud generation update camera firmware, flash camera parameters to camera \begin{DoxyAuthor}{Author} 45 | Zhang\+Chunyang 46 | \end{DoxyAuthor} 47 | \begin{DoxyDate}{Date} 48 | 2021.\+07.\+31 49 | \end{DoxyDate} 50 | \begin{DoxyVersion}{Version} 51 | 1.\+0.\+1 52 | \end{DoxyVersion} 53 | \begin{DoxyCopyright}{Copyright} 54 | Copyright (c) 2020-\/2021, Hangzhou Yushu Technology Stock C\+O.\+L\+TD. All Rights Reserved. 55 | \end{DoxyCopyright} 56 | -------------------------------------------------------------------------------- /doc/latex/_stereo_camera_common_8hpp.tex: -------------------------------------------------------------------------------- 1 | \hypertarget{_stereo_camera_common_8hpp}{}\section{include/\+Stereo\+Camera\+Common.hpp File Reference} 2 | \label{_stereo_camera_common_8hpp}\index{include/\+Stereo\+Camera\+Common.\+hpp@{include/\+Stereo\+Camera\+Common.\+hpp}} 3 | 4 | 5 | This file is part of Unitree\+Camera\+S\+DK, which declare stereo camera algorithm A\+P\+Is. 6 | 7 | 8 | {\ttfamily \#include $<$string$>$}\newline 9 | {\ttfamily \#include $<$thread$>$}\newline 10 | {\ttfamily \#include $<$mutex$>$}\newline 11 | {\ttfamily \#include $<$condition\+\_\+variable$>$}\newline 12 | {\ttfamily \#include $<$opencv2/opencv.\+hpp$>$}\newline 13 | {\ttfamily \#include $<$chrono$>$}\newline 14 | {\ttfamily \#include \char`\"{}System\+Log.\+hpp\char`\"{}}\newline 15 | Include dependency graph for Stereo\+Camera\+Common.\+hpp\+: 16 | \nopagebreak 17 | \begin{figure}[H] 18 | \begin{center} 19 | \leavevmode 20 | \includegraphics[width=350pt]{_stereo_camera_common_8hpp__incl} 21 | \end{center} 22 | \end{figure} 23 | This graph shows which files directly or indirectly include this file\+: 24 | \nopagebreak 25 | \begin{figure}[H] 26 | \begin{center} 27 | \leavevmode 28 | \includegraphics[width=350pt]{_stereo_camera_common_8hpp__dep__incl} 29 | \end{center} 30 | \end{figure} 31 | \subsection*{Classes} 32 | \begin{DoxyCompactItemize} 33 | \item 34 | struct \hyperlink{struct_p_c_l}{P\+CL} 35 | \begin{DoxyCompactList}\small\item\em this struct is used for R\+GB point cloud capture and display \end{DoxyCompactList}\item 36 | class \hyperlink{class_stereo_camera}{Stereo\+Camera} 37 | \begin{DoxyCompactList}\small\item\em this class integrate camera control and stereo vision algorithm \end{DoxyCompactList}\end{DoxyCompactItemize} 38 | \subsection*{Typedefs} 39 | \begin{DoxyCompactItemize} 40 | \item 41 | \mbox{\Hypertarget{_stereo_camera_common_8hpp_ac9f36f2ca129cb52709d9b161d119f70}\label{_stereo_camera_common_8hpp_ac9f36f2ca129cb52709d9b161d119f70}} 42 | typedef struct \hyperlink{struct_p_c_l}{P\+CL} {\bfseries P\+C\+L\+Type} 43 | \end{DoxyCompactItemize} 44 | 45 | 46 | \subsection{Detailed Description} 47 | This file is part of Unitree\+Camera\+S\+DK, which declare stereo camera algorithm A\+P\+Is. 48 | 49 | image capture, image rectification, disparity computation, depth image and point cloud generation \begin{DoxyAuthor}{Author} 50 | Zhang\+Chunyang 51 | \end{DoxyAuthor} 52 | \begin{DoxyDate}{Date} 53 | 2021.\+07.\+31 54 | \end{DoxyDate} 55 | \begin{DoxyVersion}{Version} 56 | 1.\+0.\+1 57 | \end{DoxyVersion} 58 | \begin{DoxyCopyright}{Copyright} 59 | Copyright (c)2020-\/2021, Hangzhou Yushu Technology Stock C\+O.