Add file channel
This commit is contained in:
John Zhao
parent
36581e6c66
commit
0f92db5a53
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@ -399,29 +399,42 @@ void Device::StopMotionTracking() {
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}
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void Device::ReadDeviceInfo() {
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// TODO(JohnZhao): Read device info
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device_info_ = std::make_shared<DeviceInfo>();
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CHECK_NOTNULL(channels_);
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Channels::img_params_t img_params;
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Channels::imu_params_t imu_params;
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channels_->GetFiles(device_info_.get(), &img_params, &imu_params);
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device_info_->name = uvc::get_name(*device_);
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img_intrinsics_ = img_params.in;
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img_extrinsics_ = img_params.ex;
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imu_intrinsics_ = imu_params.in;
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imu_extrinsics_ = imu_params.ex;
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}
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void Device::WriteImgIntrinsics(const ImgIntrinsics &intrinsics) {
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// TODO(JohnZhao): Write img intrinsics
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UNUSED(intrinsics);
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CHECK_NOTNULL(channels_);
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Channels::img_params_t img_params{intrinsics, img_extrinsics_};
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channels_->SetFiles(nullptr, &img_params, nullptr);
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}
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void Device::WriteImgExtrinsics(const ImgExtrinsics &extrinsics) {
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// TODO(JohnZhao): Write img extrinsics
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UNUSED(extrinsics);
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CHECK_NOTNULL(channels_);
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Channels::img_params_t img_params{img_intrinsics_, extrinsics};
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channels_->SetFiles(nullptr, &img_params, nullptr);
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}
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void Device::WriteImuIntrinsics(const ImuIntrinsics &intrinsics) {
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// TODO(JohnZhao): Write imu intrinsics
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UNUSED(intrinsics);
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CHECK_NOTNULL(channels_);
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Channels::imu_params_t imu_params{intrinsics, imu_extrinsics_};
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channels_->SetFiles(nullptr, nullptr, &imu_params);
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}
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void Device::WriteImuExtrinsics(const ImuExtrinsics &extrinsics) {
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// TODO(JohnZhao): Write imu extrinsics
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UNUSED(extrinsics);
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CHECK_NOTNULL(channels_);
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Channels::imu_params_t imu_params{imu_intrinsics_, extrinsics};
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channels_->SetFiles(nullptr, nullptr, &imu_params);
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}
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MYNTEYE_END_NAMESPACE
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@ -2,6 +2,7 @@
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#include <glog/logging.h>
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#include <bitset>
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#include <chrono>
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#include <iomanip>
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#include <stdexcept>
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@ -279,6 +280,488 @@ void Channels::StopImuTracking() {
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}
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}
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namespace {
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template <typename T>
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T _from_data(const std::uint8_t *data) {
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std::size_t size = sizeof(T) / sizeof(std::uint8_t);
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T value = 0;
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for (std::size_t i = 0; i < size; i++) {
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value |= data[i] << (8 * (size - i - 1));
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}
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return value;
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}
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template <>
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std::string _from_data(const std::uint8_t *data) {
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return std::string(reinterpret_cast<const char *>(data));
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}
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template <>
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double _from_data(const std::uint8_t *data) {
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return *(reinterpret_cast<const double *>(data));
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}
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// std::string _from_data(const std::uint8_t *data, std::size_t n) {
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// return std::string(reinterpret_cast<const char *>(data), n);
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// }
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std::size_t from_data(Channels::device_info_t *info, const std::uint8_t *data) {
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std::size_t i = 0;
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// name, 16
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info->name = _from_data<std::string>(data + i);
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i += 16;
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// serial_number, 16
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info->serial_number = _from_data<std::string>(data + i);
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i += 16;
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// firmware_version, 2
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info->firmware_version.set_major(data[i]);
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info->firmware_version.set_minor(data[i + 1]);
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i += 2;
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// hardware_version, 3
