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Add file channel

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This commit is contained in:
John Zhao
2018-04-13 16:08:47 +08:00
parent 36581e6c66
commit 0f92db5a53
3 changed files with 538 additions and 9 deletions
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31
src/device/device.cc
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@@ -399,29 +399,42 @@ void Device::StopMotionTracking() {
}
void Device::ReadDeviceInfo() {
// TODO(JohnZhao): Read device info
device_info_ = std::make_shared<DeviceInfo>();
CHECK_NOTNULL(channels_);
Channels::img_params_t img_params;
Channels::imu_params_t imu_params;
channels_->GetFiles(device_info_.get(), &img_params, &imu_params);
device_info_->name = uvc::get_name(*device_);
img_intrinsics_ = img_params.in;
img_extrinsics_ = img_params.ex;
imu_intrinsics_ = imu_params.in;
imu_extrinsics_ = imu_params.ex;
}
void Device::WriteImgIntrinsics(const ImgIntrinsics &intrinsics) {
// TODO(JohnZhao): Write img intrinsics
UNUSED(intrinsics);
CHECK_NOTNULL(channels_);
Channels::img_params_t img_params{intrinsics, img_extrinsics_};
channels_->SetFiles(nullptr, &img_params, nullptr);
}
void Device::WriteImgExtrinsics(const ImgExtrinsics &extrinsics) {
// TODO(JohnZhao): Write img extrinsics
UNUSED(extrinsics);
CHECK_NOTNULL(channels_);
Channels::img_params_t img_params{img_intrinsics_, extrinsics};
channels_->SetFiles(nullptr, &img_params, nullptr);
}
void Device::WriteImuIntrinsics(const ImuIntrinsics &intrinsics) {
// TODO(JohnZhao): Write imu intrinsics
UNUSED(intrinsics);
CHECK_NOTNULL(channels_);
Channels::imu_params_t imu_params{intrinsics, imu_extrinsics_};
channels_->SetFiles(nullptr, nullptr, &imu_params);
}
void Device::WriteImuExtrinsics(const ImuExtrinsics &extrinsics) {
// TODO(JohnZhao): Write imu extrinsics
UNUSED(extrinsics);
CHECK_NOTNULL(channels_);
Channels::imu_params_t imu_params{imu_intrinsics_, extrinsics};
channels_->SetFiles(nullptr, nullptr, &imu_params);
}
MYNTEYE_END_NAMESPACE