\+L\+TD. All Rights Reserved. 60 | \end{DoxyCopyright} 61 | -------------------------------------------------------------------------------- /examples/example_getPointCloud.cc: -------------------------------------------------------------------------------- 1 | /** 2 | * @file example_getPointCloud.cc 3 | * @brief This file is part of UnitreeCameraSDK. 4 | * @details This example that how to get camera point cloud. 5 | * @author ZhangChunyang 6 | * @date 2021.07.31 7 | * @version 1.0.1 8 | * @copyright Copyright (c) 2020-2021, Hangzhou Yushu Technology Stock CO.LTD. All Rights Reserved. 9 | */ 10 | 11 | #include 12 | #include 13 | #include 14 | #include 15 | #include 16 | #include "glViewer/scenewindow.hpp" 17 | #include 18 | 19 | #define RGB_PCL true ///< Color Point Cloud Enable Flag 20 | 21 | void DrawScene(const std::vector& pcl_vec) { 22 | glBegin(GL_POINTS); 23 | for (uint i = 0; i < pcl_vec.size(); ++i) { 24 | PCLType pcl = pcl_vec[i]; 25 | glColor3ub(pcl.clr(2), pcl.clr(1), pcl.clr(0)); 26 | glVertex3f(-pcl.pts(0), -pcl.pts(1), pcl.pts(2)); 27 | } 28 | glEnd(); 29 | } 30 | 31 | void DrawScene(const std::vector& pcl_vec) { 32 | glBegin(GL_POINTS); 33 | for (uint i = 0; i < pcl_vec.size(); ++i) { 34 | cv::Vec3f pcl = pcl_vec[i]; 35 | glColor3ub(255, 255, 0); 36 | glVertex3f(-pcl(0), -pcl(1), pcl(2)); 37 | } 38 | glEnd(); 39 | } 40 | 41 | bool killSignalFlag = false; 42 | void ctrl_c_handler(int s){ 43 | killSignalFlag = true; 44 | return ; 45 | } 46 | 47 | int main(int argc, char *argv[]){ 48 | 49 | UnitreeCamera cam("stereo_camera_config.yaml"); 50 | if(!cam.isOpened()) 51 | exit(EXIT_FAILURE); 52 | 53 | cam.startCapture(); 54 | cam.startStereoCompute(); 55 | 56 | struct sigaction sigIntHandler; 57 | sigIntHandler.sa_handler = ctrl_c_handler; 58 | sigemptyset(&sigIntHandler.sa_mask); 59 | sigIntHandler.sa_flags = 0; 60 | sigaction(SIGINT, &sigIntHandler, NULL); 61 | 62 | std::cout << cam.getSerialNumber() << " " << cam.getPosNumber() << std::endl; 63 | 64 | glwindow::SceneWindow scene(960, 720, "Panorama 3D Scene"); 65 | 66 | while(cam.isOpened()){ 67 | 68 | if(killSignalFlag){ 69 | break; 70 | } 71 | 72 | std::chrono::microseconds t; 73 | #if RGB_PCL 74 | std::vector pcl_vec; 75 | if(!cam.getPointCloud(pcl_vec, t)){ 76 | usleep(1000); 77 | continue; 78 | } 79 | #else 80 | std::vector pcl_vec; 81 | if(!cam.getPointCloud(pcl_vec, t)){ 82 | usleep(1000); 83 | continue; 84 | } 85 | #endif 86 | if (scene.win.alive()) { 87 | if (scene.start_draw()) { 88 | DrawScene(pcl_vec); 89 | scene.finish_draw(); 90 | } 91 | } 92 | } 93 | 94 | cam.stopStereoCompute(); 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    78 | 79 | 80 | -------------------------------------------------------------------------------- /doc/latex/example__get_point_cloud_8cc.tex: -------------------------------------------------------------------------------- 1 | \hypertarget{example__get_point_cloud_8cc}{}\section{examples/example\+\_\+get\+Point\+Cloud.cc File Reference} 2 | \label{example__get_point_cloud_8cc}\index{examples/example\+\_\+get\+Point\+Cloud.\+cc@{examples/example\+\_\+get\+Point\+Cloud.