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info->hardware_version.set_major(data[i]);
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info->hardware_version.set_minor(data[i + 1]);
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info->hardware_version.set_flag(std::bitset<8>(data[i + 2]));
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i += 3;
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// spec_version, 2
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info->spec_version.set_major(data[i]);
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info->spec_version.set_minor(data[i + 1]);
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i += 2;
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// lens_type, 4
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info->lens_type.set_vendor(_from_data<std::uint16_t>(data + i));
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info->lens_type.set_product(_from_data<std::uint16_t>(data + i + 2));
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i += 4;
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// imu_type, 4
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info->imu_type.set_vendor(_from_data<std::uint16_t>(data + i));
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info->imu_type.set_product(_from_data<std::uint16_t>(data + i + 2));
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i += 4;
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// nominal_baseline, 2
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info->nominal_baseline = _from_data<std::uint16_t>(data + i);
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i += 2;
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return i;
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}
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std::size_t from_data(
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Channels::img_params_t *img_params, const std::uint8_t *data) {
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std::size_t i = 0;
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auto &&in = img_params->in;
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// width, 2
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in.width = _from_data<std::uint16_t>(data + i);
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i += 2;
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// height, 2
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in.height = _from_data<std::uint16_t>(data + i);
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i += 2;
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// fx, 8
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in.fx = _from_data<double>(data + i);
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i += 8;
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// fy, 8
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in.fy = _from_data<double>(data + i);
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i += 8;
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// cx, 8
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in.cx = _from_data<double>(data + i);
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i += 8;
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// cy, 8
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in.cy = _from_data<double>(data + i);
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i += 8;
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// model, 1
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in.model = data[i];
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i += 1;
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// coeffs, 40
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for (std::size_t j = 0; j < 5; j++) {
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in.coeffs[j] = _from_data<double>(data + i + j * 8);
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}
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i += 40;
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auto &&ex = img_params->ex.left_to_right;
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// rotation
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for (std::size_t j = 0; j < 3; j++) {
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for (std::size_t k = 0; k < 3; k++) {
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ex.rotation[j][k] = _from_data<double>(data + i + j * 3 + k);
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}
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}
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i += 72;
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// translation
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for (std::size_t j = 0; j < 3; j++) {
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ex.translation[j] = _from_data<double>(data + i + j * 8);
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}
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i += 24;
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return i;
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}
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std::size_t from_data(
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Channels::imu_params_t *imu_params, const std::uint8_t *data) {
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std::size_t i = 0;
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auto &&in = imu_params->in;
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// acc_scale
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for (std::size_t j = 0; j < 3; j++) {
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for (std::size_t k = 0; k < 3; k++) {
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in.accel.scale[j][k] = _from_data<double>(data + i + j * 3 + k);
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}
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}
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i += 72;
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// gyro_scale
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for (std::size_t j = 0; j < 3; j++) {
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for (std::size_t k = 0; k < 3; k++) {
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in.gyro.scale[j][k] = _from_data<double>(data + i + j * 3 + k);
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}
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}
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i += 72;
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// acc_drift
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for (std::size_t j = 0; j < 3; j++) {
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in.accel.drift[j] = _from_data<double>(data + i + j * 8);
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}
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i += 24;
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// gyro_drift
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for (std::size_t j = 0; j < 3; j++) {
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in.gyro.drift[j] = _from_data<double>(data + i + j * 8);
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}
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i += 24;
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// acc_noise
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for (std::size_t j = 0; j < 3; j++) {
