获取原始图像

获取图像前，需要初始化SDK,然后直接通过回调获取。

参考代码片段：

auto m_pSDK = new CIMRSDK();
MRCONFIG config = {0};
config.bSlam = false;
config.imgResolution = IMG_640;
config.imgFrequency = 50;
config.imuFrequency = 1000;

m_pSDK->Init(config);

std::queue<cv::Mat> image_queue;
int img_count = 0;
double last_img_time = -1.0;
m_pSDK->RegistImgCallback([&last_img_time, &img_count, &image_queue](
                              double time, cv::Mat left, cv::Mat right) {
  if (!left.empty() && !right.empty()) {
    cv::Mat img;
    cv::hconcat(left, right, img);
    if (last_img_time >= 0) {
      std::ostringstream ss;
      double fps = 1.0 / (time - last_img_time);
      ss << std::fixed << "time stamp: " << std::setprecision(2) << time
         << ", fps: " << fps;
      cv::putText(img, ss.str(), cv::Point(25, 25), FONT_FACE, FONT_SCALE,
                  FONT_COLOR, THICKNESS);
    }
    last_img_time = time;
    image_queue.push(img);
    ++img_count;
  }
});
auto &&time_beg = times::now();
while (true) {
  if (!image_queue.empty()) {
    cv::imshow("image", image_queue.front());
    image_queue.pop();
  }
  char key = static_cast<char>(cv::waitKey(1));
  if (key == 27 || key == 'q' || key == 'Q') { // ESC/Q
    break;
  }
}
delete m_pSDK;
return 0;

上述代码，用了 OpenCV 来显示图像。选中显示窗口时，按 ESC/Q 就会结束程序。

完整代码样例，请见 _get_image.cpp 。