\+cc}} 3 | 4 | 5 | This file is part of Unitree\+Camera\+S\+DK. 6 | 7 | 8 | {\ttfamily \#include $<$G\+L/gl.\+h$>$}\newline 9 | {\ttfamily \#include $<$signal.\+h$>$}\newline 10 | {\ttfamily \#include $<$cerrno$>$}\newline 11 | {\ttfamily \#include $<$cfenv$>$}\newline 12 | {\ttfamily \#include $<$unistd.\+h$>$}\newline 13 | {\ttfamily \#include \char`\"{}gl\+Viewer/scenewindow.\+hpp\char`\"{}}\newline 14 | {\ttfamily \#include $<$Unitree\+Camera\+S\+D\+K.\+hpp$>$}\newline 15 | Include dependency graph for example\+\_\+get\+Point\+Cloud.\+cc\+: 16 | \nopagebreak 17 | \begin{figure}[H] 18 | \begin{center} 19 | \leavevmode 20 | \includegraphics[width=350pt]{example__get_point_cloud_8cc__incl} 21 | \end{center} 22 | \end{figure} 23 | \subsection*{Macros} 24 | \begin{DoxyCompactItemize} 25 | \item 26 | \mbox{\Hypertarget{example__get_point_cloud_8cc_a252571170a109b31218383613dc16295}\label{example__get_point_cloud_8cc_a252571170a109b31218383613dc16295}} 27 | \#define \hyperlink{example__get_point_cloud_8cc_a252571170a109b31218383613dc16295}{R\+G\+B\+\_\+\+P\+CL}~false 28 | \begin{DoxyCompactList}\small\item\em Color Point Cloud Enable Flag. \end{DoxyCompactList}\end{DoxyCompactItemize} 29 | \subsection*{Functions} 30 | \begin{DoxyCompactItemize} 31 | \item 32 | \mbox{\Hypertarget{example__get_point_cloud_8cc_a3ba436e743e30c5f31f98acb33bcd50b}\label{example__get_point_cloud_8cc_a3ba436e743e30c5f31f98acb33bcd50b}} 33 | void {\bfseries Draw\+Scene} (const std\+::vector$<$ \hyperlink{struct_p_c_l}{P\+C\+L\+Type} $>$ \&pcl\+\_\+vec) 34 | \item 35 | \mbox{\Hypertarget{example__get_point_cloud_8cc_a27d13c3979cbbf70959fddbf5cc02bb5}\label{example__get_point_cloud_8cc_a27d13c3979cbbf70959fddbf5cc02bb5}} 36 | void {\bfseries Draw\+Scene} (const std\+::vector$<$ cv\+::\+Vec3f $>$ \&pcl\+\_\+vec) 37 | \item 38 | \mbox{\Hypertarget{example__get_point_cloud_8cc_a35f9ea2056a80a6c96b5c3ef3c19dafd}\label{example__get_point_cloud_8cc_a35f9ea2056a80a6c96b5c3ef3c19dafd}} 39 | void {\bfseries ctrl\+\_\+c\+\_\+handler} (int s) 40 | \item 41 | \mbox{\Hypertarget{example__get_point_cloud_8cc_a0ddf1224851353fc92bfbff6f499fa97}\label{example__get_point_cloud_8cc_a0ddf1224851353fc92bfbff6f499fa97}} 42 | int {\bfseries main} (int argc, char $\ast$argv\mbox{[}$\,$\mbox{]}) 43 | \end{DoxyCompactItemize} 44 | \subsection*{Variables} 45 | \begin{DoxyCompactItemize} 46 | \item 47 | \mbox{\Hypertarget{example__get_point_cloud_8cc_ace2ab20fcac45c041999dbe39df5ee4d}\label{example__get_point_cloud_8cc_ace2ab20fcac45c041999dbe39df5ee4d}} 48 | bool {\bfseries kill\+Signal\+Flag} = false 49 | \end{DoxyCompactItemize} 50 | 51 | 52 | \subsection{Detailed Description} 53 | This file is part of Unitree\+Camera\+S\+DK. 54 | 55 | This example that how to get camera point cloud. \begin{DoxyAuthor}{Author} 56 | Zhang\+Chunyang 57 | \end{DoxyAuthor} 58 | \begin{DoxyDate}{Date} 59 | 2021.\+07.\+31 60 | \end{DoxyDate} 61 | \begin{DoxyVersion}{Version} 62 | 1.\+0.\+1 63 | \end{DoxyVersion} 64 | \begin{DoxyCopyright}{Copyright} 65 | Copyright (c) 2020-\/2021, Hangzhou Yushu Technology Stock C\+O.\+L\+TD. All Rights Reserved. 66 | \end{DoxyCopyright} 67 | --------------------------------------------------------------------------------