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Aurora Frame Preview Demo

Frame Preview Demo

This demo shows how to capture and display tracking frames and raw camera frames from Aurora devices using OpenCV visualization.

Features

  • Real-time Frame Display: Shows tracking frames and raw stereo camera images
  • Dual Camera Support: Displays both left and right camera feeds
  • Tracking Visualization: Renders tracking features and keypoints
  • Event-driven Processing: Uses SDK listeners for efficient frame handling

Requirements

  • Aurora device with camera system
  • Aurora Remote SDK
  • OpenCV 4.2 or higher
  • Network connection between host and Aurora device

Usage

# Auto-discover and connect
./frame_preview

# Connect to specific device
./frame_preview tcp://192.168.1.100:8090

Key Features

  • Tracking Frame Visualization: Displays visual features used for SLAM
  • Raw Camera Frames: Shows unprocessed stereo camera images
  • Real-time Updates: Frame-rate visualization with minimal latency
  • Thread-safe Processing: Uses mutex protection for concurrent data access

Integration Example

#include "aurora_pubsdk_inc.h"
#include <opencv2/opencv.hpp>

class FrameListener : public RemoteSDKListener {
public:
    void onTrackingData(const RemoteTrackingFrameInfo& info) override {
        // Process tracking frame data
        std::cout << "Tracking frame received" << std::endl;
    }
    
    void onRawCamImageData(uint64_t timestamp_ns, 
                          const RemoteImageRef& left, 
                          const RemoteImageRef& right) override {
        // Process raw camera images
        cv::Mat leftImage, rightImage;
        left.toMat(leftImage);
        right.toMat(rightImage);
        
        cv::imshow("Left Camera", leftImage);
        cv::imshow("Right Camera", rightImage);
    }
};

Use Cases

  • Camera Calibration: Visual verification of camera alignment
  • System Debugging: Real-time monitoring of tracking performance
  • Development: Visual feedback during SLAM algorithm development
  • Quality Assurance: Verification of camera functionality