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in.accel.noise[j] = _from_data<double>(data + i + j * 8);
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}
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i += 24;
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// gyro_noise
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for (std::size_t j = 0; j < 3; j++) {
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in.gyro.noise[j] = _from_data<double>(data + i + j * 8);
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}
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i += 24;
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// acc_bias
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for (std::size_t j = 0; j < 3; j++) {
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in.accel.bias[j] = _from_data<double>(data + i + j * 8);
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}
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i += 24;
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// gyro_bias
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for (std::size_t j = 0; j < 3; j++) {
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in.gyro.bias[j] = _from_data<double>(data + i + j * 8);
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}
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i += 24;
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auto &&ex = imu_params->ex.left_to_imu;
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// rotation
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for (std::size_t j = 0; j < 3; j++) {
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for (std::size_t k = 0; k < 3; k++) {
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ex.rotation[j][k] = _from_data<double>(data + i + j * 3 + k);
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}
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}
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i += 72;
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// translation
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for (std::size_t j = 0; j < 3; j++) {
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ex.translation[j] = _from_data<double>(data + i + j * 8);
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}
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i += 24;
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return i;
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}
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} // namespace
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bool Channels::GetFiles(
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device_info_t *info, img_params_t *img_params,
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imu_params_t *imu_params) const {
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if (info == nullptr && img_params == nullptr && imu_params == nullptr) {
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LOG(WARNING) << "Files are not provided to get";
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return false;
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}
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std::uint8_t data[2000]{};
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std::bitset<8> header;
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header[0] = 0; // get
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header[7] = (info != nullptr);
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header[6] = (img_params != nullptr);
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header[5] = (imu_params != nullptr);
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data[0] = static_cast<std::uint8_t>(header.to_ulong());
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if (!XuFileQuery(uvc::XU_QUERY_SET, 2000, data)) {
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LOG(WARNING) << "GetFiles failed";
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return false;
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}
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if (XuFileQuery(uvc::XU_QUERY_GET, 2000, data)) {
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VLOG(2) << "GetFiles success";
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// header = std::bitset<8>(data[0]);
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std::uint16_t size = _from_data<std::uint16_t>(data + 1);
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std::uint8_t checksum = data[3 + size];
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std::uint8_t checksum_cal = 0;
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for (std::size_t i = 4, n = 4 + size; i < n; i++) {
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checksum_cal = (checksum_cal ^ data[i]);
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}
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if (checksum_cal != checksum) {
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LOG(WARNING) << "Files checksum should be 0x" << std::hex
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<< std::uppercase << std::setw(2) << std::setfill('0')
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<< static_cast<int>(checksum_cal) << ", but 0x"
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<< std::setw(2) << std::setfill('0')
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<< static_cast<int>(checksum) << " now";
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return false;
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}
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std::size_t i = 3;
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std::size_t end = 3 + size;
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while (i < end) {
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std::uint8_t file_id = *(data + i);
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std::uint16_t file_size = _from_data<std::uint16_t>(data + i + 1);
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i += 3;
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switch (file_id) {
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case FID_DEVICE_INFO: {
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CHECK_EQ(from_data(info, data + i), file_size);
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} break;
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case FID_IMG_PARAMS: {
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CHECK_EQ(from_data(img_params, data + i), file_size);
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} break;
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case FID_IMU_PARAMS: {
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CHECK_EQ(from_data(imu_params, data + i), file_size);
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} break;
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default:
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LOG(FATAL) << "Unsupported file id: " << file_id;
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}
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i += file_size;
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}
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return true;
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} else {
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LOG(WARNING) << "GetFiles failed";
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return false;
