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Merge branch 'develop' of https://github.com/slightech/MYNT-EYE-SDK-2 into develop

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This commit is contained in:
Tiny
2018-12-11 17:08:38 +08:00
parent 66eb9883ff 4c49a6af26
commit 132cbc19e2
28 changed files with 219 additions and 65 deletions
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2
src/mynteye/api/api.cc
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@@ -226,7 +226,7 @@ API::API(std::shared_ptr<Device> device) : device_(device) {
"to write the image params. If you update the SDK from "
"1.x, the `SN*.conf` is the file contains them. Besides, "
"you could also calibrate them by yourself. Read the guide "
"doc (https://github.com/slightech/MYNT-EYE-SDK-2-Guide) "
"doc (https://github.com/slightech/MYNT-EYE-S-SDK-Guide) "
"to learn more.";
}
}

23
src/mynteye/device/channels.cc
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@@ -63,6 +63,12 @@ int XuCamCtrlId(Option option) {
case Option::FRAME_RATE:
return 7;
break;
case Option::ACCELEROMETER_RANGE:
return 9;
break;
case Option::GYROSCOPE_RANGE:
return 10;
break;
default:
LOG(FATAL) << "No cam ctrl id for " << option;
}
@@ -135,7 +141,8 @@ void Channels::UpdateControlInfos() {
for (auto &&option : std::vector<Option>{
Option::FRAME_RATE, Option::IMU_FREQUENCY, Option::EXPOSURE_MODE,
Option::MAX_GAIN, Option::MAX_EXPOSURE_TIME,
Option::DESIRED_BRIGHTNESS, Option::IR_CONTROL, Option::HDR_MODE}) {
Option::DESIRED_BRIGHTNESS, Option::IR_CONTROL, Option::HDR_MODE,
Option::ACCELEROMETER_RANGE, Option::GYROSCOPE_RANGE}) {
control_infos_[option] = XuControlInfo(option);
}
@@ -177,6 +184,8 @@ std::int32_t Channels::GetControlValue(const Option &option) const {
case Option::DESIRED_BRIGHTNESS:
case Option::IR_CONTROL:
case Option::HDR_MODE:
case Option::ACCELEROMETER_RANGE:
case Option::GYROSCOPE_RANGE:
return XuCamCtrlGet(option);
case Option::ZERO_DRIFT_CALIBRATION:
case Option::ERASE_CHIP:
@@ -232,6 +241,16 @@ void Channels::SetControlValue(const Option &option, std::int32_t value) {
break;
XuCamCtrlSet(option, value);
} break;
case Option::ACCELEROMETER_RANGE: {
if (!in_range() || !in_values({4, 8, 16, 32}))
break;
XuCamCtrlSet(option, value);
} break;
case Option::GYROSCOPE_RANGE: {
if (!in_range() || !in_values({500, 1000, 2000, 4000}))
break;
XuCamCtrlSet(option, value);
} break;
case Option::EXPOSURE_MODE:
case Option::MAX_GAIN:
case Option::MAX_EXPOSURE_TIME:
@@ -268,6 +287,8 @@ bool Channels::RunControlAction(const Option &option) const {
case Option::DESIRED_BRIGHTNESS:
case Option::IR_CONTROL:
case Option::HDR_MODE:
case Option::ACCELEROMETER_RANGE:
case Option::GYROSCOPE_RANGE:
LOG(WARNING) << option << " run action useless";
return false;
default:

3
src/mynteye/device/config.cc
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@@ -26,7 +26,8 @@ const std::map<Model, OptionSupports> option_supports_map = {
{Option::GAIN, Option::BRIGHTNESS, Option::CONTRAST, Option::FRAME_RATE,
Option::IMU_FREQUENCY, Option::EXPOSURE_MODE, Option::MAX_GAIN,
Option::MAX_EXPOSURE_TIME, Option::DESIRED_BRIGHTNESS, Option::IR_CONTROL,
Option::HDR_MODE, Option::ZERO_DRIFT_CALIBRATION, Option::ERASE_CHIP}}};
Option::HDR_MODE, Option::ZERO_DRIFT_CALIBRATION, Option::ERASE_CHIP,
Option::ACCELEROMETER_RANGE, Option::GYROSCOPE_RANGE}}};
const std::map<Model, std::map<Capabilities, StreamRequests>>
stream_requests_map = {