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}
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}
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namespace {
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template <typename T>
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std::size_t _to_data(T value, std::uint8_t *data) {
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std::size_t size = sizeof(T) / sizeof(std::uint8_t);
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for (std::size_t i = 0; i < size; i++) {
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data[i] =
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static_cast<std::uint8_t>((value >> (8 * (size - i - 1))) && 0xFF);
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}
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return size;
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}
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template <>
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std::size_t _to_data(double value, std::uint8_t *data) {
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std::copy(data, data + 8, reinterpret_cast<std::uint8_t *>(&value));
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return 8;
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}
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template <>
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std::size_t _to_data(std::string value, std::uint8_t *data) {
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std::copy(value.begin(), value.end(), data);
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data[value.size()] = '\0';
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return value.size() + 1;
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}
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std::size_t to_data(const Channels::device_info_t *info, std::uint8_t *data) {
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std::size_t i = 3;
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// name, 16
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_to_data(info->name, data + i);
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i += 16;
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// serial_number, 16
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_to_data(info->serial_number, data + i);
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i += 16;
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// firmware_version, 2
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data[i] = info->firmware_version.major();
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data[i + 1] = info->firmware_version.minor();
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i += 2;
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// hardware_version, 3
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data[i] = info->hardware_version.major();
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data[i + 1] = info->hardware_version.minor();
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data[i + 2] =
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static_cast<std::uint8_t>(info->hardware_version.flag().to_ulong());
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i += 3;
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// spec_version, 2
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data[i] = info->spec_version.major();
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data[i + 1] = info->spec_version.minor();
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i += 2;
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// lens_type, 4
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_to_data(info->lens_type.vendor(), data + i);
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_to_data(info->lens_type.product(), data + i + 2);
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i += 4;
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// imu_type, 4
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_to_data(info->imu_type.vendor(), data + i);
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_to_data(info->imu_type.product(), data + i + 2);
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i += 4;
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// nominal_baseline, 2
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_to_data(info->nominal_baseline, data + i);
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i += 2;
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// others
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std::size_t size = i - 3;
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data[0] = Channels::FID_DEVICE_INFO;
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data[1] = static_cast<std::uint8_t>((size >> 8) & 0xFF);
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data[2] = static_cast<std::uint8_t>(size & 0xFF);
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return size + 3;
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}
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std::size_t to_data(
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const Channels::img_params_t *img_params, std::uint8_t *data) {
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std::size_t i = 3;
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auto &&in = img_params->in;
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// width, 2
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_to_data(in.width, data + i);
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i += 2;
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// height, 2
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_to_data(in.height, data + i);
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i += 2;
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// fx, 8
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_to_data(in.fx, data + i);
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i += 8;
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// fy, 8
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_to_data(in.fy, data + i);
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i += 8;
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// cx, 8
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_to_data(in.cx, data + i);
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i += 8;
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// cy, 8
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_to_data(in.cy, data + i);
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i += 8;
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// model, 1
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data[i] = in.model;
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i += 1;
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// coeffs, 40
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for (std::size_t j = 0; j < 5; j++) {
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_to_data(in.coeffs[j], data + i + j * 8);
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}
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i += 40;
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auto &&ex = img_params->ex.left_to_right;
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// rotation
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for (std::size_t j = 0; j < 3; j++) {
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for (std::size_t k = 0; k < 3; k++) {
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_to_data(ex.rotation[j][k], data + i + j * 3 + k);
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}
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}
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i += 72;
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// translation
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for (std::size_t j = 0; j < 3; j++) {
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_to_data(ex.translation[j], data + i + j * 8);
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}
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i += 24;
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// others
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std::size_t size = i - 3;
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data[0] = Channels::FID_IMG_PARAMS;
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data[1] = static_cast<std::uint8_t>((size >> 8) & 0xFF);
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data[2] = static_cast<std::uint8_t>(size & 0xFF);
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return size + 3;
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}
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std::size_t to_data(
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const Channels::imu_params_t *imu_params, std::uint8_t *data) {
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std::size_t i = 3;
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auto &&in = imu_params->in;
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// acc_scale
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for (std::size_t j = 0; j < 3; j++) {
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for (std::size_t k = 0; k < 3; k++) {
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_to_data(in.accel.scale[j][k], data + i + j * 3 + k);
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}
|
||||
}
|
||||
i += 72;
|
||||
// gyro_scale
|
||||
for (std::size_t j = 0; j < 3; j++) {
|
||||
for (std::size_t k = 0; k < 3; k++) {
|
||||
_to_data(in.gyro.scale[j][k], data + i + j * 3 + k);
|
||||
}
|
||||
}
|
||||
i += 72;
|
||||
// acc_drift
|
||||
for (std::size_t j = 0; j < 3; j++) {
|
||||
_to_data(in.accel.drift[j], data + i + j * 8);
|
||||
}
|
||||
i += 24;
|
||||
// gyro_drift
|
||||
for (std::size_t j = 0; j < 3; j++) {
|
||||
_to_data(in.gyro.drift[j], data + i + j * 8);
|
||||
}
|
||||
i += 24;
|
||||
// acc_noise
|
||||
for (std::size_t j = 0; j < 3; j++) {
|
||||
_to_data(in.accel.noise[j], data + i + j * 8);
|
||||
}
|
||||
i += 24;
|
||||
// gyro_noise
|
||||
for (std::size_t j = 0; j < 3; j++) {
|
||||
_to_data(in.gyro.noise[j], data + i + j * 8);
|
||||
}
|
||||
i += 24;
|
||||
// acc_bias
|
||||
for (std::size_t j = 0; j < 3; j++) {
|
||||
_to_data(in.accel.bias[j], data + i + j * 8);
|
||||
}
|
||||
i += 24;
|
||||
// gyro_bias
|
||||
for (std::size_t j = 0; j < 3; j++) {
|
||||
_to_data(in.gyro.bias[j], data + i + j * 8);
|
||||
}
|
||||
i += 24;
|
||||
|
||||
auto &&ex = imu_params->ex.left_to_imu;
|
||||
// rotation
|
||||
for (std::size_t j = 0; j < 3; j++) {
|
||||
for (std::size_t k = 0; k < 3; k++) {
|
||||
_to_data(ex.rotation[j][k], data + i + j * 3 + k);
|
||||
}
|
||||
}
|
||||
i += 72;
|
||||
// translation
|
||||
for (std::size_t j = 0; j < 3; j++) {
|
||||
_to_data(ex.translation[j], data + i + j * 8);
|
||||
}
|
||||
i += 24;
|
||||
|
||||
// others
|
||||
std::size_t size = i - 3;
|
||||
data[0] = Channels::FID_IMU_PARAMS;
|
||||
data[1] = static_cast<std::uint8_t>((size >> 8) & 0xFF);
|
||||
data[2] = static_cast<std::uint8_t>(size & 0xFF);
|
||||
return size + 3;
|
||||
}
|
||||
|
||||
} // namespace
|
||||
|
||||
bool Channels::SetFiles(
|
||||
device_info_t *info, img_params_t *img_params, imu_params_t *imu_params) {
|
||||
if (info == nullptr && img_params == nullptr && imu_params == nullptr) {
|
||||
LOG(WARNING) << "Files are not provided to set";
|
||||
return false;
|
||||
}
|
||||
std::uint8_t data[2000]{};
|
||||
|
||||
std::bitset<8> header;
|
||||
header[0] = 1; // set
|
||||
|
||||
std::uint16_t size = 0;
|
||||
if (info != nullptr) {
|
||||
header[7] = true;
|
||||
size += to_data(info, data + 3 + size);
|
||||
}
|
||||
if (img_params != nullptr) {
|
||||
header[6] = true;
|
||||
size += to_data(img_params, data + 3 + size);
|
||||
}
|
||||
if (imu_params != nullptr) {
|
||||
header[5] = true;
|
||||
size += to_data(imu_params, data + 3 + size);
|
||||
}
|
||||
|
||||
data[0] = static_cast<std::uint8_t>(header.to_ulong());
|
||||
data[1] = static_cast<std::uint8_t>((size >> 8) & 0xFF);
|
||||
data[2] = static_cast<std::uint8_t>(size & 0xFF);
|
||||
|
||||
if (XuFileQuery(uvc::XU_QUERY_SET, 2000, data)) {
|
||||
VLOG(2) << "SetFiles success";
|
||||
return true;
|
||||
} else {
|
||||
LOG(WARNING) << "SetFiles failed";
|
||||
return false;
|
||||
}
|
||||
}
|
||||
|
||||
bool Channels::PuControlRange(
|
||||
Option option, int32_t *min, int32_t *max, int32_t *def) const {
|
||||
CHECK_NOTNULL(device_);
|
||||
|
|
@ -409,6 +892,11 @@ bool Channels::XuImuRead(ImuResPacket *res) const {
|
|||
}
|
||||
}
|
||||
|
||||
bool Channels::XuFileQuery(
|
||||
uvc::xu_query query, uint16_t size, uint8_t *data) const {
|
||||
return XuControlQuery(CHANNEL_FILE, query, size, data);
|
||||
}
|
||||
|
||||
Channels::control_info_t Channels::PuControlInfo(Option option) const {
|
||||
int32_t min = 0, max = 0, def = 0;
|
||||
if (!PuControlRange(option, &min, &max, &def)) {
|
||||
|
|
|
|||
|
|
@ -7,6 +7,7 @@
|
|||
#include <thread>
|
||||
|
||||
#include "mynteye/mynteye.h"
|
||||
#include "mynteye/types.h"
|
||||
|
||||
#include "internal/types.h"
|
||||
#include "uvc/uvc.h"
|
||||
|
|
@ -43,8 +44,27 @@ class Channels {
|
|||
XU_CMD_LAST
|
||||
} xu_cmd_t;
|
||||
|
||||
typedef enum FileId {
|
||||
FID_DEVICE_INFO = 0, // device info
|
||||
FID_IMG_PARAMS = 1, // image intrinsics & extrinsics
|
||||
FID_IMU_PARAMS = 2, // imu intrinsics & extrinsics
|
||||
FID_LAST,
|
||||
} file_id_t;
|
||||
|
||||
using imu_callback_t = std::function<void(const ImuPacket &packet)>;
|
||||
|
||||
using device_info_t = DeviceInfo;
|
||||
|
||||
typedef struct ImgParams {
|
||||
ImgIntrinsics in;
|
||||
ImgExtrinsics ex;
|
||||
} img_params_t;
|
||||
|
||||
typedef struct ImuParams {
|
||||
ImuIntrinsics in;
|
||||
ImuExtrinsics ex;
|
||||
} imu_params_t;
|
||||
|
||||
explicit Channels(std::shared_ptr<uvc::device> device);
|
||||
~Channels();
|
||||
|
||||
|
|
@ -61,6 +81,12 @@ class Channels {
|
|||
void StartImuTracking(imu_callback_t callback = nullptr);
|
||||
void StopImuTracking();
|
||||
|
||||
bool GetFiles(
|
||||
device_info_t *info, img_params_t *img_params,
|
||||
imu_params_t *imu_params) const;
|
||||
bool SetFiles(
|
||||
device_info_t *info, img_params_t *img_params, imu_params_t *imu_params);
|
||||
|
||||
private:
|
||||
bool PuControlRange(
|
||||
Option option, int32_t *min, int32_t *max, int32_t *def) const;
|
||||
|
|
@ -82,6 +108,8 @@ class Channels {
|
|||
bool XuImuWrite(const ImuReqPacket &req) const;
|
||||
bool XuImuRead(ImuResPacket *res) const;
|
||||
|
||||
bool XuFileQuery(uvc::xu_query query, uint16_t size, uint8_t *data) const;
|
||||
|
||||
control_info_t PuControlInfo(Option option) const;
|
||||
control_info_t XuControlInfo(Option option) const;
|
||||
|
||||
|
|
|
|||
Loading…
Reference in New Issue
Block a user