25
src/mynteye/device/motions.cc
View File

@@ -34,9 +34,16 @@ Motions::~Motions() {
void Motions::SetMotionCallback(motion_callback_t callback) {
motion_callback_ = callback;
if (motion_callback_) {
accel_range = channels_->GetControlValue(Option::ACCELEROMETER_RANGE);
if (accel_range == -1)
accel_range = 8;
gyro_range = channels_->GetControlValue(Option::GYROSCOPE_RANGE);
if (gyro_range == -1)
gyro_range = 1000;
channels_->SetImuCallback([this](const ImuPacket &packet) {
if (!motion_callback_ && !motion_datas_enabled_) {
LOG(WARNING) << "";
return;
}
for (auto &&seg : packet.segments) {
@@ -47,17 +54,19 @@ void Motions::SetMotionCallback(motion_callback_t callback) {
// LOG(WARNING) << "Imu timestamp offset is incorrect";
// }
imu->timestamp = packet.timestamp + seg.offset;
imu->accel[0] = seg.accel[0] * 8.f / 0x10000;
imu->accel[1] = seg.accel[1] * 8.f / 0x10000;
imu->accel[2] = seg.accel[2] * 8.f / 0x10000;
imu->gyro[0] = seg.gyro[0] * 1000.f / 0x10000;
imu->gyro[1] = seg.gyro[1] * 1000.f / 0x10000;
imu->gyro[2] = seg.gyro[2] * 1000.f / 0x10000;
imu->accel[0] = seg.accel[0] * 1.f * accel_range / 0x10000;
imu->accel[1] = seg.accel[1] * 1.f * accel_range / 0x10000;
imu->accel[2] = seg.accel[2] * 1.f * accel_range / 0x10000;
imu->gyro[0] = seg.gyro[0] * 1.f * gyro_range / 0x10000;
imu->gyro[1] = seg.gyro[1] * 1.f * gyro_range / 0x10000;
imu->gyro[2] = seg.gyro[2] * 1.f * gyro_range / 0x10000;
imu->temperature = seg.temperature / 326.8f + 25;
std::lock_guard<std::mutex> _(mtx_datas_);
motion_data_t data = {imu};
motion_datas_.push_back(data);
if (motion_datas_enabled_) {
motion_datas_.push_back(data);
}
motion_callback_(data);
}

3
src/mynteye/device/motions.h
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@@ -57,6 +57,9 @@ class Motions {
bool is_imu_tracking;
std::mutex mtx_datas_;
int accel_range = 8;
int gyro_range = 1000;
};
MYNTEYE_END_NAMESPACE

2
src/mynteye/types.cc
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@@ -114,6 +114,8 @@ const char *to_string(const Option &value) {
CASE(HDR_MODE)
CASE(ZERO_DRIFT_CALIBRATION)
CASE(ERASE_CHIP)
CASE(ACCELEROMETER_RANGE)
CASE(GYROSCOPE_RANGE)
default:
CHECK(is_valid(value));
return "Option::UNKNOWN";

2
src/mynteye/uvc/macosx/UVCXcodeProject.xcodeproj/project.xcworkspace/contents.xcworkspacedata generated
View File

@@ -2,6 +2,6 @@
<Workspace
version = "1.0">
<FileRef
location = "self:/Users/tiny/Desktop/develop/MYNT-EYE-SDK-2/src/mynteye/uvc/macosx/UVCXcodeProject.xcodeproj">
location = "self:/Users/tiny/Desktop/develop/MYNT-EYE-S-SDK/src/mynteye/uvc/macosx/UVCXcodeProject.xcodeproj">
</FileRef>
</Workspace>